📄 sfun_controller.mdl
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ExtModeStaticAllocSize 1000000
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ExtModeMexFile "ext_comm"
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UseBusObject off
BusObject "BusObject"
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PortDimensions "-1"
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DataType "auto"
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OutScaling "2^0"
SignalType "auto"
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LatchByDelayingOutsideSignal off
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UseBusObject off
BusObject "BusObject"
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DataType "auto"
OutDataType "sfix(16)"
OutScaling "2^0"
SignalType "auto"
SamplingMode "auto"
OutputWhenDisabled "held"
InitialOutput "[]"
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Block {
BlockType "S-Function"
FunctionName "system"
SFunctionModules "''"
PortCounts "[]"
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SystemSampleTime "-1"
RTWFcnNameOpts "Auto"
RTWFileNameOpts "Auto"
RTWMemSecFuncInitTerm "Inherit from model"
RTWMemSecFuncExecute "Inherit from model"
RTWMemSecDataConstants "Inherit from model"
RTWMemSecDataInternal "Inherit from model"
RTWMemSecDataParameters "Inherit from model"
SimViewingDevice off
DataTypeOverride "UseLocalSettings"
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FontName "Arial"
FontSize 10
FontWeight "normal"
FontAngle "normal"
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FontWeight "normal"
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System {
Name "sfun_controller"
Location [522, 332, 1102, 633]
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ReportName "simulink-default.rpt"
Block {
BlockType SubSystem
Name "Controller"
Ports [2, 1]
Position [15, 15, 100, 135]
ForegroundColor "red"
MinAlgLoopOccurrences off
RTWSystemCode "Auto"
FunctionWithSeparateData off
MaskHideContents off
MaskDescription "Real-Time Workshop generated S-function."
MaskHelp "helpview([docroot,'\\toolbox\\rtw\\helptargets."
"map'],'rtw_Sfunc_target');"
MaskPromptString "FeedForwardGain_Gain:|Observer_A:|Observer_B:|O"
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MaskVarAliasString ",,,,,,,,"
MaskVariables "sfcnParam1=@1sfcnParam2=@2sfcnParam3=@3sfcnPara"
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MaskIconRotate "none"
MaskIconUnits "autoscale"
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"|reshape([1.0, 1.0, 1.0, 1.0], 4, 1)|[0.0]|[5.4258780585746638E-002, -3.94881"
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"[0.0]|[-1.9530687870361314E+000]"
MaskTabNameString ",,,,,,,,"
System {
Name "Controller"
Location [480, 85, 1060, 386]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "A4"
PaperUnits "centimeters"
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Block {
BlockType Inport
Name "trajectory"
Position [95, 35, 115, 55]
IconDisplay "Port number"
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Block {
BlockType Inport
Name "Encoder"
Position [95, 55, 115, 75]
Port "2"
IconDisplay "Port number"
}
Block {
BlockType "S-Function"
Name "Controller_sfcn"
Ports [2, 1]
Position [400, 35, 700, 75]
BackgroundColor "darkGreen"
CopyFcn "set_param(gcb,'LinkStatus','none');"
FontName "Arial"
FontSize 12
FontWeight "bold"
FunctionName "Controller_sf"
Parameters "sfcnParam1, sfcnParam2, sfcnParam3, sfcnPar"
"am4, sfcnParam5, sfcnParam6, sfcnParam7, sfcnParam8, sfcnParam9"
SFunctionModules " "
MaskDescription "Real-Time Workshop generated S-function."
MaskHelp "helpview([docroot,'\\toolbox\\rtw\\helptarg"
"ets.map'],'rtw_Sfunc_target');"
MaskPromptString "Generated S-function name (model_sf):|Show "
"module list|FeedForwardGain_Gain:|Observer_A:|Observer_B:|Observer_C:|Observe"
"r_X0:|L2_Gain:|DiscreteTimeIntegrator_g:|DiscreteTimeIntegrator_I:|IntegralGa"
"in_Gain:"
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MaskInitialization "displist = '';\nif ~strcmp(get_param(gcb, '"
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"et_param(bdroot(gcb),'SimulationStatus'),'Initializing')\n rtw_mode = "
"strcmpi(get_param(bdroot(gcb),'BuildingRTWCode'),'on') && ...\n "
" ~strcmpi(get_param(bdroot(gcb),'TargetStyle'),'SimulationTarget');\ne"
"nd\nif showVar || rtw_mode\n if exist('rtwsfunc') == 2 | exist('rtwsfu"
"nc') == 6\n tmplist = rtwsfunc(rtw_sf_name,gcb);\n "
" tmplist = ['\\nList of Modules:\\n', tmplist];\n elseif showVa"
"r\n tmplist = '\\nList of Modules:\\nRTW not licensed\\n';\n "
" end\nend\nif showVar\n displist = tmplist;\nend"
MaskDisplay "\nport_label('input',1,'trajectory');\nport"
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MaskIconRotate "none"
MaskIconUnits "autoscale"
MaskValueString "Controller_sf|off|sfcnParam1|sfcnParam2|sfc"
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MaskTabNameString ",,,,,,,,,,"
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Block {
BlockType SubSystem
Name "__InputSSForSFun__"
Ports [2, 2]
Position [200, 35, 300, 75]
PermitHierarchicalResolution "ExplicitOnly"
MinAlgLoopOccurrences off
RTWSystemCode "Auto"
FunctionWithSeparateData off
MaskHideContents off
System {
Name "__InputSSForSFun__"
Location [480, 85, 1060, 386]
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ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "A4"
PaperUnits "centimeters"
TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
TiledPageScale 1
ShowPageBoundaries off
ZoomFactor "100"
Block {
BlockType Inport
Name "trajectory"
Position [70, 30, 90, 40]
IconDisplay "Port number"
}
Block {
BlockType Inport
Name "Encoder"
Position [70, 60, 90, 70]
Port "2"
IconDisplay "Port number"
}
Block {
BlockType Outport
Name "__UniqueOutportName__1__"
Position [395, 25, 415, 45]
ShowName off
IconDisplay "Port number"
}
Block {
BlockType Outport
Name "__UniqueOutportName__2__"
Position [395, 55, 415, 75]
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Port "2"
IconDisplay "Port number"
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SrcBlock "trajectory"
SrcPort 1
DstBlock "__UniqueOutportName__1__"
DstPort 1
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SrcBlock "Encoder"
SrcPort 1
DstBlock "__UniqueOutportName__2__"
DstPort 1
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Block {
BlockType SubSystem
Name "__OutputSSForSFun__"
Ports [1, 1]
Position [800, 35, 900, 75]
PermitHierarchicalResolution "ExplicitOnly"
MinAlgLoopOccurrences off
RTWSystemCode "Auto"
FunctionWithSeparateData off
MaskHideContents off
System {
Name "__OutputSSForSFun__"
Location [480, 85, 1060, 386]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "A4"
PaperUnits "centimeters"
TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
TiledPageScale 1
ShowPageBoundaries off
ZoomFactor "100"
Block {
BlockType Inport
Name "__UniqueInportName__1__"
Position [100, 45, 120, 65]
ShowName off
IconDisplay "Port number"
Port {
PortNumber 1
Name "U"
RTWStorageClass "Auto"
DataLoggingNameMode "SignalName"
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Block {
BlockType Outport
Name "U"
Position [225, 50, 245, 60]
IconDisplay "Port number"
PortDimensions "1"
SampleTime "[0.0001 0]"
DataType "double"
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Line {
Name "U"
Labels [0, 0]
SrcBlock "__UniqueInportName__1__"
SrcPort 1
DstBlock "U"
DstPort 1
}
}
}
Block {
BlockType Outport
Name "U"
Position [1005, 45, 1025, 65]
IconDisplay "Port number"
PortDimensions "1"
SampleTime "[0.0001 0]"
DataType "double"
}
Line {
SrcBlock "trajectory"
SrcPort 1
DstBlock "__InputSSForSFun__"
DstPort 1
}
Line {
SrcBlock "Encoder"
SrcPort 1
DstBlock "__InputSSForSFun__"
DstPort 2
}
Line {
SrcBlock "__InputSSForSFun__"
SrcPort 1
DstBlock "Controller_sfcn"
DstPort 1
}
Line {
SrcBlock "__InputSSForSFun__"
SrcPort 2
DstBlock "Controller_sfcn"
DstPort 2
}
Line {
SrcBlock "Controller_sfcn"
SrcPort 1
DstBlock "__OutputSSForSFun__"
DstPort 1
}
Line {
SrcBlock "__OutputSSForSFun__"
SrcPort 1
DstBlock "U"
DstPort 1
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}
}
}
}
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