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Model {
Name "b4"
Version 3.00
SimParamPage "Solver"
SampleTimeColors off
InvariantConstants off
WideVectorLines off
ShowLineWidths off
ShowPortDataTypes off
StartTime "0"
StopTime "10000"
SolverMode "SingleTasking"
Solver "ode45"
RelTol "1e-5"
AbsTol "1e-6"
Refine "1"
MaxStep "0.05"
InitialStep "auto"
FixedStep "auto"
MaxOrder 5
OutputOption "RefineOutputTimes"
OutputTimes "[]"
LoadExternalInput off
ExternalInput "[]"
SaveTime off
TimeSaveName "tout"
SaveState off
StateSaveName "xout"
SaveOutput off
OutputSaveName "yout"
LoadInitialState off
InitialState "[]"
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 on
StatusBar on
BrowserShowLibraryLinks off
BrowserLookUnderMasks off
OptimizeBlockIOStorage on
BufferReuse on
BooleanDataType off
RTWSystemTargetFile "grt.tlc"
RTWInlineParameters off
RTWRetainRTWFile off
RTWTemplateMakefile "grt_default_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
PreLoadFcn "l2=58.4154;w2=14.5619;n=1.084;e=.1478;"
Created "Wed Apr 24 15:35:35 2002"
UpdateHistory "UpdateHistoryNever"
ModifiedByFormat "%<Auto>"
ModifiedDateFormat "%<Auto>"
LastModifiedDate "Fri May 10 08:59:13 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 "b4"
Location [160, 96, 692, 505]
Open on
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "gray"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "100"
AutoZoom on
ReportName "simulink-default.rpt"
Block {
BlockType Fcn
Name "(alphaDot)^2"
Position [105, 120, 150, 150]
ForegroundColor "blue"
BackgroundColor "cyan"
Expr "u*u"
}
Block {
BlockType Fcn
Name "(gammaDot)^2"
Position [105, 210, 150, 240]
ForegroundColor "blue"
BackgroundColor "cyan"
Expr "u*u"
}
Block {
BlockType SubSystem
Name "Animation\nFunction"
Ports [1, 0, 0, 0, 0]
Position [280, 74, 350, 116]
Orientation "left"
ForegroundColor "blue"
BackgroundColor "cyan"
ShowPortLabels on
MaskDisplay "disp('pndanim3')"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
System {
Name "Animation\nFunction"
Location [317, 87, 557, 196]
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 [175, 38, 205, 52]
Orientation "left"
Port "1"
PortWidth "-1"
SampleTime "-1"
DataType "auto"
SignalType "auto"
Interpolate on
}
Block {
BlockType "S-Function"
Name "Animation\nFunction"
Ports [1, 0, 0, 0, 0]
Position [75, 27, 140, 63]
Orientation "left"
DeleteFcn "if ~isempty(findobj('type','figure','name',"
"'dblpend2 Animation'));close('dblpend2 Animation'); end;"
FunctionName "pndanim3"
Parameters "0.05"
PortCounts "[]"
SFunctionModules "''"
}
Line {
SrcBlock "In1"
SrcPort 1
DstBlock "Animation\nFunction"
DstPort 1
}
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}
Block {
BlockType Fcn
Name "C"
Position [105, 255, 150, 285]
ForegroundColor "blue"
BackgroundColor "cyan"
Expr "-sin(u(1)-u(3))"
}
Block {
BlockType SubSystem
Name "More Info"
Ports [0, 0, 0, 0, 0]
Position [260, 370, 287, 395]
ForegroundColor "blue"
BackgroundColor "gray"
DropShadow on
ShowName off
ShowPortLabels on
MaskDisplay "disp('?')"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
System {
Name "More Info"
Location [128, 280, 487, 453]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "100"
AutoZoom on
Annotation {
Position [177, 122]
Text "Try experimenting with different initial co"
"nditions for\nalpha and gamma to see some remarkable behavior.\nThis system e"
"xhibits very strong nonlinear coupling."
}
Annotation {
Position [170, 27]
Text "This system models a double pendulum system"
" where\nthe rest state has the pendulums balanced to hang\nat right angles to"
" one another"
}
Annotation {
Position [181, 77]
Text "Associated with the demo is an animation fu"
"nction that\nwill automatically open a figure window and display to it."
}
}
}
Block {
BlockType SubSystem
Name "More Info1"
Ports [0, 0, 0, 0, 0]
Position [401, 383, 503, 434]
ForegroundColor "blue"
BackgroundColor "cyan"
DropShadow on
ShowName off
OpenFcn "simcad(bdroot)"
ShowPortLabels on
MaskDisplay "disp('Double click\\nhere for\\nSIMULINK Help')"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
System {
Name "More Info1"
Location [128, 280, 487, 453]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "100"
AutoZoom on
Annotation {
Position [170, 27]
Text "This system models a double pendulum system"
" where\nthe rest state has both pendulums hanging vertically."
}
Annotation {
Position [176, 72]
Text "Associated with the demo is an animation fu"
"nction that\nwill automatically open a figure window and display to it."
}
Annotation {
Position [177, 122]
Text "Try experimenting with different initial co"
"nditions for\nalpha and gamma to see the unusal coupling effects."
}
}
}
Block {
BlockType Fcn
Name "S"
Position [105, 300, 150, 330]
ForegroundColor "blue"
BackgroundColor "cyan"
Expr "cos(u(1)-u(3))"
}
Block {
BlockType Scope
Name "State\nScope"
Ports [1, 0, 0, 0, 0]
Position [225, 285, 250, 315]
Orientation "left"
ForegroundColor "blue"
BackgroundColor "cyan"
Floating off
Location [85, 117, 373, 349]
Open off
NumInputPorts "1"
TickLabels "on"
ZoomMode "on"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
Grid "on"
TimeRange "40.000000"
YMin "-5"
YMax "5"
SaveToWorkspace off
SaveName "ScopeData"
DataFormat "Matrix"
LimitMaxRows on
MaxRows "5000"
Decimation "1"
SampleInput off
SampleTime "0"
}
Block {
BlockType Integrator
Name "alpha"
Ports [1, 1, 0, 0, 0]
Position [430, 158, 455, 192]
ForegroundColor "blue"
BackgroundColor "cyan"
ExternalReset "none"
InitialConditionSource "internal"
InitialCondition "0*(pi/180)"
LimitOutput off
UpperSaturationLimit "inf"
LowerSaturationLimit "-inf"
ShowSaturationPort off
ShowStatePort off
AbsoluteTolerance "auto"
}
Block {
BlockType Fcn
Name "alphaDDot"
Position [260, 160, 305, 190]
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