SrcPort		  1
		  DstBlock		  "Discrete\nTransfer Fcn"
		  DstPort		  1
		}
	      }
	    }
	    Block {
	      BlockType		      Gain
	      Name		      "Lm"
	      Position		      [220, 27, 280, 63]
	      Orientation	      "left"
	      Gain		      "34.7e-3"
	    }
	    Block {
	      BlockType		      Outport
	      Name		      "Phir"
	      Position		      [25, 38, 55, 52]
	      Orientation	      "left"
	      IconDisplay	      "Port number"
	      BusOutputAsStruct	      off
	    }
	    Line {
	      SrcBlock		      "Discrete Tranfer Function"
	      SrcPort		      1
	      DstBlock		      "Phir"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "Id"
	      SrcPort		      1
	      DstBlock		      "Lm"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "Lm"
	      SrcPort		      1
	      DstBlock		      "Discrete Tranfer Function"
	      DstPort		      1
	    }
	    Annotation {
	      Name		      "Phir = Lm *Id  / (1 +Tr .s) "
	      Position		      [95, 118]
	    }
	    Annotation {
	      Name		      "Lm = 34.7 mH"
	      Position		      [74, 139]
	    }
	    Annotation {
	      Name		      "Lr = Ll'r +Lm = 0.8 +34.7= 35.5 mH"
	      Position		      [124, 179]
	    }
	    Annotation {
	      Name		      "Tr = Lr / Rr = 0.1557 s"
	      Position		      [89, 159]
	    }
	    Annotation {
	      Name		      "Rr =  0.228 ohms"
	      Position		      [284, 179]
	    }
	  }
	}
	Block {
	  BlockType		  From
	  Name			  "From"
	  Position		  [35, 285, 80, 305]
	  BackgroundColor	  "[0.501961, 1.000000, 1.000000]"
	  ShowName		  off
	  DialogController	  "Simulink.DDGSource"
	  CloseFcn		  "tagdialog Close"
	  GotoTag		  "Speed"
	}
	Block {
	  BlockType		  From
	  Name			  "From1"
	  Position		  [185, 100, 230, 120]
	  BackgroundColor	  "[0.000000, 1.000000, 1.000000]"
	  ShowName		  off
	  DialogController	  "Simulink.DDGSource"
	  CloseFcn		  "tagdialog Close"
	  GotoTag		  "Speed"
	}
	Block {
	  BlockType		  From
	  Name			  "From2"
	  Position		  [400, 235, 445, 255]
	  BackgroundColor	  "[0.501961, 1.000000, 1.000000]"
	  ShowName		  off
	  DialogController	  "Simulink.DDGSource"
	  CloseFcn		  "tagdialog Close"
	  GotoTag		  "Iabc"
	}
	Block {
	  BlockType		  From
	  Name			  "From3"
	  Position		  [325, 75, 370, 95]
	  BackgroundColor	  "[0.501961, 1.000000, 1.000000]"
	  ShowName		  off
	  DialogController	  "Simulink.DDGSource"
	  CloseFcn		  "tagdialog Close"
	  GotoTag		  "Iabc"
	}
	Block {
	  BlockType		  Constant
	  Name			  "Phir*"
	  Position		  [190, 203, 220, 227]
	  Value			  "0.96"
	}
	Block {
	  BlockType		  SubSystem
	  Name			  "Speed\ncontroller"
	  Ports			  [2, 1]
	  Position		  [110, 280, 165, 340]
	  BackgroundColor	  "lightBlue"
	  TreatAsAtomicUnit	  off
	  MinAlgLoopOccurrences	  off
	  RTWSystemCode		  "Auto"
	  MaskType		  "PI controller"
	  MaskDescription	  "Proportional-Integral Speed Controller"
	  MaskPromptString	  "Proportional gain (Kp)|Integral gain (Ki)|T"
"orque limit (N.m)|Sampling time (s)"
	  MaskStyleString	  "edit,edit,edit,edit"
	  MaskTunableValueString  "on,on,on,on"
	  MaskCallbackString	  "|||"
	  MaskEnableString	  "on,on,on,on"
	  MaskVisibilityString	  "on,on,on,on"
	  MaskToolTipString	  "on,on,on,on"
	  MaskVarAliasString	  ",,,"
	  MaskVariables		  "Kp=@1;Ki=@2;Tlim=@3;Ts=@4;"
	  MaskDisplay		  "plot(0,0,100,100,[35,35,65],[70,30,30],[35,"
"65],[45,60])"
	  MaskIconFrame		  on
	  MaskIconOpaque	  off
	  MaskIconRotate	  "none"
	  MaskIconUnits		  "autoscale"
	  MaskValueString	  "13|26|300|Ts"
	  MaskTabNameString	  ",,,"
	  System {
	    Name		    "Speed\ncontroller"
	    Location		    [119, 275, 497, 416]
	    Open		    off
	    ModelBrowserVisibility  off
	    ModelBrowserWidth	    200
	    ScreenColor		    "white"
	    PaperOrientation	    "landscape"
	    PaperPositionMode	    "auto"
	    PaperType		    "usletter"
	    PaperUnits		    "inches"
	    ZoomFactor		    "100"
	    Block {
	      BlockType		      Inport
	      Name		      "w"
	      Position		      [25, 83, 55, 97]
	      Port		      "1"
	      IconDisplay	      "Port number"
	      LatchInput	      off
	    }
	    Block {
	      BlockType		      Inport
	      Name		      "w*"
	      Position		      [25, 53, 55, 67]
	      Port		      "2"
	      IconDisplay	      "Port number"
	      LatchInput	      off
	    }
	    Block {
	      BlockType		      DiscreteIntegrator
	      Name		      "Discrete-Time\nIntegrator"
	      Ports		      [1, 1]
	      Position		      [180, 72, 245, 118]
	      ShowName		      off
	      IntegratorMethod	      "Integration: Trapezoidal"
	      ExternalReset	      "none"
	      InitialConditionSource  "internal"
	      SampleTime	      "Ts"
	      LimitOutput	      on
	      UpperSaturationLimit    "Tlim"
	      LowerSaturationLimit    "-Tlim"
	      ICPrevOutput	      "DiscIntNeverNeededParam"
	      ICPrevScaledInput	      "DiscIntNeverNeededParam"
	    }
	    Block {
	      BlockType		      Gain
	      Name		      "Gain"
	      Position		      [140, 81, 165, 109]
	      ShowName		      off
	      Gain		      "Ki"
	    }
	    Block {
	      BlockType		      Gain
	      Name		      "Gain1"
	      Position		      [140, 26, 170, 54]
	      ShowName		      off
	      Gain		      "Kp"
	    }
	    Block {
	      BlockType		      Saturate
	      Name		      "Saturation"
	      Position		      [280, 60, 300, 80]
	      ShowName		      off
	      UpperLimit	      "Tlim"
	      LowerLimit	      "-Tlim"
	    }
	    Block {
	      BlockType		      Sum
	      Name		      "Sum1"
	      Ports		      [2, 1]
	      Position		      [95, 43, 105, 107]
	      ShowName		      off
	      Inputs		      "+-"
	    }
	    Block {
	      BlockType		      Sum
	      Name		      "Sum2"
	      Ports		      [2, 1]
	      Position		      [260, 14, 265, 121]
	      ShowName		      off
	    }
	    Block {
	      BlockType		      Outport
	      Name		      "Te*"
	      Position		      [325, 63, 355, 77]
	      IconDisplay	      "Port number"
	      BusOutputAsStruct	      off
	      InitialOutput	      "0"
	    }
	    Line {
	      SrcBlock		      "Gain1"
	      SrcPort		      1
	      DstBlock		      "Sum2"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "Gain"
	      SrcPort		      1
	      DstBlock		      "Discrete-Time\nIntegrator"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "Sum1"
	      SrcPort		      1
	      Points		      [15, 0]
	      Branch {
		DstBlock		"Gain"
		DstPort			1
	      }
	      Branch {
		DstBlock		"Gain1"
		DstPort			1
	      }
	    }
	    Line {
	      SrcBlock		      "Discrete-Time\nIntegrator"
	      SrcPort		      1
	      DstBlock		      "Sum2"
	      DstPort		      2
	    }
	    Line {
	      SrcBlock		      "Sum2"
	      SrcPort		      1
	      DstBlock		      "Saturation"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "Saturation"
	      SrcPort		      1
	      DstBlock		      "Te*"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "w"
	      SrcPort		      1
	      DstBlock		      "Sum1"
	      DstPort		      2
	    }
	    Line {
	      SrcBlock		      "w*"
	      SrcPort		      1
	      DstBlock		      "Sum1"
	      DstPort		      1
	    }
	  }
	}
	Block {
	  BlockType		  SubSystem
	  Name			  "Teta\nCalculation"
	  Ports			  [3, 1]
	  Position		  [255, 79, 300, 141]
	  TreatAsAtomicUnit	  off
	  MinAlgLoopOccurrences	  off
	  RTWSystemCode		  "Auto"
	  System {
	    Name		    "Teta\nCalculation"
	    Location		    [130, 196, 670, 403]
	    Open		    off
	    ModelBrowserVisibility  off
	    ModelBrowserWidth	    200
	    ScreenColor		    "white"
	    PaperOrientation	    "landscape"
	    PaperPositionMode	    "auto"
	    PaperType		    "usletter"
	    PaperUnits		    "inches"
	    ZoomFactor		    "100"
	    Block {
	      BlockType		      Inport
	      Name		      "Phir"
	      Position		      [15, 58, 45, 72]
	      Port		      "1"
	      IconDisplay	      "Port number"
	      LatchInput	      off
	    }
	    Block {
	      BlockType		      Inport
	      Name		      "wm"
	      Position		      [225, 78, 255, 92]
	      Port		      "2"
	      IconDisplay	      "Port number"
	      LatchInput	      off
	    }
	    Block {
	      BlockType		      Inport
	      Name		      "Iq"
	      Position		      [15, 23, 45, 37]
	      Port		      "3"
	      IconDisplay	      "Port number"
	      LatchInput	      off
	    }
	    Block {
	      BlockType		      DiscreteIntegrator
	      Name		      "Discrete-Time\nIntegrator"
	      Ports		      [1, 1]
	      Position		      [380, 54, 400, 86]
	      ShowName		      off
	      IntegratorMethod	      "Integration: Forward Euler"
	      ExternalReset	      "none"
	      InitialConditionSource  "internal"
	      SampleTime	      "Ts"
	      ICPrevOutput	      "DiscIntNeverNeededParam"
	      ICPrevScaledInput	      "DiscIntNeverNeededParam"
	    }
	    Block {
	      BlockType		      Fcn
	      Name		      "Fcn"
	      Position		      [105, 40, 265, 60]
	      ShowName		      off
	      Expr		      "34.7e-3*u[1]/(u[2]*0.1557+1e-3)"
	    }
	    Block {
	      BlockType		      Gain
	      Name		      "Gain2"
	      Position		      [295, 35, 325, 65]
	      ShowName		      off
	    }
	    Block {
	      BlockType		      Gain
	      Name		      "Gain3"
	      Position		      [295, 73, 315, 97]
	      ShowName		      off
	      Gain		      "2"
	    }
	    Block {
	      BlockType		      Mux
	      Name		      "Mux"
	      Ports		      [2, 1]
	      Position		      [70, 12, 75, 83]
	      Inputs		      "2"
	    }
	    Block {
	      BlockType		      Sum
	      Name		      "Sum"
	      Ports		      [2, 1]
	      Position		      [350, 33, 360, 102]
	      ShowName		      off
	    }
	    Block {
	      BlockType		      Outport
	      Name		      "Teta"
	      Position		      [425, 63, 455, 77]
	      IconDisplay	      "Port number"
	      BusOutputAsStruct	      off
	      InitialOutput	      "0"
	    }
	    Line {
	      SrcBlock		      "Discrete-Time\nIntegrator"
	      SrcPort		      1
	      DstBlock		      "Teta"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "Sum"
	      SrcPort		      1
	      DstBlock		      "Discrete-Time\nIntegrator"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "Gain3"
	      SrcPort		      1
	      DstBlock		      "Sum"
	      DstPort		      2
	    }
	    Line {
	      SrcBlock		      "Gain2"
	      SrcPort		      1
	      DstBlock		      "Sum"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "wm"
	      SrcPort		      1
	      DstBlock		      "Gain3"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "Fcn"
	      SrcPort		      1
	      DstBlock		      "Gain2"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "Phir"
	      SrcPort		      1
	      DstBlock		      "Mux"
	      DstPort		      2
	    }
	    Line {
	      SrcBlock		      "Iq"
	      SrcPort		      1
	      DstBlock		      "Mux"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "Mux"
	      SrcPort		      1
	      DstBlock		      "Fcn"
	      DstPort		      1
	    }
	    Annotation {
	      Name		      " Teta= Electrical angle= integ ( wr + w"
"m)"
	      Position		      [122, 124]
	    }
	    Annotation {
	      Name		      "wr = Rotor frequency (rad/s) = Lm *Iq /"
" ( Tr  * Phir)"
	      Position		      [149, 141]
	    }
	    Annotation {
	      Name		      "Lm = 34.7 mH"
	      Position		      [339, 124]
	    }
	    Annotation {
	      Name		      "Rr=  0.228 ohms"
	      Position		      [344, 164]
	    }
	    Annotation {
	      Name		      "Lr = Ll'r +Lm = 0.8 +34.7= 35.5 mH"
	      Position		      [3