📄 mimomsf1df5.mdl
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SrcPort 2
Points [-45, 0]
Branch {
Points [-215, 0; 0, 155]
Branch {
Points [0, 235]
Branch {
DstBlock "(2,2)"
DstPort 1
}
Branch {
DstBlock "(3,2)"
DstPort 1
}
}
Branch {
DstBlock "(1,2)"
DstPort 1
}
Branch {
DstBlock "(4,2)"
DstPort 1
}
}
Branch {
Points [0, 225]
DstBlock "(5,2)"
DstPort 1
}
}
Line {
SrcBlock "5_input_state"
SrcPort 3
Points [-55, 0]
Branch {
Points [-195, 0; 0, 190]
Branch {
Points [0, 235]
Branch {
DstBlock "(2,3)"
DstPort 1
}
Branch {
DstBlock "(3,3)"
DstPort 1
}
}
Branch {
DstBlock "(1,3)"
DstPort 1
}
Branch {
DstBlock "(4,3)"
DstPort 1
}
}
Branch {
Points [0, 260]
DstBlock "(5,3)"
DstPort 1
}
}
Line {
SrcBlock "5_input_state"
SrcPort 4
Points [-65, 0]
Branch {
Points [-175, 0; 0, 225]
Branch {
DstBlock "(1,4)"
DstPort 1
}
Branch {
Points [0, 235]
Branch {
DstBlock "(2,4)"
DstPort 1
}
Branch {
DstBlock "(3,4)"
DstPort 1
}
}
Branch {
DstBlock "(4,4)"
DstPort 1
}
}
Branch {
Points [0, 295]
DstBlock "(5,4)"
DstPort 1
}
}
Line {
SrcBlock "5_input_state"
SrcPort 5
Points [-75, 0]
Branch {
Points [-155, 0; 0, 260]
Branch {
DstBlock "(1,5)"
DstPort 1
}
Branch {
Points [0, 0]
Branch {
Points [0, 240]
Branch {
DstBlock "(2,5)"
DstPort 1
}
Branch {
DstBlock "(3,5)"
DstPort 1
}
}
Branch {
DstBlock "(4,5)"
DstPort 1
}
}
}
Branch {
Points [0, 335]
DstBlock "(5,5)"
DstPort 1
}
}
Line {
SrcBlock "Sum7"
SrcPort 1
Points [0, 145; -180, 0; 0, 180; -345, 0]
DstBlock "Mux"
DstPort 5
}
Line {
SrcBlock "(1,5)"
SrcPort 1
DstBlock "Sum1"
DstPort 5
}
}
}
Block {
BlockType SubSystem
Name "input delay"
Ports [1, 1, 0, 0, 0]
Position [330, 88, 395, 122]
ShowName off
ShowPortLabels on
MaskType "input delay"
MaskPromptString "Input Delay (vector)"
MaskStyleString "edit"
MaskTunableValueString "on"
MaskEnableString "on"
MaskVisibilityString "on"
MaskVariables "input_delay=@1;"
MaskDisplay "disp('Input delay')"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
MaskValueString "input_delay"
System {
Name "input delay"
Location [516, 120, 781, 322]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "automatic"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "100"
AutoZoom on
Block {
BlockType Inport
Name "In1"
Position [25, 53, 55, 67]
Port "1"
PortWidth "-1"
SampleTime "-1"
DataType "auto"
SignalType "auto"
Interpolate on
}
Block {
BlockType Demux
Name "Demux"
Ports [1, 3, 0, 0, 0]
Position [75, 35, 80, 85]
BackgroundColor "black"
ShowName off
Outputs "3"
}
Block {
BlockType Reference
Name "Mdelay"
Ports [1, 1, 0, 0, 0]
Position [115, 14, 150, 46]
SourceBlock "MIMO_lib/Mdelay"
SourceType "Mdelay"
Mdelay "input_delay(1)"
}
Block {
BlockType Reference
Name "Mdelay1"
Ports [1, 1, 0, 0, 0]
Position [115, 69, 150, 101]
SourceBlock "MIMO_lib/Mdelay"
SourceType "Mdelay"
Mdelay "input_delay(2)"
}
Block {
BlockType Reference
Name "Mdelay2"
Ports [1, 1, 0, 0, 0]
Position [115, 119, 150, 151]
SourceBlock "MIMO_lib/Mdelay"
SourceType "Mdelay"
Mdelay "input_delay(3)"
}
Block {
BlockType Mux
Name "Mux"
Ports [3, 1, 0, 0, 0]
Position [185, 35, 190, 85]
ShowName off
Inputs "3"
DisplayOption "bar"
}
Block {
BlockType Outport
Name "Out1"
Position [215, 53, 245, 67]
Port "1"
OutputWhenDisabled "held"
InitialOutput "[]"
}
Line {
SrcBlock "Mux"
SrcPort 1
DstBlock "Out1"
DstPort 1
}
Line {
SrcBlock "In1"
SrcPort 1
DstBlock "Demux"
DstPort 1
}
Line {
SrcBlock "Demux"
SrcPort 1
DstBlock "Mdelay"
DstPort 1
}
Line {
SrcBlock "Demux"
SrcPort 2
DstBlock "Mdelay1"
DstPort 1
}
Line {
SrcBlock "Mdelay"
SrcPort 1
DstBlock "Mux"
DstPort 1
}
Line {
SrcBlock "Mdelay1"
SrcPort 1
DstBlock "Mux"
DstPort 2
}
Line {
SrcBlock "Demux"
SrcPort 3
DstBlock "Mdelay2"
DstPort 1
}
Line {
SrcBlock "Mdelay2"
SrcPort 1
DstBlock "Mux"
DstPort 3
}
}
}
Block {
BlockType Reference
Name "input reverse \nswapping"
Ports [1, 1, 0, 0, 0]
Position [275, 90, 305, 120]
SourceBlock "simulink3/Math/Matrix\nGain"
SourceType "Matrix Gain"
K "inv(T)"
}
Block {
BlockType Reference
Name "input swapping"
Ports [1, 1, 0, 0, 0]
Position [380, 170, 410, 200]
Orientation "left"
SourceBlock "simulink3/Math/Matrix\nGain"
SourceType "Matrix Gain"
K "T"
}
Block {
BlockType Reference
Name "input swapping1"
Ports [1, 1, 0, 0, 0]
Position [85, 85, 115, 115]
SourceBlock "simulink3/Math/Matrix\nGain"
SourceType "Matrix Gain"
K "T"
}
Line {
SrcBlock "Ksp"
SrcPort 1
DstBlock "Sum1"
DstPort 1
}
Line {
SrcBlock "combined K(s) and 1/D(s)"
SrcPort 1
Points [-35, 0]
DstBlock "Sum1"
DstPort 2
}
Line {
SrcBlock "input swapping"
SrcPort 1
DstBlock "combined K(s) and 1/D(s)"
DstPort 1
}
Line {
SrcBlock "Model"
SrcPort 1
DstBlock "Sum2"
DstPort 2
}
Line {
SrcBlock "Sum2"
SrcPort 1
Points [0, 65; -640, 0]
DstBlock "Sum"
DstPort 2
}
Line {
SrcBlock "Process"
SrcPort 1
DstBlock "Sum4"
DstPort 2
}
Line {
SrcBlock "Setpoint1"
SrcPort 1
Points [-10, 0]
DstBlock "Sum4"
DstPort 1
}
Line {
SrcBlock "Sum4"
SrcPort 1
Points [5, 0]
Branch {
DstBlock "Sum2"
DstPort 1
}
Branch {
DstBlock "To Workspace"
DstPort 1
}
Branch {
DstBlock "Scope"
DstPort 1
}
}
Line {
SrcBlock "Sum1"
SrcPort 1
DstBlock "input reverse \nswapping"
DstPort 1
}
Line {
SrcBlock "input swapping1"
SrcPort 1
DstBlock "Ksp"
DstPort 1
}
Line {
SrcBlock "Sum"
SrcPort 1
DstBlock "input swapping1"
DstPort 1
}
Line {
SrcBlock "Setpoint"
SrcPort 1
Points [-30, 0]
DstBlock "Sum"
DstPort 1
}
Line {
SrcBlock "input reverse \nswapping"
SrcPort 1
DstBlock "input delay"
DstPort 1
}
Line {
SrcBlock "Saturation"
SrcPort 1
Points [10, 0]
Branch {
DstBlock "Process"
DstPort 1
}
Branch {
Points [0, 80]
Branch {
DstBlock "Model"
DstPort 1
}
Branch {
DstBlock "input swapping"
DstPort 1
}
}
Branch {
DstBlock "To Workspace1"
DstPort 1
}
}
Line {
SrcBlock "input delay"
SrcPort 1
Points [15, 0]
Branch {
DstBlock "Saturation"
DstPort 1
}
Branch {
DstBlock "To Workspace2"
DstPort 1
}
}
Annotation {
Position [381, 262]
Text "* In put delay and input swapping result from t"
"he Dtarray function, to make the system be able to be decoupled."
}
Annotation {
Position [101, 26]
Text "MIMO 5 x 5 system"
}
}
}
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