pendulum1ctrl.mdl

用神经网络来控制一阶倒立摆

	  NamePlacement		  "alternate"
	  ShowName		  off
	  Gain			  "2"
	}
	Block {
	  BlockType		  Gain
	  Name			  "Gain4"
	  Position		  [265, 170, 315, 200]
	  Orientation		  "left"
	  NamePlacement		  "alternate"
	  ShowName		  off
	  Gain			  "-3*9.801/8"
	}
	Block {
	  BlockType		  Gain
	  Name			  "Gain5"
	  Position		  [45, 210, 75, 240]
	  Orientation		  "up"
	  ShowName		  off
	  Gain			  "0.1"
	}
	Block {
	  BlockType		  Gain
	  Name			  "Gain6"
	  Position		  [295, 135, 325, 165]
	  Orientation		  "left"
	  ShowName		  off
	  Gain			  "0.1"
	}
	Block {
	  BlockType		  Gain
	  Name			  "Gain7"
	  Position		  [525, 125, 555, 155]
	  Orientation		  "left"
	  NamePlacement		  "alternate"
	  ShowName		  off
	  Gain			  "-3/4"
	}
	Block {
	  BlockType		  Integrator
	  Name			  "Integrator"
	  Ports			  [1, 1]
	  Position		  [350, 65, 380, 95]
	  ShowName		  off
	  InitialCondition	  "Init(2)"
	}
	Block {
	  BlockType		  Integrator
	  Name			  "Integrator1"
	  Ports			  [1, 1]
	  Position		  [450, 65, 480, 95]
	  ShowName		  off
	  InitialCondition	  "Init(1)"
	}
	Block {
	  BlockType		  Integrator
	  Name			  "Integrator2"
	  Ports			  [1, 1]
	  Position		  [350, 205, 380, 235]
	  ShowName		  off
	  InitialCondition	  "Init(3)"
	}
	Block {
	  BlockType		  Integrator
	  Name			  "Integrator3"
	  Ports			  [1, 1]
	  Position		  [200, 205, 230, 235]
	  ShowName		  off
	  InitialCondition	  "Init(4)"
	}
	Block {
	  BlockType		  Mux
	  Name			  "Mux"
	  Ports			  [2, 1]
	  Position		  [150, 91, 155, 129]
	  ShowName		  off
	  Inputs		  "2"
	  DisplayOption		  "bar"
	}
	Block {
	  BlockType		  Product
	  Name			  "Product1"
	  Ports			  [2, 1]
	  Position		  [205, 295, 240, 330]
	  Orientation		  "left"
	  NamePlacement		  "alternate"
	  ShowName		  off
	}
	Block {
	  BlockType		  Product
	  Name			  "Product2"
	  Ports			  [2, 1]
	  Position		  [547, 330, 578, 365]
	  Orientation		  "down"
	  NamePlacement		  "alternate"
	  ShowName		  off
	}
	Block {
	  BlockType		  Sum
	  Name			  "Sum"
	  Ports			  [3, 1]
	  Position		  [80, 83, 105, 137]
	  ShowName		  off
	  Inputs		  "-++"
	}
	Block {
	  BlockType		  Sum
	  Name			  "Sum1"
	  Ports			  [2, 1]
	  Position		  [478, 390, 522, 410]
	  Orientation		  "down"
	  NamePlacement		  "alternate"
	  ShowName		  off
	  Inputs		  "+-"
	}
	Block {
	  BlockType		  Sum
	  Name			  "Sum2"
	  Ports			  [2, 1]
	  Position		  [65, 287, 90, 323]
	  Orientation		  "left"
	  NamePlacement		  "alternate"
	  ShowName		  off
	}
	Block {
	  BlockType		  Sum
	  Name			  "Sum3"
	  Ports			  [2, 1]
	  Position		  [470, 132, 495, 168]
	  Orientation		  "left"
	  NamePlacement		  "alternate"
	  ShowName		  off
	}
	Block {
	  BlockType		  Sum
	  Name			  "Sum4"
	  Ports			  [2, 1]
	  Position		  [220, 122, 245, 158]
	  Orientation		  "left"
	  NamePlacement		  "alternate"
	  ShowName		  off
	}
	Block {
	  BlockType		  Outport
	  Name			  "x"
	  Position		  [635, 73, 665, 87]
	}
	Block {
	  BlockType		  Outport
	  Name			  "dx"
	  Position		  [640, 112, 670, 128]
	  Port			  "2"
	}
	Block {
	  BlockType		  Outport
	  Name			  "phi"
	  Position		  [645, 208, 675, 222]
	  Port			  "3"
	}
	Block {
	  BlockType		  Outport
	  Name			  "dphi"
	  Position		  [650, 422, 680, 438]
	  Port			  "4"
	}
	Line {
	  SrcBlock		  "Integrator3"
	  SrcPort		  1
	  Points		  [25, 0]
	  Branch {
	    DstBlock		    "Fcn"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [40, 0]
	    Branch {
	      DstBlock		      "Integrator2"
	      DstPort		      1
	    }
	    Branch {
	      Points		      [0, 210]
	      DstBlock		      "dphi"
	      DstPort		      1
	    }
	  }
	}
	Line {
	  SrcBlock		  "Integrator2"
	  SrcPort		  1
	  Points		  [100, 0]
	  Branch {
	    Points		    [0, 15]
	    Branch {
	      Points		      [50, 0]
	      DstBlock		      "Fcn2"
	      DstPort		      1
	    }
	    Branch {
	      Points		      [-35, 0]
	      DstBlock		      "Fcn1"
	      DstPort		      1
	    }
	  }
	  Branch {
	    Points		    [0, -35]
	    DstBlock		    "Gain3"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [145, 0]
	    DstBlock		    "phi"
	    DstPort		    1
	  }
	}
	Line {
	  SrcBlock		  "Fcn"
	  SrcPort		  1
	  Points		  [0, 30]
	  DstBlock		  "Product1"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Fcn1"
	  SrcPort		  1
	  Points		  [0, 25]
	  Branch {
	    DstBlock		    "Product1"
	    DstPort		    2
	  }
	  Branch {
	    DstBlock		    "Gain1"
	    DstPort		    1
	  }
	}
	Line {
	  SrcBlock		  "Gain1"
	  SrcPort		  1
	  Points		  [0, 5]
	  DstBlock		  "Sum1"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Product2"
	  SrcPort		  1
	  Points		  [0, 5]
	  DstBlock		  "Sum1"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Sum1"
	  SrcPort		  1
	  DstBlock		  "Gain2"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Gain2"
	  SrcPort		  1
	  Points		  [-35, 0; 0, -195]
	  DstBlock		  "Integrator3"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Gain3"
	  SrcPort		  1
	  DstBlock		  "Fcn3"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Fcn3"
	  SrcPort		  1
	  DstBlock		  "Gain4"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Gain4"
	  SrcPort		  1
	  Points		  [-150, 0; 0, 110]
	  DstBlock		  "Sum2"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Product1"
	  SrcPort		  1
	  DstBlock		  "Sum2"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Integrator"
	  SrcPort		  1
	  Points		  [25, 0]
	  Branch {
	    DstBlock		    "Integrator1"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, -35]
	    DstBlock		    "Gain"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, 40]
	    DstBlock		    "dx"
	    DstPort		    1
	  }
	}
	Line {
	  SrcBlock		  "Sum2"
	  SrcPort		  1
	  DstBlock		  "Gain5"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Fcn2"
	  SrcPort		  1
	  Points		  [0, 5]
	  Branch {
	    Points		    [0, 15]
	    DstBlock		    "Product2"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [85, 0]
	    DstBlock		    "Fcn4"
	    DstPort		    1
	  }
	}
	Line {
	  SrcBlock		  "Fcn4"
	  SrcPort		  1
	  Points		  [0, -100]
	  DstBlock		  "Gain7"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Gain7"
	  SrcPort		  1
	  DstBlock		  "Sum3"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Constant"
	  SrcPort		  1
	  Points		  [0, -20]
	  DstBlock		  "Sum3"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Sum3"
	  SrcPort		  1
	  DstBlock		  "Gain6"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Gain6"
	  SrcPort		  1
	  DstBlock		  "Sum4"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Constant1"
	  SrcPort		  1
	  DstBlock		  "Sum4"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Gain"
	  SrcPort		  1
	  Points		  [-150, 0]
	  DstBlock		  "Sum"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Gain5"
	  SrcPort		  1
	  Points		  [0, -75]
	  DstBlock		  "Sum"
	  DstPort		  3
	}
	Line {
	  SrcBlock		  "Sum"
	  SrcPort		  1
	  Points		  [25, 0]
	  DstBlock		  "Mux"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Sum4"
	  SrcPort		  1
	  Points		  [-80, 0]
	  DstBlock		  "Mux"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Integrator1"
	  SrcPort		  1
	  DstBlock		  "x"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "input"
	  SrcPort		  1
	  DstBlock		  "Sum"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Mux"
	  SrcPort		  1
	  Points		  [25, 0]
	  DstBlock		  "Fcn5"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Fcn5"
	  SrcPort		  1
	  Points		  [40, 0]
	  Branch {
	    DstBlock		    "Integrator"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, -55; 270, 0]
	    DstBlock		    "Product2"
	    DstPort		    2
	  }
	}
      }
    }
    Line {
      SrcBlock		      "pendulum1"
      SrcPort		      3
      DstBlock		      "Mux"
      DstPort		      3
    }
    Line {
      SrcBlock		      "pendulum1"
      SrcPort		      4
      DstBlock		      "Mux"
      DstPort		      4
    }
    Line {
      SrcBlock		      "pendulum1"
      SrcPort		      1
      DstBlock		      "Mux"
      DstPort		      1
    }
    Line {
      SrcBlock		      "pendulum1"
      SrcPort		      2
      DstBlock		      "Mux"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Demux"
      SrcPort		      2
      Points		      [20, 0]
      Branch {
	DstBlock		"Scope3"
	DstPort			2
      }
      Branch {
	Points			[0, 115]
	DstBlock		"To Workspace1"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Demux"
      SrcPort		      3
      Points		      [15, 0]
      Branch {
	DstBlock		"Scope3"
	DstPort			3
      }
      Branch {
	Points			[0, 155]
	DstBlock		"To Workspace3"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Demux"
      SrcPort		      4
      Points		      [5, 0; 0, 0]
      Branch {
	DstBlock		"Scope3"
	DstPort			4
      }
      Branch {
	Points			[0, 200]
	DstBlock		"To Workspace2"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Demux"
      SrcPort		      1
      Points		      [25, 0]
      Branch {
	DstBlock		"Scope3"
	DstPort			1
      }
      Branch {
	DstBlock		"To Workspace"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Mux"
      SrcPort		      1
      Points		      [15, 0]
      Branch {
	DstBlock		"Demux"
	DstPort			1
      }
      Branch {
	Labels			[2, 0]
	Points			[0, -85; -340, 0; 0, 85]
	DstBlock		"Neural Network"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Neural Network"
      SrcPort		      1
      DstBlock		      "pendulum1"
      DstPort		      1
    }
  }
}