Model {
Name "Basic_2dof_State_Variable_Model"
Version 5.1
SaveDefaultBlockParams on
SampleTimeColors off
LibraryLinkDisplay "none"
WideLines off
ShowLineDimensions off
ShowPortDataTypes off
ShowLoopsOnError on
IgnoreBidirectionalLines off
ShowStorageClass off
SortedOrder off
RecordCoverage off
CovPath "/"
CovSaveName "covdata"
CovMetricSettings "dw"
CovNameIncrementing off
CovHtmlReporting on
covSaveCumulativeToWorkspaceVar on
CovSaveSingleToWorkspaceVar on
CovCumulativeVarName "covCumulativeData"
CovCumulativeReport off
DataTypeOverride "UseLocalSettings"
MinMaxOverflowLogging "UseLocalSettings"
MinMaxOverflowArchiveMode "Overwrite"
BlockNameDataTip off
BlockParametersDataTip off
BlockDescriptionStringDataTip off
ToolBar on
StatusBar on
BrowserShowLibraryLinks off
BrowserLookUnderMasks off
Created "Mon Jul 31 20:59:39 2000"
UpdateHistory "UpdateHistoryNever"
ModifiedByFormat "%<Auto>"
LastModifiedBy "throne"
ModifiedDateFormat "%<Auto>"
LastModifiedDate "Mon May 09 11:33:55 2005"
ModelVersionFormat "1.%<AutoIncrement:127>"
ConfigurationManager "None"
SimParamPage "Solver"
LinearizationMsg "none"
Profile off
ParamWorkspaceSource "MATLABWorkspace"
AccelSystemTargetFile "accel.tlc"
AccelTemplateMakefile "accel_default_tmf"
AccelMakeCommand "make_rtw"
TryForcingSFcnDF off
ExtModeMexFile "rtwinext"
ExtModeBatchMode off
ExtModeTrigType "manual"
ExtModeTrigMode "normal"
ExtModeTrigPort "1"
ExtModeTrigElement "any"
ExtModeTrigDuration 10000
ExtModeTrigHoldOff 0
ExtModeTrigDelay 0
ExtModeTrigDirection "rising"
ExtModeTrigLevel 0
ExtModeArchiveMode "off"
ExtModeAutoIncOneShot off
ExtModeIncDirWhenArm off
ExtModeAddSuffixToVar off
ExtModeWriteAllDataToWs off
ExtModeArmWhenConnect on
ExtModeSkipDownloadWhenConnect off
ExtModeLogAll on
ExtModeAutoUpdateStatusClock on
BufferReuse on
RTWExpressionDepthLimit 5
SimulationMode "normal"
Solver "ode45"
SolverMode "Auto"
StartTime "0.0"
StopTime "Tf"
MaxOrder 5
MaxStep "0.0001"
MinStep "auto"
MaxNumMinSteps "-1"
InitialStep "auto"
FixedStep "auto"
RelTol "1e-3"
AbsTol "auto"
OutputOption "RefineOutputTimes"
OutputTimes "[]"
Refine "1"
LoadExternalInput off
ExternalInput "[t, u]"
LoadInitialState off
InitialState "xInitial"
SaveTime off
TimeSaveName "tout"
SaveState off
StateSaveName "xout"
SaveOutput off
OutputSaveName "yout"
SaveFinalState off
FinalStateName "xFinal"
SaveFormat "Array"
Decimation "1"
LimitDataPoints on
MaxDataPoints "10000"
SignalLoggingName "sigsOut"
ConsistencyChecking "none"
ArrayBoundsChecking "none"
AlgebraicLoopMsg "warning"
BlockPriorityViolationMsg "warning"
MinStepSizeMsg "warning"
InheritedTsInSrcMsg "warning"
DiscreteInheritContinuousMsg "warning"
MultiTaskRateTransMsg "error"
SingleTaskRateTransMsg "none"
CheckForMatrixSingularity "none"
IntegerOverflowMsg "warning"
Int32ToFloatConvMsg "warning"
ParameterDowncastMsg "error"
ParameterOverflowMsg "error"
ParameterPrecisionLossMsg "warning"
UnderSpecifiedDataTypeMsg "none"
UnnecessaryDatatypeConvMsg "none"
VectorMatrixConversionMsg "none"
InvalidFcnCallConnMsg "error"
SignalLabelMismatchMsg "none"
UnconnectedInputMsg "warning"
UnconnectedOutputMsg "warning"
UnconnectedLineMsg "warning"
SfunCompatibilityCheckMsg "none"
RTWInlineParameters off
BlockReductionOpt on
BooleanDataType on
ConditionallyExecuteInputs on
ParameterPooling on
OptimizeBlockIOStorage on
ZeroCross on
AssertionControl "UseLocalSettings"
ProdHWDeviceType "Microprocessor"
ProdHWWordLengths "8,16,32,32"
RTWSystemTargetFile "rtwin.tlc"
RTWTemplateMakefile "rtwintmf"
RTWMakeCommand "make_rtw"
RTWGenerateCodeOnly off
RTWRetainRTWFile off
TLCProfiler off
TLCDebug off
TLCCoverage off
TLCAssertion off
RTWOptions " -aCCOptimize=1 -aEnforceIntegerDowncast=1 -aExtMod"
"e=1 -aFoldNonRolledExpr=1 -aForceParamTrailComments=0 -aGenerateComments=1 -a"
"GenerateReport=0 -aIncDataTypeInIds=0 -aIncHierarchyInIds=0 -aInlineInvariant"
"Signals=0 -aInlineParameters=0 -aInlinedPrmAccess=\"Literals\" -aLocalBlockOu"
"tputs=1 -aMaxRTWIdLen=31 -aPrefixModelToSubsysFcnNames=1 -aRTWVerbose=1 -aReb"
"uildAll=0 -aRollThreshold=5 -aShowEliminatedStatements=0"
BlockDefaults {
Orientation "right"
ForegroundColor "black"
BackgroundColor "white"
DropShadow off
NamePlacement "normal"
FontName "Helvetica"
FontSize 10
FontWeight "normal"
FontAngle "normal"
ShowName on
}
BlockParameterDefaults {
Block {
BlockType Clock
DisplayTime off
}
Block {
BlockType Demux
Outputs "4"
DisplayOption "none"
BusSelectionMode off
}
Block {
BlockType Gain
Gain "1"
Multiplication "Element-wise(K.*u)"
ShowAdditionalParam off
ParameterDataTypeMode "Same as input"
ParameterDataType "sfix(16)"
ParameterScalingMode "Best Precision: Matrix-wise"
ParameterScaling "2^0"
OutDataTypeMode "Same as input"
OutDataType "sfix(16)"
OutScaling "2^0"
LockScale off
RndMeth "Floor"
SaturateOnIntegerOverflow on
}
Block {
BlockType Integrator
ExternalReset "none"
InitialConditionSource "internal"
InitialCondition "0"
LimitOutput off
UpperSaturationLimit "inf"
LowerSaturationLimit "-inf"
ShowSaturationPort off
ShowStatePort off
AbsoluteTolerance "auto"
ZeroCross on
}
Block {
BlockType Saturate
UpperLimit "0.5"
LowerLimit "-0.5"
LinearizeAsGain on
ZeroCross on
}
Block {
BlockType Step
Time "1"
Before "0"
After "1"
VectorParams1D on
ZeroCross on
}
Block {
BlockType Sum
IconShape "rectangular"
Inputs "++"
ShowAdditionalParam off
InputSameDT on
OutDataTypeMode "Same as first input"
OutDataType "sfix(16)"
OutScaling "2^0"
LockScale off
RndMeth "Floor"
SaturateOnIntegerOverflow on
}
Block {
BlockType ToWorkspace
VariableName "simulink_output"
MaxDataPoints "1000"
Decimation "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 "Basic_2dof_State_Variable_Model"
Location [48, 135, 765, 548]
Open on
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "100"
ReportName "simulink-default.rpt"
Block {
BlockType Gain
Name "A"
Position [405, 150, 435, 180]
Orientation "left"
Gain "A"
Multiplication "Matrix(K*u)"
}
Block {
BlockType Gain
Name "B"
Position [305, 95, 335, 125]
Gain "B"
Multiplication "Matrix(K*u)"
}
Block {
BlockType Gain
Name "C"
Position [565, 205, 595, 235]
Gain "C"
Multiplication "Matrix(K*u)"
}
Block {
BlockType Clock
Name "Clock"
Position [15, 190, 35, 210]
Decimation "1"
}
Block {
BlockType Demux
Name "Demux"
Ports [1, 4]
Position [560, 51, 565, 169]
BackgroundColor "black"
ShowName off
}
Block {
BlockType Gain
Name "Gpf"
Position [100, 85, 130, 115]
Gain "Gpf"
}
Block {
BlockType Integrator
Name "Integrator"
Ports [1, 1]
Position [430, 95, 460, 125]
InitialCondition "[ic_x1; ic_x1_dot; ic_theta; ic_theta_dot];"
}
Block {
BlockType Gain
Name "K"
Position [320, 205, 350, 235]
Orientation "left"
Gain "K"
Multiplication "Matrix(K*u)"
}
Block {
BlockType Saturate
Name "Saturation"
Position [240, 95, 270, 125]
UpperLimit "saturation_level"
LowerLimit "-saturation_level"
}
Block {
BlockType Step
Name "Step"
Position [45, 85, 75, 115]
Time "0"
After "Amp"
SampleTime "0"
}
Block {
BlockType Sum
Name "Sum"
Ports [2, 1]
Position [190, 82, 210, 138]
ShowName off
Inputs "|+|-|"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
}
Block {
BlockType Sum
Name "Sum2"
Ports [2, 1]
Position [360, 100, 380, 120]
ShowName off
IconShape "round"
Inputs "|++"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
}
Block {
BlockType ToWorkspace
Name "To Workspace"
Position [625, 15, 685, 45]
VariableName "m_x1"
MaxDataPoints "inf"
SampleTime "-1"
SaveFormat "Array"
}
Block {
BlockType ToWorkspace
Name "To Workspace1"
Position [630, 60, 690, 90]
VariableName "m_x1_dot"
MaxDataPoints "inf"
SampleTime "-1"
SaveFormat "Array"
}
Block {
BlockType ToWorkspace
Name "To Workspace2"
Position [635, 205, 695, 235]
VariableName "m_y"
MaxDataPoints "inf"
SampleTime "-1"
SaveFormat "Array"
}
Block {
BlockType ToWorkspace
Name "To Workspace3"
Position [80, 185, 140, 215]
VariableName "m_time"
MaxDataPoints "inf"
SampleTime "-1"
SaveFormat "Array"
}
Block {
BlockType ToWorkspace
Name "To Workspace4"
Position [630, 110, 690, 140]
VariableName "m_theta"
MaxDataPoints "inf"
SampleTime "-1"
SaveFormat "Array"
}
Block {
BlockType ToWorkspace
Name "To Workspace5"
Position [335, 35, 395, 65]
VariableName "m_u"
MaxDataPoints "inf"
SampleTime "-1"
SaveFormat "Array"
}
Block {
BlockType ToWorkspace
Name "To Workspace6"
Position [135, 20, 195, 50]
VariableName "m_r"
MaxDataPoints "inf"
SampleTime "-1"
SaveFormat "Array"
}
Block {
BlockType ToWorkspace
Name "To Workspace7"
Position [620, 155, 680, 185]
VariableName "m_theta_dot"
MaxDataPoints "inf"
SampleTime "-1"
SaveFormat "Array"
}
Line {
SrcBlock "Clock"
SrcPort 1
DstBlock "To Workspace3"
DstPort 1
}
Line {
SrcBlock "A"
SrcPort 1
Points [-30, 0]
DstBlock "Sum2"
DstPort 2
}
Line {
SrcBlock "Sum2"
SrcPort 1
DstBlock "Integrator"
DstPort 1
}
Line {
SrcBlock "Integrator"
SrcPort 1
Points [0, 0; 10, 0]
Branch {
Points [0, 55]
DstBlock "A"
DstPort 1
}
Branch {
Points [40, 0]
Branch {
DstBlock "Demux"
DstPort 1
}
Branch {
Points [0, 110]
Branch {
DstBlock "C"
DstPort 1
}
Branch {
DstBlock "K"
DstPort 1
}
}
}
}
Line {
SrcBlock "Gpf"
SrcPort 1
DstBlock "Sum"
DstPort 1
}
Line {
SrcBlock "Step"
SrcPort 1
Points [0, 0; 5, 0]
Branch {
DstBlock "Gpf"
DstPort 1
}
Branch {
Points [0, -65]
DstBlock "To Workspace6"
DstPort 1
}
}
Line {
SrcBlock "B"
SrcPort 1
DstBlock "Sum2"
DstPort 1
}
Line {
SrcBlock "Saturation"
SrcPort 1
Points [0, 0; 10, 0]
Branch {
DstBlock "B"
DstPort 1
}
Branch {
Points [0, -60]
DstBlock "To Workspace5"
DstPort 1
}
}
Line {
SrcBlock "Sum"
SrcPort 1
DstBlock "Saturation"
DstPort 1
}
Line {
SrcBlock "C"
SrcPort 1
DstBlock "To Workspace2"
DstPort 1
}
Line {
SrcBlock "Demux"
SrcPort 1
Points [0, -35]
DstBlock "To Workspace"
DstPort 1
}
Line {
SrcBlock "Demux"
SrcPort 2
Points [0, -20]
DstBlock "To Workspace1"
DstPort 1
}
Line {
SrcBlock "K"
SrcPort 1
Points [-150, 0; 0, -100]
DstBlock "Sum"
DstPort 2
}
Line {
SrcBlock "Demux"
SrcPort 3
DstBlock "To Workspace4"
DstPort 1
}
Line {
SrcBlock "Demux"
SrcPort 4
Points [20, 0; 0, 15]
DstBlock "To Workspace7"
DstPort 1
}
}
}