Model {
Name "Model210_DT_sv2_obs_servo"
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
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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 "student"
ModifiedDateFormat "%<Auto>"
LastModifiedDate "Fri Jan 13 10:03:20 2006"
ModelVersionFormat "1.%<AutoIncrement:154>"
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 "FixedStepDiscrete"
SolverMode "Auto"
StartTime "0.0"
StopTime "Tf"
MaxOrder 5
MaxStep "auto"
MinStep "auto"
MaxNumMinSteps "-1"
InitialStep "auto"
FixedStep "Ts"
RelTol "1e-3"
AbsTol "auto"
OutputOption "RefineOutputTimes"
OutputTimes "[]"
Refine "1"
LoadExternalInput off
ExternalInput "[t, u]"
LoadInitialState off
InitialState "xInitial"
SaveTime on
TimeSaveName "tout"
SaveState off
StateSaveName "xout"
SaveOutput on
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
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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"
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ForegroundColor "black"
BackgroundColor "white"
DropShadow off
NamePlacement "normal"
FontName "Helvetica"
FontSize 10
FontWeight "normal"
FontAngle "normal"
ShowName on
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BlockParameterDefaults {
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VectorParams1D on
ShowAdditionalParam off
OutDataTypeMode "Inherit from 'Constant value'"
OutDataType "sfix(16)"
ConRadixGroup "Use specified scaling"
OutScaling "2^0"
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Block {
BlockType Demux
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DisplayOption "none"
BusSelectionMode off
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Block {
BlockType Derivative
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Block {
BlockType DigitalClock
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Block {
BlockType Gain
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Multiplication "Element-wise(K.*u)"
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ParameterDataTypeMode "Same as input"
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ParameterScalingMode "Best Precision: Matrix-wise"
ParameterScaling "2^0"
OutDataTypeMode "Same as input"
OutDataType "sfix(16)"
OutScaling "2^0"
LockScale off
RndMeth "Floor"
SaturateOnIntegerOverflow on
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Block {
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LatchInput off
DataType "auto"
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Interpolate on
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Block {
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DisplayOption "none"
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Block {
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OutputWhenDisabled "held"
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ZeroCross on
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Block {
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Block {
BlockType Step
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Block {
BlockType SubSystem
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RTWSystemCode "Auto"
RTWFcnNameOpts "Auto"
RTWFileNameOpts "Auto"
SimViewingDevice off
DataTypeOverride "UseLocalSettings"
MinMaxOverflowLogging "UseLocalSettings"
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Block {
BlockType Sum
IconShape "rectangular"
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ShowAdditionalParam off
InputSameDT on
OutDataTypeMode "Same as first input"
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RndMeth "Floor"
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BlockType ToWorkspace
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Block {
BlockType UnitDelay
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AnnotationDefaults {
HorizontalAlignment "center"
VerticalAlignment "middle"
ForegroundColor "black"
BackgroundColor "white"
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FontName "Helvetica"
FontSize 10
FontWeight "normal"
FontAngle "normal"
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LineDefaults {
FontName "Helvetica"
FontSize 9
FontWeight "normal"
FontAngle "normal"
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System {
Name "Model210_DT_sv2_obs_servo"
Location [125, 96, 1128, 559]
Open on
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
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Block {
BlockType Gain
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Orientation "down"
NamePlacement "alternate"
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Multiplication "Matrix(K*u)"
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Block {
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ForegroundColor "red"
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Block {
BlockType Gain
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Orientation "down"
NamePlacement "alternate"
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Multiplication "Matrix(K*u)"
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Block {
BlockType Demux
Name "Demux"
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BackgroundColor "black"
ShowName off
Outputs "5"
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Block {
BlockType Demux
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Position [250, 241, 255, 279]
Orientation "left"
BackgroundColor "black"
ShowName off
Outputs "5"
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Block {
BlockType DigitalClock
Name "Digital Clock1"
Position [25, 23, 90, 47]
SampleTime "Ts"
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Block {
BlockType SubSystem
Name "ECP Model 210\nDiscrete-Time\n"
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Position [460, 94, 560, 136]
BackgroundColor "yellow"
TreatAsAtomicUnit off
System {
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Open off
ModelBrowserVisibility off
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Block {
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Block {
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TreatAsAtomicUnit off
MaskPromptString "Base I/O Address|Sample Time (Sec)|Timeout "
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MaskStyleString "edit,edit,edit,checkbox"
MaskTunableValueString "on,on,on,on"
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MaskEnableString "on,on,on,on"
MaskVisibilityString "on,on,on,on"
MaskToolTipString "on,on,on,on"
MaskVarAliasString ",,,"
MaskVariables "BaseAddr=@1;STime=@2;TimeOutPer=@3;HWAccess"
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MaskDisplay "color('black');disp('ECPDSP Driver\\n upto"
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MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
MaskValueString "'0xDE00'|Ts|500|on"
System {
Name "ECPDSP Driver"
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Open off
ModelBrowserVisibility off
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Orientation "left"
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Block {
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Orientation "left"
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Block {
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Block {
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ForegroundColor "red"
BackgroundColor "green"
TreatAsAtomicUnit off
System {
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Open off
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Block {
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Block {
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SrcPort 1
DstBlock "Sum4"
DstPort 1
}
Line {
SrcBlock "Ke"
SrcPort 1
Points [-60, 0]
DstBlock "Sum3"
DstPort 2
}
Line {
SrcBlock "Sum4"
SrcPort 1
Points [20, 0; 0, 110]
DstBlock "Ke"
DstPort 1
}
Line {
SrcBlock "G1"
SrcPort 1
Points [-45, 0]
DstBlock "Sum2"
DstPort 2
}
Line {
SrcBlock "Sum2"
SrcPort 1
DstBlock "Unit Delay1"
DstPort 1
}
Line {
SrcBlock "Sum3"
SrcPort 1
DstBlock "Sum2"
DstPort 1
}
Line {
SrcBlock "H1"
SrcPort 1
DstBlock "Sum3"
DstPort 1
}
Line {
SrcBlock "Demux1"
SrcPort 2
DstBlock "To Workspace8"
DstPort 1
}
Line {
SrcBlock "Sum6"
SrcPort 1
Points [0, 0; 70, 0]
Branch {
DstBlock "K1"
DstPort 1
}
Branch {
Points [0, 40]
DstBlock "Unit Delay2"
DstPort 1
}
}
Line {
SrcBlock "Unit Delay2"
SrcPort 1
Points [-20, 0]
DstBlock "Sum6"
DstPort 2
}
Line {
SrcBlock "Sum5"
SrcPort 1
DstBlock "Sum6"
DstPort 1
}
Line {
SrcBlock "Input"
SrcPort 1
DstBlock "Sum5"
DstPort 1
}
Line {
SrcBlock "Demux1"
SrcPort 1
Points [-20, 0; 0, -40]
DstBlock "To Workspace4"
DstPort 1
}
Line {
SrcBlock "ECP Model 210\nDiscrete-Time\n"
SrcPort 1
Points [120, 0]
Branch {
DstBlock "C"
DstPort 1
}
Branch {
Points [100, 0]
Branch {
DstBlock "Demux"
DstPort 1
}
Branch {
DstBlock "Cy"
DstPort 1
}
}
}
Line {
SrcBlock "Cy"
SrcPort 1
Points [0, 25]
Branch {
DstBlock "To Workspace"
DstPort 1
}
Branch {
Points [0, 115; -710, 0]
DstBlock "Sum5"
DstPort 2
}
}
Line {
SrcBlock "Demux"
SrcPort 3
Points [25, 0; 0, 25]
DstBlock "To Workspace1"
DstPort 1
}
Line {
SrcBlock "Demux"
SrcPort 4
Points [15, 0; 0, 70]
DstBlock "To Workspace2"
DstPort 1
}
Line {
SrcBlock "Demux"
SrcPort 5
Points [5, 0; 0, 150]
DstBlock "To Workspace7"
DstPort 1
}
Line {
SrcBlock "Demux1"
SrcPort 3
Points [-40, 0; 0, 45]
DstBlock "To Workspace10"
DstPort 1
}
Line {
SrcBlock "Demux1"
SrcPort 4
Points [-20, 0; 0, 85]
DstBlock "To Workspace11"
DstPort 1
}
Line {
SrcBlock "Demux1"
SrcPort 5
Points [-10, 0; 0, 135]
DstBlock "To Workspace9"
DstPort 1
}
}
}