Model {
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  StartTime		  "0.0"
  StopTime		  "999999"
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  Solver		  "ode45"
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  AbsTol		  "1e-3"
  Refine		  "1"
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  IntegerOverflowMsg	  "warning"
  UnnecessaryDatatypeConvMsg "none"
  Int32ToFloatConvMsg	  "warning"
  SignalLabelMismatchMsg  "none"
  ConsistencyChecking	  "off"
  ZeroCross		  on
  SimulationMode	  "normal"
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  BlockAttributesDataTip  off
  BlockPortWidthsDataTip  off
  BlockDescriptionStringDataTip	off
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  ToolBar		  on
  StatusBar		  on
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  OptimizeBlockIOStorage  on
  BufferReuse		  on
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  RTWSystemTargetFile	  "grt.tlc"
  RTWInlineParameters	  off
  RTWRetainRTWFile	  off
  RTWTemplateMakefile	  "grt_default_tmf"
  RTWMakeCommand	  "make_rtw"
  RTWGenerateCodeOnly	  off
  ExtModeMexFile	  "ext_comm"
  ExtModeBatchMode	  off
  ExtModeTrigType	  "manual"
  ExtModeTrigMode	  "oneshot"
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  ExtModeTrigElement	  "any"
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  ExtModeTrigDirection	  "rising"
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  ExtModeIncDirWhenArm	  off
  ExtModeAddSuffixToVar	  off
  ExtModeWriteAllDataToWs off
  ExtModeArmWhenConnect	  off
  Created		  "Sun Nov 05 12:40:39 2000"
  UpdateHistory		  "UpdateHistoryNever"
  ModifiedByFormat	  "%<Auto>"
  ModifiedDateFormat	  "%<Auto>"
  LastModifiedDate	  "Sun Nov 05 12:41:06 2000"
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  ConfigurationManager	  "none"
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    FontSize		    10
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  System {
    Name		    "c7fsimd"
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    ModelBrowserVisibility  off
    ModelBrowserWidth	    200
    ScreenColor		    "automatic"
    PaperOrientation	    "landscape"
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    PaperType		    "usletter"
    PaperUnits		    "inches"
    ZoomFactor		    "100"
    AutoZoom		    on
    ReportName		    "simulink-default.rpt"
    Block {
      BlockType		      SubSystem
      Name		      "PID with\nApproximate\nDerivative"
      Ports		      [1, 1, 0, 0, 0]
      Position		      [125, 89, 165, 121]
      FontName		      "Times New Roman"
      FontSize		      8
      ShowPortLabels	      off
      MaskType		      "PID(2) Controller"
      MaskDescription	      "Enter Proportional(P), Integral(I), and Derivat"
"ive(D) and divisor (N) terms.\nP+I/s+Ds/(1/Ns+1)"
      MaskHelp		      "This block implements a PID controller where pa"
"rameters are entered for the Proportional, Integral and Derivative and diviso"
"r terms. Unmask this block to see how it works. The derivative term is implem"
"ented using an:\\ns/(s/N +1)  transfer function block. Making N large can cre"
"ate a \"stiff\" system."
      MaskPromptString	      "Proportional:|Integral|Derivative:|Derivative d"
"ivisor(N):"
      MaskStyleString	      "edit,edit,edit,edit"
      MaskTunableValueString  "on,on,on,on"
      MaskCallbackString      "|||"
      MaskEnableString	      "on,on,on,on"
      MaskVisibilityString    "on,on,on,on"
      MaskInitialization      "P=@1; I=@2; D=@3; N=@4;"
      MaskDisplay	      "disp('PID')"
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "autoscale"
      MaskValueString	      "Kp|Kp/Ti|Kp*Td|N/Td"
      System {
	Name			"PID with\nApproximate\nDerivative"
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	ModelBrowserVisibility	off
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	AutoZoom		on
	Block {
	  BlockType		  Inport
	  Name			  "In_1"
	  Position		  [25, 65, 45, 85]
	  Port			  "1"
	  PortWidth		  "-1"
	  SampleTime		  "-1"
	  DataType		  "auto"
	  SignalType		  "auto"
	  Interpolate		  on
	}
	Block {
	  BlockType		  TransferFcn
	  Name			  "Derivative"
	  Position		  [110, 120, 160, 160]
	  Numerator		  "[D, 0]"
	  Denominator		  "[1/N 1]"
	}
	Block {
	  BlockType		  TransferFcn
	  Name			  "Integral"
	  Position		  [110, 57, 145, 93]
	  Numerator		  "[I]"
	  Denominator		  "[1 0]"
	}
	Block {
	  BlockType		  Gain
	  Name			  "Proportional"
	  Position		  [120, 13, 140, 37]
	  Gain			  "P"
	  SaturateOnIntegerOverflow on
	}
	Block {
	  BlockType		  Sum
	  Name			  "Sum"
	  Ports			  [3, 1, 0, 0, 0]
	  Position		  [245, 57, 265, 93]
	  IconShape		  "rectangular"
	  Inputs		  "+++"
	  SaturateOnIntegerOverflow on
	}
	Block {
	  BlockType		  Outport
	  Name			  "Out_1"
	  Position		  [290, 65, 310, 85]
	  Port			  "1"
	  OutputWhenDisabled	  "held"
	  InitialOutput		  "[]"
	}
	Line {
	  SrcBlock		  "Proportional"
	  SrcPort		  1
	  Points		  [65, 0; 0, 40]
	  DstBlock		  "Sum"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Integral"
	  SrcPort		  1
	  DstBlock		  "Sum"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Derivative"
	  SrcPort		  1
	  Points		  [50, 0; 0, -55]
	  DstBlock		  "Sum"
	  DstPort		  3
	}
	Line {
	  SrcBlock		  "In_1"
	  SrcPort		  1
	  Points		  [15, 0]
	  Branch {
	    Points		    [15, 0]
	    Branch {
	      DstBlock		      "Integral"
	      DstPort		      1
	    }
	    Branch {
	      Points		      [0, -50]
	      DstBlock		      "Proportional"
	      DstPort		      1
	    }
	  }
	  Branch {
	    Points		    [0, 65]
	    DstBlock		    "Derivative"
	    DstPort		    1
	  }
	}
	Line {
	  SrcBlock		  "Sum"
	  SrcPort		  1
	  DstBlock		  "Out_1"
	  DstPort		  1
	}
      }
    }
    Block {
      BlockType		      Step
      Name		      "Step Input"
      Position		      [20, 90, 40, 110]
      FontName		      "Times New Roman"
      FontSize		      8
      Time		      "0"
      Before		      "0"
      After		      "U"
      SampleTime	      "-1"
    }
    Block {
      BlockType		      Step
      Name		      "Step at t1"
      Position		      [155, 5, 175, 25]
      FontName		      "Times New Roman"
      FontSize		      8
      Time		      "t1"
      Before		      "0"
      After		      "1"
      SampleTime	      "-1"
    }
    Block {
      BlockType		      Sum
      Name		      "Sum"
      Ports		      [3, 1, 0, 0, 0]
      Position		      [230, 77, 250, 113]
      FontName		      "Times New Roman"
      FontSize		      8
      IconShape		      "rectangular"
      Inputs		      "+++"
      SaturateOnIntegerOverflow	on
    }
    Block {
      BlockType		      TransportDelay
      Name		      "Transport\nDelay"
      Position		      [345, 80, 385, 110]
      FontName		      "Times New Roman"
      FontSize		      8
      DelayTime		      "Tdly"
      InitialInput	      "0"
      BufferSize	      "1024"
    }
    Block {
      BlockType		      TransferFcn
      Name		      "plant model"
      Position		      [275, 75, 330, 115]
      FontName		      "Times New Roman"
      FontSize		      8
      Numerator		      "num"
      Denominator	      "den"
    }
    Block {
      BlockType		      Sum
      Name		      "s1"
      Ports		      [2, 1, 0, 0, 0]
      Position		      [65, 95, 85, 115]
      FontName		      "Times New Roman"
      FontSize		      8
      IconShape		      "rectangular"
      Inputs		      "+-"
      SaturateOnIntegerOverflow	on
    }
    Block {
      BlockType		      Step
      Name		      "step at t2"
      Position		      [150, 45, 170, 65]
      FontName		      "Times New Roman"
      FontSize		      8
      Time		      "t2"
      Before		      "0"
      After		      "-1"
      SampleTime	      "-1"
    }
    Block {
      BlockType		      Outport
      Name		      "Outport"
      Position		      [425, 85, 445, 105]
      FontName		      "Times New Roman"
      FontSize		      8
      Port		      "1"
      OutputWhenDisabled      "held"
      InitialOutput	      "[]"
    }
    Line {
      SrcBlock		      "Step Input"
      SrcPort		      1
      DstBlock		      "s1"
      DstPort		      1
    }
    Line {
      SrcBlock		      "s1"
      SrcPort		      1
      DstBlock		      "PID with\nApproximate\nDerivative"
      DstPort		      1
    }
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      SrcBlock		      "plant model"
      SrcPort		      1
      DstBlock		      "Transport\nDelay"
      DstPort		      1
    }
    Line {
      SrcBlock		      "PID with\nApproximate\nDerivative"
      SrcPort		      1
      DstBlock		      "Sum"
      DstPort		      3
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      SrcBlock		      "Sum"
      SrcPort		      1
      DstBlock		      "plant model"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Transport\nDelay"
      SrcPort		      1
      Points		      [0, 0]
      Branch {
	DstBlock		"Outport"
	DstPort			1
      }
      Branch {
	Points			[0, 75; -345, 0; 0, -60]
	DstBlock		"s1"
	DstPort			2
      }
    }
    Line {
      SrcBlock		      "Step at t1"
      SrcPort		      1
      Points		      [30, 0; 0, 70]
      DstBlock		      "Sum"
      DstPort		      1
    }
    Line {
      SrcBlock		      "step at t2"
      SrcPort		      1
      Points		      [20, 0; 0, 40]
      DstBlock		      "Sum"
      DstPort		      2
    }
  }
}