📄 dp22a_nc.mdl
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}
}
Block {
BlockType Saturate
Name "Saturation"
Position [155, 25, 185, 55]
UpperLimit "1"
LowerLimit "-1"
LinearizeAsGain on
}
Block {
BlockType Saturate
Name "Saturation1"
Position [165, 86, 185, 114]
UpperLimit "1"
LowerLimit "-1"
LinearizeAsGain on
}
Block {
BlockType Scope
Name "Scope1"
Ports [1]
Position [255, 150, 285, 180]
Floating off
Location [242, 269, 491, 441]
Open on
NumInputPorts "1"
TickLabels "OneTimeTick"
ZoomMode "on"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
Grid "on"
TimeRange "30"
YMin "0.15"
YMax "0.35"
SaveToWorkspace off
SaveName "ScopeData3"
DataFormat "StructureWithTime"
LimitDataPoints on
MaxDataPoints "50000"
Decimation "1"
SampleInput off
SampleTime "0"
}
Block {
BlockType Scope
Name "Scope2"
Ports [1]
Position [255, 95, 285, 125]
Floating off
Location [8, 269, 232, 441]
Open on
NumInputPorts "1"
TickLabels "OneTimeTick"
ZoomMode "on"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
Grid "on"
TimeRange "30"
YMin "-0.5"
YMax "1"
SaveToWorkspace off
SaveName "ScopeData1"
DataFormat "StructureWithTime"
LimitDataPoints on
MaxDataPoints "50000"
Decimation "1"
SampleInput off
SampleTime "0"
}
Block {
BlockType Scope
Name "Scope3"
Ports [1]
Position [405, 95, 435, 125]
Floating off
Location [501, 268, 750, 440]
Open on
NumInputPorts "1"
TickLabels "OneTimeTick"
ZoomMode "on"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
Grid "on"
TimeRange "30"
YMin "0"
YMax "1.5"
SaveToWorkspace off
SaveName "ScopeData4"
DataFormat "StructureWithTime"
LimitDataPoints on
MaxDataPoints "50000"
Decimation "1"
SampleInput off
SampleTime "0"
}
Block {
BlockType Gain
Name "Sde"
Position [70, 82, 150, 118]
Gain "0.003676"
Multiplication "Element-wise(K.*u)"
SaturateOnIntegerOverflow on
}
Block {
BlockType Gain
Name "Se"
Position [75, 23, 135, 57]
Gain "10"
Multiplication "Element-wise(K.*u)"
SaturateOnIntegerOverflow on
}
Block {
BlockType Outport
Name "Out1"
Position [465, 43, 495, 57]
Port "1"
OutputWhenDisabled "held"
InitialOutput "[]"
}
Line {
SrcBlock "Mux"
SrcPort 1
DstBlock "Neural Network"
DstPort 1
}
Line {
SrcBlock "e"
SrcPort 1
DstBlock "Se"
DstPort 1
}
Line {
SrcBlock "Neural Network"
SrcPort 1
Points [20, 0]
Branch {
DstBlock "Gain3"
DstPort 1
}
Branch {
Points [0, 60]
DstBlock "Scope3"
DstPort 1
}
}
Line {
SrcBlock "ie"
SrcPort 1
DstBlock "Sde"
DstPort 1
}
Line {
SrcBlock "Se"
SrcPort 1
DstBlock "Saturation"
DstPort 1
}
Line {
SrcBlock "Sde"
SrcPort 1
DstBlock "Saturation1"
DstPort 1
}
Line {
SrcBlock "Gain3"
SrcPort 1
DstBlock "Out1"
DstPort 1
}
Line {
SrcBlock "Saturation"
SrcPort 1
Points [10, 0]
Branch {
DstBlock "Mux"
DstPort 1
}
Branch {
Points [0, 70]
DstBlock "Scope2"
DstPort 1
}
}
Line {
SrcBlock "Saturation1"
SrcPort 1
Points [5, 0]
Branch {
Points [10, 0]
DstBlock "Mux"
DstPort 2
}
Branch {
Points [0, 65]
DstBlock "Scope1"
DstPort 1
}
}
}
}
Block {
BlockType RandomNumber
Name "Random\nNumber"
Position [20, 145, 50, 175]
Mean "0"
Variance "1"
Seed "0"
SampleTime "0"
VectorParams1D on
}
Block {
BlockType Scope
Name "Scope"
Ports [1]
Position [500, 35, 530, 65]
Floating off
Location [6, 59, 235, 231]
Open on
NumInputPorts "1"
TickLabels "OneTimeTick"
ZoomMode "on"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
Grid "on"
TimeRange "30"
YMin "16"
YMax "24"
SaveToWorkspace off
SaveName "ScopeData"
DataFormat "StructureWithTime"
LimitDataPoints on
MaxDataPoints "50000"
Decimation "1"
SampleInput off
SampleTime "0"
}
Block {
BlockType Step
Name "Step"
Position [15, 25, 40, 55]
Time "0"
Before "0"
After "18"
SampleTime "0.01"
VectorParams1D on
}
Block {
BlockType Step
Name "Step1"
Position [15, 70, 40, 100]
Time "10"
Before "0"
After "4"
SampleTime "0.01"
VectorParams1D on
}
Block {
BlockType Sum
Name "Sum"
Ports [2, 1]
Position [150, 30, 170, 50]
ShowName off
IconShape "round"
Inputs "|+-"
SaturateOnIntegerOverflow on
}
Block {
BlockType Sum
Name "Sum1"
Ports [2, 1]
Position [85, 30, 105, 50]
ShowName off
IconShape "round"
Inputs "|++"
SaturateOnIntegerOverflow on
}
Block {
BlockType ToWorkspace
Name "To Workspace\nRPM"
Position [470, 85, 490, 105]
VariableName "y"
MaxDataPoints "inf"
Decimation "1"
SampleTime "-1"
SaveFormat "Array"
}
Block {
BlockType ToWorkspace
Name "To Workspace\nRPM1"
Position [430, 110, 450, 130]
VariableName "u"
MaxDataPoints "inf"
Decimation "1"
SampleTime "-1"
SaveFormat "Array"
}
Block {
BlockType ToWorkspace
Name "To Workspace2"
Position [395, 140, 410, 170]
VariableName "t"
MaxDataPoints "inf"
Decimation "1"
SampleTime "-1"
SaveFormat "Array"
}
Block {
BlockType ZeroOrderHold
Name "Zero-Order\nHold"
Position [325, 136, 360, 174]
SampleTime "0.01"
}
Block {
BlockType Outport
Name "Out1"
Position [240, 168, 270, 182]
Port "1"
OutputWhenDisabled "held"
InitialOutput "[]"
}
Block {
BlockType Outport
Name "Out2"
Position [130, 113, 160, 127]
Port "2"
OutputWhenDisabled "held"
InitialOutput "[]"
}
Block {
BlockType Outport
Name "Out3"
Position [515, 148, 545, 162]
Port "3"
OutputWhenDisabled "held"
InitialOutput "[]"
}
Block {
BlockType Outport
Name "Out4"
Position [415, 78, 445, 92]
Port "4"
OutputWhenDisabled "held"
InitialOutput "[]"
}
Line {
SrcBlock "Clock"
SrcPort 1
DstBlock "Zero-Order\nHold"
DstPort 1
}
Line {
SrcBlock "Step"
SrcPort 1
DstBlock "Sum1"
DstPort 1
}
Line {
SrcBlock "Sum"
SrcPort 1
Points [0, 5]
Branch {
Points [0, 30]
Branch {
DstBlock "Discrete-Time\nIntegrator"
DstPort 1
}
Branch {
Points [0, 100]
DstBlock "Out1"
DstPort 1
}
}
Branch {
Points [20, 0; 0, -10]
DstBlock "NN Subsystem"
DstPort 1
}
}
Line {
SrcBlock "Discrete-Time\nIntegrator"
SrcPort 1
Points [0, -15]
DstBlock "NN Subsystem"
DstPort 2
}
Line {
SrcBlock "Gain2"
SrcPort 1
Points [130, 0]
DstBlock "Automobile cruise\ncontrol Subsystem"
DstPort 2
}
Line {
SrcBlock "Automobile cruise\ncontrol Subsystem"
SrcPort 1
Points [5, 0; 0, 10; 5, 0]
Branch {
DstBlock "Mux"
DstPort 2
}
Branch {
Points [0, 45]
Branch {
Points [35, 0]
DstBlock "Gain6"
DstPort 1
}
Branch {
Points [-220, 0]
DstBlock "Sum"
DstPort 2
}
}
}
Line {
SrcBlock "NN Subsystem"
SrcPort 1
DstBlock "Automobile cruise\ncontrol Subsystem"
DstPort 1
}
Line {
SrcBlock "Zero-Order\nHold"
SrcPort 1
DstBlock "To Workspace2"
DstPort 1
}
Line {
SrcBlock "Sum1"
SrcPort 1
Points [5, 0]
Branch {
Points [15, 0]
Branch {
DstBlock "Sum"
DstPort 1
}
Branch {
Points [0, -25; 250, 0]
DstBlock "Mux"
DstPort 1
}
}
Branch {
DstBlock "Out2"
DstPort 1
}
}
Line {
SrcBlock "Gain3"
SrcPort 1
Points [0, 0]
Branch {
DstBlock "Scope"
DstPort 1
}
Branch {
Points [0, 20; -30, 0]
DstBlock "To Workspace\nRPM"
DstPort 1
}
}
Line {
SrcBlock "Gain6"
SrcPort 1
DstBlock "Out3"
DstPort 1
}
Line {
SrcBlock "Step1"
SrcPort 1
Points [50, 0]
DstBlock "Sum1"
DstPort 2
}
Line {
SrcBlock "Mux"
SrcPort 1
DstBlock "Gain3"
DstPort 1
}
Line {
SrcBlock "Automobile cruise\ncontrol Subsystem"
SrcPort 2
Points [20, 0]
Branch {
Points [10, 0]
DstBlock "Out4"
DstPort 1
}
Branch {
Points [0, 45]
DstBlock "To Workspace\nRPM1"
DstPort 1
}
}
Line {
SrcBlock "Random\nNumber"
SrcPort 1
DstBlock "Gain2"
DstPort 1
}
Annotation {
Position [158, 209]
Text "dp22a_nc.mdl\nPenChen Chou, Aug. 5, 2001.\n"
}
}
}
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