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  Created		  "Thu Mar 27 16:06:34 2003"
  UpdateHistory		  "UpdateHistoryNever"
  ModifiedByFormat	  "%<Auto>"
  LastModifiedBy	  "burchett"
  ModifiedDateFormat	  "%<Auto>"
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  CovPath		  "/"
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      Ports		      [1, 1]
      Position		      [415, 185, 445, 215]
      HitCrossingOffset	      "2"
      HitCrossingDirection    "rising"
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    Block {
      BlockType		      Mux
      Name		      "Mux"
      Ports		      [4, 1]
      Position		      [235, 216, 240, 254]
      Orientation	      "left"
      ShowName		      off
      DisplayOption	      "bar"
    }
    Block {
      BlockType		      Scope
      Name		      "Scope"
      Ports		      [1]
      Position		      [375, 19, 405, 51]
      Floating		      off
      Location		      [643, 90, 967, 329]
      Open		      off
      NumInputPorts	      "1"
      List {
	ListType		AxesTitles
	axes1			"%<SignalLabel>"
      }
      DataFormat	      "StructureWithTime"
      SampleTime	      "0"
    }
    Block {
      BlockType		      Scope
      Name		      "Scope1"
      Ports		      [1]
      Position		      [370, 69, 400, 101]
      Floating		      off
      Location		      [188, 365, 512, 604]
      Open		      off
      NumInputPorts	      "1"
      List {
	ListType		AxesTitles
	axes1			"%<SignalLabel>"
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      YMin		      "-1"
      YMax		      "9"
      SaveName		      "ScopeData1"
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      SampleTime	      "0"
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    Block {
      BlockType		      Stop
      Name		      "Stop Simulation"
      Position		      [490, 182, 525, 218]
    }
    Block {
      BlockType		      SubSystem
      Name		      "Subsystem"
      Ports		      [2, 2]
      Position		      [115, 132, 215, 183]
      MinAlgLoopOccurrences   off
      RTWSystemCode	      "Auto"
      FunctionWithSeparateData off
      MaskHideContents	      off
      System {
	Name			"Subsystem"
	Location		[823, 376, 1235, 525]
	Open			on
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"white"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"usletter"
	PaperUnits		"inches"
	TiledPaperMargins	[0.500000, 0.500000, 0.500000, 0.500000]
	TiledPageScale		1
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	ZoomFactor		"100"
	Block {
	  BlockType		  Inport
	  Name			  "V"
	  Position		  [35, 68, 65, 82]
	  IconDisplay		  "Port number"
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	Block {
	  BlockType		  Inport
	  Name			  "beta"
	  Position		  [40, 23, 70, 37]
	  Port			  "2"
	  IconDisplay		  "Port number"
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	Block {
	  BlockType		  Mux
	  Name			  "Mux"
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	  Position		  [105, 21, 110, 59]
	  ShowName		  off
	  Inputs		  "2"
	  DisplayOption		  "bar"
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	Block {
	  BlockType		  SubSystem
	  Name			  "Subsystem"
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	  Position		  [150, 25, 250, 80]
	  MinAlgLoopOccurrences	  off
	  RTWSystemCode		  "Auto"
	  FunctionWithSeparateData off
	  MaskHideContents	  off
	  System {
	    Name		    "Subsystem"
	    Location		    [398, 204, 1093, 382]
	    Open		    on
	    ModelBrowserVisibility  off
	    ModelBrowserWidth	    200
	    ScreenColor		    "white"
	    PaperOrientation	    "landscape"
	    PaperPositionMode	    "auto"
	    PaperType		    "usletter"
	    PaperUnits		    "inches"
	    TiledPaperMargins	    [0.500000, 0.500000, 0.500000, 0.500000]
	    TiledPageScale	    1
	    ShowPageBoundaries	    off
	    ZoomFactor		    "100"
	    Block {
	      BlockType		      Inport
	      Name		      "In1"
	      Position		      [20, 58, 50, 72]
	      IconDisplay	      "Port number"
	    }
	    Block {
	      BlockType		      Gain
	      Name		      "1/L"
	      Position		      [140, 84, 220, 126]
	      Gain		      "-1/3.0293"
	    }
	    Block {
	      BlockType		      Constant
	      Name		      "Constant"
	      Position		      [270, 95, 300, 125]
	      Value		      "-26/180*pi"
	      VectorParams1D	      on
	      SamplingMode	      "Sample based"
	      OutDataTypeMode	      "Inherit from 'Constant value'"
	      OutDataType	      "sfix(16)"
	      ConRadixGroup	      "Use specified scaling"
	      OutScaling	      "2^0"
	      SampleTime	      "inf"
	      FramePeriod	      "inf"
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	    Block {
	      BlockType		      Demux
	      Name		      "Demux"
	      Ports		      [1, 2]
	      Position		      [100, 46, 105, 84]
	      BackgroundColor	      "black"
	      ShowName		      off
	      Outputs		      "2"
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	    Block {
	      BlockType		      Integrator
	      Name		      "Integrator"
	      Ports		      [2, 1]
	      Position		      [350, 57, 380, 88]
	      InitialConditionSource  "external"
	      IgnoreLimit	      off
	    }
	    Block {
	      BlockType		      Integrator
	      Name		      "Integrator1"
	      Ports		      [1, 1]
	      Position		      [560, 59, 590, 91]
	      InitialCondition	      "[-8.7227; -3.1974; -6; -4.5254]"
	      IgnoreLimit	      off
	    }
	    Block {
	      BlockType		      Mux
	      Name		      "Mux"
	      Ports		      [4, 1]
	      Position		      [440, 56, 445, 94]
	      ShowName		      off
	      DisplayOption	      "bar"
	    }
	    Block {
	      BlockType		      Product
	      Name		      "Product"
	      Ports		      [2, 1]
	      Position		      [260, 46, 305, 79]
	    }
	    Block {
	      BlockType		      Trigonometry
	      Name		      "Trigonometric\nFunction"
	      Ports		      [1, 1]
	      Position		      [165, 20, 195, 50]
	      Operator		      "tan"
	    }
	    Block {
	      BlockType		      MATLABFcn
	      Name		      "carback"
	      Position		      [470, 60, 530, 90]
	      MATLABFcn		      "carback"
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	    Block {
	      BlockType		      Outport
	      Name		      "Out1"
	      Position		      [625, 68, 655, 82]
	      IconDisplay	      "Port number"
	      BusOutputAsStruct	      off
	    }
	    Block {
	      BlockType		      Outport
	      Name		      "Out2"
	      Position		      [625, 113, 655, 127]
	      Port		      "2"
	      IconDisplay	      "Port number"
	      BusOutputAsStruct	      off
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	    Line {
	      SrcBlock		      "Demux"
	      SrcPort		      1
	      Points		      [0, -20; 15, 0]
	      Branch {
		Points			[0, -25; 300, 0]
		DstBlock		"Mux"
		DstPort			1
	      }
	      Branch {
		DstBlock		"Trigonometric\nFunction"
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	    }
	    Line {
	      SrcBlock		      "Demux"
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	      Points		      [0, 30; 15, 0]
	      Branch {
		Points			[0, 35; 300, 0]
		DstBlock		"Mux"
		DstPort			4
	      }
	      Branch {
		DstBlock		"1/L"
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	    }
	    Line {
	      SrcBlock		      "Trigonometric\nFunction"
	      SrcPort		      1
	      Points		      [30, 0; 0, 20]
	      DstBlock		      "Product"
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	    }
	    Line {
	      SrcBlock		      "1/L"
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	      Points		      [5, 0; 0, -35]
	      DstBlock		      "Product"
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	    Line {
	      SrcBlock		      "Product"
	      SrcPort		      1
	      Points		      [0, 0; 10, 0]
	      Branch {
		Points			[0, -15; 85, 0; 0, 20]
		DstBlock		"Mux"
		DstPort			2
	      }
	      Branch {
		DstBlock		"Integrator"
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	    }
	    Line {
	      SrcBlock		      "Mux"
	      SrcPort		      1
	      DstBlock		      "carback"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "carback"
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	      DstBlock		      "Integrator1"
	      DstPort		      1
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	    Line {
	      SrcBlock		      "Integrator"
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	      Points		      [5, 0]
	      Branch {
		Points			[5, 0; 0, 5]
		DstBlock		"Mux"
		DstPort			3
	      }
	      Branch {
		Points			[0, 45]
		DstBlock		"Out2"
		DstPort			1
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	    }
	    Line {
	      SrcBlock		      "Constant"
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	      Points		      [15, 0; 0, -30]
	      DstBlock		      "Integrator"
	      DstPort		      2
	    }
	    Line {
	      SrcBlock		      "Integrator1"
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	      DstBlock		      "Out1"
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	    }
	    Line {
	      SrcBlock		      "In1"
	      SrcPort		      1
	      DstBlock		      "Demux"
	      DstPort		      1
	    }
	    Annotation {
	      Name		      "psi"
	      Position		      [397, 65]
	      UseDisplayTextAsClickCallback off
	    }
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	}
	Block {
	  BlockType		  Outport
	  Name			  "simout"
	  Position		  [280, 33, 310, 47]
	  IconDisplay		  "Port number"
	  BusOutputAsStruct	  off
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	Block {
	  BlockType		  Outport
	  Name			  "psi"
	  Position		  [295, 78, 325, 92]
	  Port			  "2"
	  IconDisplay		  "Port number"
	  BusOutputAsStruct	  off
	}
	Line {
	  SrcBlock		  "Mux"
	  SrcPort		  1
	  Points		  [20, 0]
	  DstBlock		  "Subsystem"
	  DstPort		  1
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	Line {
	  SrcBlock		  "Subsystem"
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	  DstBlock		  "simout"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Subsystem"
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	  Points		  [15, 0; 0, 20]
	  DstBlock		  "psi"
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	Line {
	  SrcBlock		  "V"
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	  Points		  [10, 0; 0, -25]
	  DstBlock		  "Mux"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "beta"
	  SrcPort		  1
	  DstBlock		  "Mux"
	  DstPort		  1
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      }
    }
    Block {
      BlockType		      ToWorkspace
      Name		      "To Workspace"
      Position		      [270, 40, 330, 70]
      VariableName	      "simout"
      MaxDataPoints	      "inf"
      SampleTime	      "-1"
      SaveFormat	      "Array"
    }
    Block {
      BlockType		      ToWorkspace
      Name		      "To Workspace1"
      Position		      [130, 65, 190, 95]
      Orientation	      "left"
      VariableName	      "psi"
      MaxDataPoints	      "inf"
      SampleTime	      "-1"
      SaveFormat	      "Array"
    }
    Block {
      BlockType		      Reference
      Name		      "XY Graph"
      Ports		      [2]
      Position		      [370, 115, 400, 150]
      SourceBlock	      "simulink/Sinks/XY Graph"
      SourceType	      "XY scope."
      ShowPortLabels	      on
      SystemSampleTime	      "-1"
      FunctionWithSeparateData off
      RTWMemSecFuncInitTerm   "Inherit from model"
      RTWMemSecFuncExecute    "Inherit from model"
      RTWMemSecDataConstants  "Inherit from model"
      RTWMemSecDataInternal   "Inherit from model"
      RTWMemSecDataParameters "Inherit from model"
      xmin		      "-1"
      xmax		      "100"
      ymin		      "-10"
      ymax		      "10"
      st		      "-1"
    }
    Line {
      SrcBlock		      "Constant"
      SrcPort		      1
      Points		      [0, 0]
      DstBlock		      "Subsystem"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Subsystem"
      SrcPort		      1
      Points		      [0, 0; 15, 0]
      Branch {
	DstBlock		"Demux"
	DstPort			1
      }
      Branch {
	Points			[0, -90]
	DstBlock		"To Workspace"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Demux"
      SrcPort		      1
      Points		      [40, 0; 0, -5; 45, 0]
      Branch {
	DstBlock		"XY Graph"
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      }
      Branch {
	Points			[0, 125]
	DstBlock		"Mux"
	DstPort			4
      }
    }
    Line {
      SrcBlock		      "Demux"
      SrcPort		      2
      Points		      [0, 0]
      DstBlock		      "XY Graph"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Demux"
      SrcPort		      4
      Points		      [0, 0; 55, 0]
      Branch {
	Points			[5, 0; 0, -75]
	DstBlock		"Scope1"
	DstPort			1
      }
      Branch {
	Points			[0, 70]
	DstBlock		"Mux"
	DstPort			2
      }
    }
    Line {
      SrcBlock		      "Demux"
      SrcPort		      3
      Points		      [0, 0; 70, 0]
      Branch {
	Points			[10, 0; 0, -115]
	DstBlock		"Scope"
	DstPort			1
      }
      Branch {
	Points			[0, 50]
	Branch {
	  Points		  [0, 40]
	  DstBlock		  "Mux"
	  DstPort		  3
	}
	Branch {
	  DstBlock		  "Hit \nCrossing"
	  DstPort		  1
	}
      }
    }
    Line {
      SrcBlock		      "Subsystem"
      SrcPort		      2
      Points		      [0, 0; 5, 0]
      Branch {
	Points			[0, -90]
	DstBlock		"To Workspace1"
	DstPort			1
      }
      Branch {
	Points			[90, 0]
	DstBlock		"Gain"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Fuzzy Logic \nController"
      SrcPort		      1
      Points		      [0, 0]
      DstBlock		      "Gain1"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Gain1"
      SrcPort		      1
      Points		      [-10, 0; 0, -65]
      DstBlock		      "Subsystem"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Mux"
      SrcPort		      1
      Points		      [-20, 0]
      DstBlock		      "Fuzzy Logic \nController"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Gain"
      SrcPort		      1
      Points		      [0, 10]
      DstBlock		      "Mux"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Hit \nCrossing"
      SrcPort		      1
      DstBlock		      "Stop Simulation"
      DstPort		      1
    }
  }
}