📄 pendulum.mdl
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Block {
BlockType Outport
Name "Port1"
Position [400, 350, 420, 370]
}
Block {
BlockType Outport
Name "Port2"
Position [400, 400, 420, 420]
Port "2"
}
Line {
SrcBlock "SysInport1"
SrcPort 1
DstBlock "SysMux"
DstPort 1
}
Line {
SrcBlock "SysInport2"
SrcPort 1
DstBlock "SysMux"
DstPort 2
}
Line {
SrcBlock "SysInport3"
SrcPort 1
DstBlock "SysMux"
DstPort 3
}
Line {
SrcBlock "SysMux"
SrcPort 1
Points [0, 0]
Branch {
DstBlock "x1"
DstPort 1
}
Branch {
DstBlock "x2"
DstPort 1
}
Branch {
DstBlock "x3"
DstPort 1
}
Branch {
DstBlock "x4"
DstPort 1
}
Branch {
DstBlock "y1"
DstPort 1
}
Branch {
DstBlock "y2"
DstPort 1
}
}
Line {
SrcBlock "x1"
SrcPort 1
DstBlock "Integ1"
DstPort 1
}
Line {
SrcBlock "Integ1"
SrcPort 1
DstBlock "SysMux"
DstPort 4
}
Line {
SrcBlock "x2"
SrcPort 1
DstBlock "Integ2"
DstPort 1
}
Line {
SrcBlock "Integ2"
SrcPort 1
DstBlock "SysMux"
DstPort 5
}
Line {
SrcBlock "x3"
SrcPort 1
DstBlock "Integ3"
DstPort 1
}
Line {
SrcBlock "Integ3"
SrcPort 1
DstBlock "SysMux"
DstPort 6
}
Line {
SrcBlock "x4"
SrcPort 1
DstBlock "Integ4"
DstPort 1
}
Line {
SrcBlock "Integ4"
SrcPort 1
DstBlock "SysMux"
DstPort 7
}
Line {
SrcBlock "y1"
SrcPort 1
DstBlock "Port1"
DstPort 1
}
Line {
SrcBlock "y2"
SrcPort 1
DstBlock "Port2"
DstPort 1
}
}
}
Block {
BlockType Fcn
Name "Fcn"
Position [365, 265, 425, 295]
Expr "5*sin(u(1))"
}
Block {
BlockType Fcn
Name "Fcn1"
Position [215, 270, 275, 300]
Expr "10*sin(u(1)) + 5*sin(u(2))"
}
Block {
BlockType Fcn
Name "Fcn2"
Position [365, 320, 425, 350]
Expr "10-5*cos(u(1))"
}
Block {
BlockType Fcn
Name "Fcn3"
Position [215, 350, 275, 380]
Expr "-10*cos(u(1)) - 5*cos(u(2)) + 10"
}
Block {
BlockType Constant
Name "Impulse Magnitude"
Position [40, 145, 70, 175]
Value "2"
}
Block {
BlockType Constant
Name "Impulse Position"
Position [40, 95, 70, 125]
Value "1.46"
}
Block {
BlockType Mux
Name "Mux"
Ports [3, 1]
Position [460, 271, 465, 309]
ShowName off
Inputs "3"
DisplayOption "bar"
}
Block {
BlockType Mux
Name "Mux1"
Ports [2, 1]
Position [180, 266, 185, 304]
ShowName off
Inputs "2"
DisplayOption "bar"
}
Block {
BlockType Mux
Name "Mux2"
Ports [3, 1]
Position [455, 471, 460, 509]
ShowName off
Inputs "3"
DisplayOption "bar"
}
Block {
BlockType Mux
Name "Mux3"
Ports [4, 1]
Position [405, 88, 410, 157]
ShowName off
DisplayOption "bar"
}
Block {
BlockType Mux
Name "Mux4"
Ports [4, 1]
Position [345, 502, 350, 613]
ShowName off
DisplayOption "bar"
}
Block {
BlockType Reference
Name "VR Sink"
Ports [4]
Position [610, 145, 720, 345]
SourceBlock "vrlib/VR Sink"
SourceType "Virtual Reality Sink"
SampleTime "0.1"
ViewEnable on
RemoteChange off
RemoteView off
FieldsWritten "Cylinder1.rotation.4#Cylinder1.translation.3#Cy"
"linder2.rotation.4#Cylinder2.translation.3"
WorldFileName "F:\\MATLAB6p5\\work\\cylinder.WRL"
WorldDescription "cylinder"
AutoView off
FigureProperties "{'Position', 'Name', 'Viewpoint', 'CameraBound'"
", 'CameraDirection', 'CameraPosition', 'CameraUpVector', 'ZoomFactor', 'Antia"
"liasing', 'Headlight', 'Lighting', 'PanelMode', 'Textures', 'Transparency', '"
"Wireframe', 'NavZones', 'InfoStrip', 'NavMode', 'NavSpeed', ; [5.000000000000"
"0000e+000 3.0000000000000000e+001 4.0000000000000000e+002 3.20000000000000"
"00e+002], 'Missile', '_untitled_1', 'on', [0.0000000000000000e+000 0.0000000"
"000000000e+000 -1.0000000000000000e+000], [0.0000000000000000e+000 0.0000000"
"000000000e+000 0.0000000000000000e+000], [0.0000000000000000e+000 1.0000000"
"000000000e+000 0.0000000000000000e+000], [1.0000000000000000e+000], 'off', '"
"on', 'on', 'halfbar', 'on', 'on', 'off', 'off', 'off', 'fly', 'normal', ; [5."
"0000000000000000e+000 3.0000000000000000e+001 4.0000000000000000e+002 3.20"
"00000000000000e+002], 'Double Pendulum', '_untitled_1', 'on', [0.000000000000"
"0000e+000 0.0000000000000000e+000 -1.0000000000000000e+000], [0.000000000000"
"0000e+000 0.0000000000000000e+000 0.0000000000000000e+000], [0.000000000000"
"0000e+000 1.0000000000000000e+000 0.0000000000000000e+000], [1.000000000000"
"0000e+000], 'off', 'on', 'on', 'halfbar', 'on', 'on', 'off', 'off', 'off', 'f"
"ly', 'normal', ; }"
}
Line {
SrcBlock "DEE"
SrcPort 1
Points [25, 0; 0, 60; 20, 0; 0, 10]
Branch {
Points [0, 80; -135, 0]
DstBlock "Mux1"
DstPort 1
}
Branch {
Points [50, 0; 0, 0]
Branch {
Points [0, 135]
Branch {
DstBlock "Fcn2"
DstPort 1
}
Branch {
DstBlock "Fcn"
DstPort 1
}
}
Branch {
DstBlock "Mux3"
DstPort 4
}
}
}
Line {
SrcBlock "Fcn"
SrcPort 1
DstBlock "Mux"
DstPort 1
}
Line {
SrcBlock "Constant1"
SrcPort 1
Points [0, 0; 20, 0]
Branch {
Points [35, 0]
DstBlock "Mux"
DstPort 3
}
Branch {
Points [0, 115]
DstBlock "Mux2"
DstPort 3
}
}
Line {
SrcBlock "DEE"
SrcPort 2
Points [25, 0; 0, 45; -130, 0; 0, 100]
Branch {
DstBlock "Mux1"
DstPort 2
}
Branch {
Points [0, 300]
DstBlock "Mux4"
DstPort 4
}
}
Line {
SrcBlock "Mux1"
SrcPort 1
Points [0, 0; 5, 0]
Branch {
DstBlock "Fcn1"
DstPort 1
}
Branch {
Points [0, 80]
DstBlock "Fcn3"
DstPort 1
}
}
Line {
SrcBlock "Fcn1"
SrcPort 1
Points [25, 0; 0, 195]
DstBlock "Mux2"
DstPort 1
}
Line {
SrcBlock "Fcn2"
SrcPort 1
Points [0, -45]
DstBlock "Mux"
DstPort 2
}
Line {
SrcBlock "Fcn3"
SrcPort 1
Points [10, 0; 0, 125]
DstBlock "Mux2"
DstPort 2
}
Line {
SrcBlock "Constant3"
SrcPort 1
Points [20, 0; 0, 55]
Branch {
Points [0, -5]
DstBlock "Mux3"
DstPort 1
}
Branch {
Points [0, 10]
DstBlock "Mux3"
DstPort 2
}
}
Line {
SrcBlock "Constant4"
SrcPort 1
Points [10, 0; 0, 25]
DstBlock "Mux3"
DstPort 3
}
Line {
SrcBlock "Constant5"
SrcPort 1
Points [5, 0; 45, 0]
Branch {
DstBlock "Mux4"
DstPort 1
}
Branch {
DstBlock "Mux4"
DstPort 2
}
}
Line {
SrcBlock "Constant6"
SrcPort 1
DstBlock "Mux4"
DstPort 3
}
Line {
SrcBlock "Clock"
SrcPort 1
DstBlock "DEE"
DstPort 1
}
Line {
SrcBlock "Impulse Position"
SrcPort 1
DstBlock "DEE"
DstPort 2
}
Line {
SrcBlock "Impulse Magnitude"
SrcPort 1
DstBlock "DEE"
DstPort 3
}
Line {
SrcBlock "Mux3"
SrcPort 1
Points [90, 0; 0, 45]
DstBlock "VR Sink"
DstPort 1
}
Line {
SrcBlock "Mux"
SrcPort 1
Points [60, 0; 0, -70]
DstBlock "VR Sink"
DstPort 2
}
Line {
SrcBlock "Mux2"
SrcPort 1
Points [65, 0; 0, -170]
DstBlock "VR Sink"
DstPort 4
}
Line {
SrcBlock "Mux4"
SrcPort 1
Points [235, 0; 0, -290]
DstBlock "VR Sink"
DstPort 3
}
}
}
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