?? chap9_5.mdl
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StopTime "5"
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RelTol "1e-3"
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OutputTimes "[]"
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AlgebraicLoopMsg "warning"
MinStepSizeMsg "warning"
UnconnectedInputMsg "warning"
UnconnectedOutputMsg "warning"
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InheritedTsInSrcMsg "warning"
IntegerOverflowMsg "warning"
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Int32ToFloatConvMsg "warning"
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RTWSystemTargetFile "grt.tlc"
RTWInlineParameters off
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RTWTemplateMakefile "grt_default_tmf"
RTWMakeCommand "make_rtw"
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ExtModeMexFile "ext_comm"
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ExtModeTrigMode "oneshot"
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ExtModeTrigHoldOff 0
ExtModeTrigDelay 0
ExtModeTrigDirection "rising"
ExtModeTrigLevel 0
ExtModeArchiveMode "off"
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ExtModeIncDirWhenArm off
ExtModeAddSuffixToVar off
ExtModeWriteAllDataToWs off
ExtModeArmWhenConnect off
Created "Mon Sep 18 10:59:00 2000"
UpdateHistory "UpdateHistoryNever"
ModifiedByFormat "%<Auto>"
ModifiedDateFormat "%<Auto>"
LastModifiedDate "Thu Jun 10 23:17:50 2004"
ModelVersionFormat "1.%<AutoIncrement:574>"
ConfigurationManager "none"
BlockDefaults {
Orientation "right"
ForegroundColor "black"
BackgroundColor "white"
DropShadow off
NamePlacement "normal"
FontName "Helvetica"
FontSize 10
FontWeight "normal"
FontAngle "normal"
ShowName on
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ForegroundColor "black"
BackgroundColor "white"
DropShadow off
FontName "Helvetica"
FontSize 10
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FontAngle "normal"
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LineDefaults {
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FontAngle "normal"
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Open on
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ModelBrowserWidth 200
ScreenColor "white"
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PaperUnits "inches"
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Expr "Fc1*sgn(u)+bc1*u"
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SampleTime "0.001"
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DisplayOption "none"
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BlockType Reference
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SourceBlock "simulink_extras/Additional\nLinear/PID Controll"
"er"
SourceType "PID Controller"
P "kpp"
I "kii"
D "kdd"
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TickLabels "OneTimeTick"
ZoomMode "on"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
Grid "on"
TimeRange "auto"
YMin "-7"
YMax "7"
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SaveName "ScopeData"
DataFormat "StructureWithTime"
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MaxRows "50000"
Decimation "1"
SampleInput off
SampleTime "0"
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BlockType Scope
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Location [108, 100, 603, 412]
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NumInputPorts "1"
TickLabels "OneTimeTick"
ZoomMode "on"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
Grid "on"
TimeRange "auto"
YMin "-1.73472e-018"
YMax "0.019"
SaveToWorkspace off
SaveName "ScopeData"
DataFormat "StructureWithTime"
LimitMaxRows on
MaxRows "50000"
Decimation "1"
SampleInput off
SampleTime "0"
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BlockType SubSystem
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ForegroundColor "lightBlue"
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BlockType Inport
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Port "1"
PortWidth "-1"
SampleTime "-1"
DataType "auto"
SignalType "auto"
Interpolate on
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BlockType Inport
Name "In2"
Position [55, 243, 85, 257]
Port "2"
PortWidth "-1"
SampleTime "-1"
DataType "auto"
SignalType "auto"
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Orientation "left"
Gain "Ce"
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BlockType Gain
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Orientation "left"
Gain "ki"
SaturateOnIntegerOverflow on
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BlockType Gain
Name " "
Position [360, 155, 390, 185]
Gain "km"
SaturateOnIntegerOverflow on
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Block {
BlockType TransferFcn
Name " "
Position [250, 152, 295, 188]
Numerator "[1]"
Denominator "[L R]"
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Block {
BlockType TransferFcn
Name " "
Position [515, 152, 560, 188]
Numerator "[1]"
Denominator "[J b]"
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Block {
BlockType Gain
Name " "
Position [400, 233, 420, 267]
Gain "1"
SaturateOnIntegerOverflow on
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Block {
BlockType Fcn
Name "Friction model"
Position [260, 235, 305, 265]
Expr "Fc*sgn(u)+bc*u"
}
Block {
BlockType Scope
Name "Scope"
Ports [1, 0, 0, 0, 0]
Position [435, 99, 465, 131]
Floating off
Location [5, 30, 805, 583]
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