SaveName		      "ScopeData"
      LimitDataPoints	      on
      MaxDataPoints	      "5000"
      Decimation	      "1"
      SampleInput	      off
      SampleTime	      "0"
    }
    Block {
      BlockType		      Step
      Time		      "1"
      Before		      "0"
      After		      "1"
      SampleTime	      "-1"
      VectorParams1D	      on
      ZeroCross		      on
    }
    Block {
      BlockType		      SubSystem
      ShowPortLabels	      on
      Permissions	      "ReadWrite"
      PermitHierarchicalResolution "All"
      SystemSampleTime	      "-1"
      RTWFcnNameOpts	      "Auto"
      RTWFileNameOpts	      "Auto"
      SimViewingDevice	      off
      DataTypeOverride	      "UseLocalSettings"
      MinMaxOverflowLogging   "UseLocalSettings"
    }
    Block {
      BlockType		      Sum
      IconShape		      "rectangular"
      Inputs		      "++"
      InputSameDT	      on
      OutDataTypeMode	      "Same as first input"
      OutDataType	      "sfix(16)"
      OutScaling	      "2^0"
      LockScale		      off
      RndMeth		      "Floor"
      SaturateOnIntegerOverflow	on
      SampleTime	      "-1"
    }
  }
  AnnotationDefaults {
    HorizontalAlignment	    "center"
    VerticalAlignment	    "middle"
    ForegroundColor	    "black"
    BackgroundColor	    "white"
    DropShadow		    off
    FontName		    "Helvetica"
    FontSize		    10
    FontWeight		    "normal"
    FontAngle		    "normal"
  }
  LineDefaults {
    FontName		    "Helvetica"
    FontSize		    9
    FontWeight		    "normal"
    FontAngle		    "normal"
  }
  System {
    Name		    "conlac"
    Location		    [2, 82, 1270, 978]
    Open		    on
    ModelBrowserVisibility  off
    ModelBrowserWidth	    200
    ScreenColor		    "white"
    PaperOrientation	    "landscape"
    PaperPositionMode	    "auto"
    PaperType		    "usletter"
    PaperUnits		    "inches"
    ZoomFactor		    "100"
    ReportName		    "simulink-default.rpt"
    Block {
      BlockType		      DiscreteTransferFcn
      Name		      "Discrete\nTransfer Fcn"
      Position		      [185, 187, 230, 233]
      ShowName		      off
      FontName		      "Arial"
      FontSize		      14
      Numerator		      "[1 -1]"
      Denominator	      "[1 0]"
      SampleTime	      "0.1"
    }
    Block {
      BlockType		      RandomNumber
      Name		      "Nhieu "
      Position		      [525, 435, 555, 465]
      Orientation	      "up"
      FontSize		      14
      Variance		      "0.00001"
      Seed		      "7563678"
      SampleTime	      "0"
    }
    Block {
      BlockType		      RandomNumber
      Name		      "Nhieu do luong"
      Position		      [785, 375, 815, 405]
      Orientation	      "up"
      FontSize		      14
      Variance		      "0.00001"
      Seed		      "7563678"
      SampleTime	      "0"
    }
    Block {
      BlockType		      Scope
      Name		      "Scope"
      Ports		      [1]
      Position		      [885, 228, 915, 262]
      Location		      [287, 255, 1080, 729]
      Open		      off
      NumInputPorts	      "1"
      ZoomMode		      "xonly"
      List {
	ListType		AxesTitles
	axes1			"Teta1"
      }
      TimeRange		      "100"
      YMin		      "-0.6"
      YMax		      "1.4"
      SaveToWorkspace	      on
      SaveName		      "Teta2"
      DataFormat	      "Array"
    }
    Block {
      BlockType		      Step
      Name		      "Step"
      Position		      [85, 195, 115, 225]
      ShowName		      off
      FontName		      "Arial"
      FontSize		      14
      Time		      "0"
      SampleTime	      "0"
    }
    Block {
      BlockType		      SubSystem
      Name		      "Subsystem"
      Ports		      [2, 2]
      Position		      [585, 194, 735, 261]
      BackgroundColor	      "lightBlue"
      TreatAsAtomicUnit	      off
      MinAlgLoopOccurrences   off
      RTWSystemCode	      "Auto"
      MaskPromptString	      "j1|j2|b1|b2|k1|k2|m|l|tp"
      MaskStyleString	      "edit,edit,edit,edit,edit,edit,edit,edit,edit"
      MaskTunableValueString  "on,on,on,on,on,on,on,on,on"
      MaskCallbackString      "||||||||"
      MaskEnableString	      "on,on,on,on,on,on,on,on,on"
      MaskVisibilityString    "on,on,on,on,on,on,on,on,on"
      MaskToolTipString	      "on,on,on,on,on,on,on,on,on"
      MaskVarAliasString      ",,,,,,,,"
      MaskVariables	      "j1=@1;j2=@2;b1=@3;b2=@4;k1=@5;k2=@6;m=@7;l=@8;t"
"p=@9;"
      MaskInitialization      "g=9.81"
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "autoscale"
      MaskValueString	      "0.2163|0.2077|0.1983|0.1089|0.1443|3.2510|0.150"
"6|0.3814|[0 0 0 0 ]"
      MaskTabNameString	      ",,,,,,,,"
      System {
	Name			"Subsystem"
	Location		[0, 82, 1268, 1000]
	Open			off
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"white"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"usletter"
	PaperUnits		"inches"
	ZoomFactor		"100"
	Block {
	  BlockType		  Inport
	  Name			  "To1"
	  Position		  [55, 23, 85, 37]
	  BackgroundColor	  "red"
	  Port			  "1"
	  IconDisplay		  "Port number"
	  LatchInput		  off
	}
	Block {
	  BlockType		  Inport
	  Name			  "To2"
	  Position		  [30, 433, 60, 447]
	  BackgroundColor	  "red"
	  Port			  "2"
	  IconDisplay		  "Port number"
	  LatchInput		  off
	}
	Block {
	  BlockType		  Fcn
	  Name			  "Fcn1"
	  Position		  [290, 100, 350, 130]
	  ForegroundColor	  "red"
	  BackgroundColor	  "orange"
	  Expr			  "(u[1]/j1)-(b1*u[2]/j1)-(k1*(u[3]-u[4])/j1)-"
"(k2*(u[3]-u[4])*(u[3]-u[4])*(u[3]-u[4])/j1)"
	}
	Block {
	  BlockType		  Fcn
	  Name			  "Fcn2"
	  Position		  [315, 510, 375, 540]
	  ForegroundColor	  "red"
	  BackgroundColor	  "orange"
	  Expr			  "(u[1]/j2)-(b2*u[2]/(j2+m*l*l))+(k1*(u[4]-u["
"3])/j2)+(k2*(u[4]-u[3])*(u[4]-u[3])*(u[4]-u[3])/j2)-m*g*l*sin(u[3])/j2"
	}
	Block {
	  BlockType		  Integrator
	  Name			  "Integrator1"
	  Ports			  [1, 1]
	  Position		  [600, 100, 630, 130]
	  ForegroundColor	  "lightBlue"
	  InitialCondition	  "tp(1)"
	  IgnoreLimit		  off
	}
	Block {
	  BlockType		  Integrator
	  Name			  "Integrator2"
	  Ports			  [1, 1]
	  Position		  [430, 100, 460, 130]
	  ForegroundColor	  "yellow"
	  InitialCondition	  "tp(2)"
	  IgnoreLimit		  off
	}
	Block {
	  BlockType		  Integrator
	  Name			  "Integrator3"
	  Ports			  [1, 1]
	  Position		  [550, 510, 580, 540]
	  ForegroundColor	  "lightBlue"
	  InitialCondition	  "tp(3)"
	  IgnoreLimit		  off
	}
	Block {
	  BlockType		  Integrator
	  Name			  "Integrator4"
	  Ports			  [1, 1]
	  Position		  [440, 510, 470, 540]
	  ForegroundColor	  "yellow"
	  InitialCondition	  "tp(4)"
	  IgnoreLimit		  off
	}
	Block {
	  BlockType		  Mux
	  Name			  "Mux"
	  Ports			  [4, 1]
	  Position		  [175, 40, 230, 185]
	  BackgroundColor	  "green"
	  ShowName		  off
	  DisplayOption		  "signals"
	}
	Block {
	  BlockType		  Mux
	  Name			  "Mux1"
	  Ports			  [4, 1]
	  Position		  [165, 455, 220, 600]
	  BackgroundColor	  "green"
	  ShowName		  off
	  DisplayOption		  "signals"
	}
	Block {
	  BlockType		  Outport
	  Name			  "Teta1"
	  Position		  [1000, 108, 1030, 122]
	  BackgroundColor	  "yellow"
	  IconDisplay		  "Port number"
	  BusOutputAsStruct	  off
	}
	Block {
	  BlockType		  Outport
	  Name			  "Teta2"
	  Position		  [1035, 518, 1065, 532]
	  BackgroundColor	  "yellow"
	  Port			  "2"
	  IconDisplay		  "Port number"
	  BusOutputAsStruct	  off
	}
	Line {
	  SrcBlock		  "Integrator1"
	  SrcPort		  1
	  Points		  [85, 0]
	  Branch {
	    Points		    [0, 145; -615, 0; 0, -130]
	    DstBlock		    "Mux"
	    DstPort		    3
	  }
	  Branch {
	    Points		    [135, 0]
	    Branch {
	      Points		      [0, 625; -735, 0; 0, -160]
	      DstBlock		      "Mux1"
	      DstPort		      4
	    }
	    Branch {
	      DstBlock		      "Teta1"
	      DstPort		      1
	    }
	  }
	}
	Line {
	  SrcBlock		  "Integrator2"
	  SrcPort		  1
	  Points		  [80, 0]
	  Branch {
	    DstBlock		    "Integrator1"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, 190; -465, 0; 0, -210]
	    DstBlock		    "Mux"
	    DstPort		    2
	  }
	}
	Line {
	  SrcBlock		  "To1"
	  SrcPort		  1
	  Points		  [70, 0]
	  DstBlock		  "Mux"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Mux"
	  SrcPort		  1
	  DstBlock		  "Fcn1"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Fcn1"
	  SrcPort		  1
	  DstBlock		  "Integrator2"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "To2"
	  SrcPort		  1
	  Points		  [85, 0]
	  DstBlock		  "Mux1"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Fcn2"
	  SrcPort		  1
	  DstBlock		  "Integrator4"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Integrator4"
	  SrcPort		  1
	  Points		  [35, 0]
	  Branch {
	    DstBlock		    "Integrator3"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, 145; -445, 0; 0, -160]
	    DstBlock		    "Mux1"
	    DstPort		    2
	  }
	}
	Line {
	  SrcBlock		  "Integrator3"
	  SrcPort		  1
	  Points		  [55, 0]
	  Branch {
	    Points		    [0, 125; -535, 0; 0, -105]
	    DstBlock		    "Mux1"
	    DstPort		    3
	  }
	  Branch {
	    Points		    [125, 0]
	    Branch {
	      Points		      [0, -150; -630, 0; 0, -210]
	      DstBlock		      "Mux"
	      DstPort		      4
	    }
	    Branch {
	      DstBlock		      "Teta2"
	      DstPort		      1
	    }
	  }
	}
	Line {
	  SrcBlock		  "Mux1"
	  SrcPort		  1
	  Points		  [75, 0]
	  DstBlock		  "Fcn2"
	  DstPort		  1
	}
      }
    }
    Block {
      BlockType		      Sum
      Name		      "Sum"
      Ports		      [2, 1]
      Position		      [365, 200, 385, 220]
      ShowName		      off
      FontName		      "Arial"
      FontSize		      14
      IconShape		      "round"
      Inputs		      "|++"
      InputSameDT	      off
      OutDataTypeMode	      "Inherit via internal rule"
    }
    Block {
      BlockType		      Sum
      Name		      "Sum1"
      Ports		      [2, 1]
      Position		      [790, 235, 810, 255]
      ShowName		      off
      FontName		      "Arial"
      FontSize		      14
      IconShape		      "round"
      Inputs		      "|++"
      InputSameDT	      off
      OutDataTypeMode	      "Inherit via internal rule"
    }
    Block {
      BlockType		      Scope
      Name		      "To1"
      Ports		      [1]
      Position		      [505, 94, 535, 126]
      FontName		      "Arial"
      FontSize		      14
      Location		      [303, 96, 803, 301]
      Open		      off
      NumInputPorts	      "1"
      List {
	ListType		AxesTitles
	axes1			"%<SignalLabel>"
      }
      YMin		      "-1"
      YMax		      "1"
      SaveToWorkspace	      on
      SaveName		      "To1"
      DataFormat	      "Array"
    }
    Block {
      BlockType		      Constant
      Name		      "To_bar"
      Position		      [343, 360, 407, 390]
      Orientation	      "up"
      NamePlacement	      "alternate"
      FontName		      "Arial"
      FontSize		      14
      Value		      "0.282"
    }
    Block {
      BlockType		      Gain
      Name		      "alpha"
      Position		      [265, 189, 310, 231]
      FontSize		      14
      Gain		      "5"
    }
    Block {
      BlockType		      Gain
      Name		      "alpha1"
      Position		      [784, 310, 816, 345]
      Orientation	      "up"
      ShowName		      off
      FontSize		      14
    }
    Block {
      BlockType		      Gain
      Name		      "alpha2"
      Position		      [524, 340, 556, 375]
      Orientation	      "up"
      ShowName		      off
      FontSize		      14
    }
    Line {
      SrcBlock		      "Discrete\nTransfer Fcn"
      SrcPort		      1
      DstBlock		      "alpha"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Step"
      SrcPort		      1
      DstBlock		      "Discrete\nTransfer Fcn"
      DstPort		      1
    }
    Line {
      SrcBlock		      "alpha"
      SrcPort		      1
      DstBlock		      "Sum"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Sum"
      SrcPort		      1
      Points		      [85, 0]
      Branch {
	DstBlock		"Subsystem"
	DstPort			1
      }
      Branch {
	Points			[0, -100]
	DstBlock		"To1"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "To_bar"
      SrcPort		      1
      DstBlock		      "Sum"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Nhieu do luong"
      SrcPort		      1
      DstBlock		      "alpha1"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Subsystem"
      SrcPort		      2
      DstBlock		      "Sum1"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Sum1"
      SrcPort		      1
      DstBlock		      "Scope"
      DstPort		      1
    }
    Line {
      SrcBlock		      "alpha1"
      SrcPort		      1
      DstBlock		      "Sum1"
      DstPort		      2
    }
    Line {
      SrcBlock		      "alpha2"
      SrcPort		      1
      Points		      [0, -90]
      DstBlock		      "Subsystem"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Nhieu "
      SrcPort		      1
      DstBlock		      "alpha2"
      DstPort		      1
    }
  }
}