pid2df2lag.mdl

Software for design and tuninig of SISO and MIMO contol systems

Model {
  Name			  "pid2df2lag"
  Version		  3.00
  SimParamPage		  "Solver"
  SampleTimeColors	  off
  InvariantConstants	  off
  WideVectorLines	  off
  ShowLineWidths	  off
  ShowPortDataTypes	  off
  StartTime		  "0.0"
  StopTime		  "10.0"
  SolverMode		  "SingleTasking"
  Solver		  "ode45"
  RelTol		  "1e-5"
  AbsTol		  "1e-6"
  Refine		  "1"
  MaxStep		  "st_size"
  InitialStep		  "auto"
  FixedStep		  "auto"
  MaxOrder		  5
  OutputOption		  "RefineOutputTimes"
  OutputTimes		  "[]"
  LoadExternalInput	  off
  ExternalInput		  "[t, u]"
  SaveTime		  off
  TimeSaveName		  "tout"
  SaveState		  off
  StateSaveName		  "xout"
  SaveOutput		  off
  OutputSaveName	  "yout"
  LoadInitialState	  off
  InitialState		  "xInitial"
  SaveFinalState	  off
  FinalStateName	  "xFinal"
  SaveFormat		  "Matrix"
  LimitMaxRows		  off
  MaxRows		  "1000"
  Decimation		  "1"
  AlgebraicLoopMsg	  "warning"
  MinStepSizeMsg	  "warning"
  UnconnectedInputMsg	  "warning"
  UnconnectedOutputMsg	  "warning"
  UnconnectedLineMsg	  "warning"
  InheritedTsInSrcMsg	  "warning"
  IntegerOverflowMsg	  "warning"
  UnnecessaryDatatypeConvMsg "none"
  Int32ToFloatConvMsg	  "warning"
  SignalLabelMismatchMsg  "none"
  ConsistencyChecking	  "off"
  ZeroCross		  on
  SimulationMode	  "normal"
  BlockDataTips		  on
  BlockParametersDataTip  on
  BlockAttributesDataTip  off
  BlockPortWidthsDataTip  off
  BlockDescriptionStringDataTip	off
  BlockMaskParametersDataTip off
  ToolBar		  off
  StatusBar		  off
  BrowserShowLibraryLinks off
  BrowserLookUnderMasks	  off
  OptimizeBlockIOStorage  on
  BufferReuse		  on
  BooleanDataType	  off
  RTWSystemTargetFile	  "grt.tlc"
  RTWInlineParameters	  off
  RTWRetainRTWFile	  off
  RTWTemplateMakefile	  "grt_vc.tmf"
  RTWMakeCommand	  "make_rtw"
  RTWGenerateCodeOnly	  off
  ExtModeMexFile	  "ext_comm"
  ExtModeBatchMode	  off
  ExtModeTrigType	  "manual"
  ExtModeTrigMode	  "oneshot"
  ExtModeTrigPort	  "1"
  ExtModeTrigElement	  "any"
  ExtModeTrigDuration	  1000
  ExtModeTrigHoldOff	  0
  ExtModeTrigDelay	  0
  ExtModeTrigDirection	  "rising"
  ExtModeTrigLevel	  0
  ExtModeArchiveMode	  "off"
  ExtModeAutoIncOneShot	  off
  ExtModeIncDirWhenArm	  off
  ExtModeAddSuffixToVar	  off
  ExtModeWriteAllDataToWs off
  ExtModeArmWhenConnect	  off
  Created		  "Mon Aug 09 16:00:04 1999"
  UpdateHistory		  "UpdateHistoryNever"
  ModifiedByFormat	  "%<Auto>"
  LastModifiedBy	  "tom1"
  ModifiedDateFormat	  "%<Auto>"
  LastModifiedDate	  "Mon Dec 30 20:30:18 2002"
  ModelVersionFormat	  "1.%<AutoIncrement:5>"
  ConfigurationManager	  "none"
  BlockDefaults {
    Orientation		    "right"
    ForegroundColor	    "black"
    BackgroundColor	    "white"
    DropShadow		    off
    NamePlacement	    "normal"
    FontName		    "Helvetica"
    FontSize		    10
    FontWeight		    "normal"
    FontAngle		    "normal"
    ShowName		    on
  }
  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		    "pid2df2lag"
    Location		    [433, 343, 1125, 622]
    Open		    on
    ModelBrowserVisibility  off
    ModelBrowserWidth	    200
    ScreenColor		    "white"
    PaperOrientation	    "landscape"
    PaperPositionMode	    "auto"
    PaperType		    "usletter"
    PaperUnits		    "inches"
    ZoomFactor		    "100"
    AutoZoom		    on
    ReportName		    "simulink-default.rpt"
    Block {
      BlockType		      SubSystem
      Name		      "2st order lag PID"
      Ports		      [1, 1, 0, 0, 0]
      Position		      [165, 105, 250, 155]
      ShowPortLabels	      on
      System {
	Name			"2st order lag PID"
	Location		[72, 73, 513, 317]
	Open			off
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"white"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"usletter"
	PaperUnits		"inches"
	ZoomFactor		"100"
	AutoZoom		on
	Block {
	  BlockType		  Inport
	  Name			  "In1"
	  Position		  [15, 93, 45, 107]
	  Port			  "1"
	  PortWidth		  "-1"
	  SampleTime		  "-1"
	  DataType		  "auto"
	  SignalType		  "auto"
	  Interpolate		  on
	}
	Block {
	  BlockType		  Gain
	  Name			  "Gain"
	  Position		  [70, 84, 105, 116]
	  Gain			  "keps"
	  SaturateOnIntegerOverflow on
	}
	Block {
	  BlockType		  Saturate
	  Name			  "Saturation"
	  Position		  [175, 93, 205, 117]
	  UpperLimit		  "Satub"
	  LowerLimit		  "Satlb"
	}
	Block {
	  BlockType		  Sum
	  Name			  "Sum1"
	  Ports			  [2, 1, 0, 0, 0]
	  Position		  [135, 95, 155, 115]
	  IconShape		  "rectangular"
	  Inputs		  "++"
	  SaturateOnIntegerOverflow on
	}
	Block {
	  BlockType		  Sum
	  Name			  "Sum3"
	  Ports			  [2, 1, 0, 0, 0]
	  Position		  [330, 90, 350, 110]
	  IconShape		  "rectangular"
	  Inputs		  "++"
	  SaturateOnIntegerOverflow on
	}
	Block {
	  BlockType		  TransferFcn
	  Name			  "Transfer Fcn1"
	  Position		  [145, 155, 200, 195]
	  Orientation		  "left"
	  NamePlacement		  "alternate"
	  Numerator		  "[1]"
	  Denominator		  "[a1 1]"
	}
	Block {
	  BlockType		  TransferFcn
	  Name			  "Transfer Fcn2"
	  Position		  [165, 22, 245, 68]
	  Numerator		  "[a2 0]"
	  Denominator		  "[b2 b1 1]"
	}
	Block {
	  BlockType		  TransferFcn
	  Name			  "Transfer Fcn3"
	  Position		  [240, 83, 310, 127]
	  Numerator		  "[a1]"
	  Denominator		  "[b2 b1 1]"
	}
	Block {
	  BlockType		  Outport
	  Name			  "Out1"
	  Position		  [370, 93, 400, 107]
	  Port			  "1"
	  OutputWhenDisabled	  "held"
	  InitialOutput		  "0"
	}
	Line {
	  SrcBlock		  "Gain"
	  SrcPort		  1
	  Points		  [0, 0]
	  Branch {
	    Points		    [0, -55]
	    DstBlock		    "Transfer Fcn2"
	    DstPort		    1
	  }
	  Branch {
	    DstBlock		    "Sum1"
	    DstPort		    1
	  }
	}
	Line {
	  SrcBlock		  "Transfer Fcn1"
	  SrcPort		  1
	  Points		  [-20, 0]
	  DstBlock		  "Sum1"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Saturation"
	  SrcPort		  1
	  Points		  [10, 0]
	  Branch {
	    Points		    [0, 70]
	    DstBlock		    "Transfer Fcn1"
	    DstPort		    1
	  }
	  Branch {
	    DstBlock		    "Transfer Fcn3"
	    DstPort		    1
	  }
	}
	Line {
	  SrcBlock		  "Sum1"
	  SrcPort		  1
	  DstBlock		  "Saturation"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Transfer Fcn3"
	  SrcPort		  1
	  DstBlock		  "Sum3"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "In1"
	  SrcPort		  1
	  DstBlock		  "Gain"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Sum3"
	  SrcPort		  1
	  DstBlock		  "Out1"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Transfer Fcn2"
	  SrcPort		  1
	  Points		  [65, 0]
	  DstBlock		  "Sum3"
	  DstPort		  1
	}
	Annotation {
	  Position		  [222, 127]
	  VerticalAlignment	  "top"
	  Text			  "Md\n"
	}
      }
    }
    Block {
      BlockType		      TransferFcn
      Name		      "Disturbance lag"
      Position		      [425, 36, 510, 74]
      Numerator		      "numPd"
      Denominator	      "denPd"
    }
    Block {
      BlockType		      Reference
      Name		      "Pdelay"
      Ports		      [1, 1, 0, 0, 0]
      Position		      [355, 114, 390, 146]
      SourceBlock	      "MIMO_lib/Mdelay"
      SourceType	      "Mdelay"
      Mdelay		      "Pdelay"
    }
    Block {
      BlockType		      TransferFcn
      Name		      "Process"
      Position		      [460, 107, 510, 143]
      Numerator		      "numPs"
      Denominator	      "denPs"
    }
    Block {
      BlockType		      Saturate
      Name		      "Saturation"
      Position		      [280, 118, 310, 142]
      UpperLimit	      "Satub"
      LowerLimit	      "Satlb"
    }
    Block {
      BlockType		      Scope
      Name		      "Scope"
      Ports		      [1, 0, 0, 0, 0]
      Position		      [270, 65, 300, 95]
      Orientation	      "left"
      Floating		      off
      Location		      [188, 365, 512, 604]
      Open		      off
      NumInputPorts	      "1"
      TickLabels	      "on"
      ZoomMode		      "on"
      List {
	ListType		AxesTitles
	axes1			"%<SignalLabel>"
      }
      Grid		      "on"
      TimeRange		      "auto"
      YMin		      "-5"
      YMax		      "5"