📄 ex34_dpid.mdl
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Model {
Name "ex34_dpid"
Version 4.00
SampleTimeColors off
LibraryLinkDisplay "none"
WideLines off
ShowLineDimensions off
ShowPortDataTypes off
RecordCoverage off
CovPath "/"
CovSaveName "covdata"
CovNameIncrementing off
CovHtmlReporting on
BlockNameDataTip off
BlockParametersDataTip off
BlockDescriptionStringDataTip off
ToolBar on
StatusBar on
BrowserShowLibraryLinks off
BrowserLookUnderMasks off
Created "Sun Jul 08 12:31:37 2001"
UpdateHistory "UpdateHistoryNever"
ModifiedByFormat "%<Auto>"
ModifiedDateFormat "%<Auto>"
LastModifiedDate "Mon Jul 09 10:09:38 2001"
ModelVersionFormat "1.%<AutoIncrement:24>"
ConfigurationManager "none"
SimParamPage "Solver"
StartTime "0.0"
StopTime "4.0"
SolverMode "Auto"
Solver "ode5"
RelTol "1e-3"
AbsTol "auto"
Refine "1"
MaxStep "auto"
MinStep "auto"
MaxNumMinSteps "-1"
InitialStep "auto"
FixedStep "0.001"
MaxOrder 5
OutputOption "RefineOutputTimes"
OutputTimes "[]"
LoadExternalInput off
ExternalInput "[t, u]"
SaveTime on
TimeSaveName "tout"
SaveState off
StateSaveName "xout"
SaveOutput on
OutputSaveName "yout"
LoadInitialState off
InitialState "xInitial"
SaveFinalState off
FinalStateName "xFinal"
SaveFormat "Array"
LimitDataPoints on
MaxDataPoints "1000"
Decimation "1"
AlgebraicLoopMsg "warning"
MinStepSizeMsg "warning"
UnconnectedInputMsg "warning"
UnconnectedOutputMsg "warning"
UnconnectedLineMsg "warning"
InheritedTsInSrcMsg "warning"
SingleTaskRateTransMsg "none"
MultiTaskRateTransMsg "error"
IntegerOverflowMsg "warning"
CheckForMatrixSingularity "none"
UnnecessaryDatatypeConvMsg "none"
Int32ToFloatConvMsg "warning"
SignalLabelMismatchMsg "none"
LinearizationMsg "none"
VectorMatrixConversionMsg "none"
SfunCompatibilityCheckMsg "none"
BlockPriorityViolationMsg "warning"
ArrayBoundsChecking "none"
ConsistencyChecking "none"
ZeroCross on
Profile off
SimulationMode "normal"
RTWSystemTargetFile "grt.tlc"
RTWInlineParameters off
RTWRetainRTWFile off
RTWTemplateMakefile "grt_default_tmf"
RTWMakeCommand "make_rtw"
RTWGenerateCodeOnly off
TLCProfiler off
TLCDebug off
TLCCoverage off
AccelSystemTargetFile "accel.tlc"
AccelTemplateMakefile "accel_default_tmf"
AccelMakeCommand "make_rtw"
ExtModeMexFile "ext_comm"
ExtModeBatchMode off
ExtModeTrigType "manual"
ExtModeTrigMode "normal"
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 on
ExtModeLogAll on
OptimizeBlockIOStorage on
BufferReuse on
ParameterPooling on
BlockReductionOpt off
BooleanDataType off
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 "ex34_dpid"
Location [314, 74, 778, 384]
Open on
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "automatic"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "100"
AutoZoom on
ReportName "simulink-default.rpt"
Block {
BlockType Abs
Name "Abs"
Position [105, 180, 135, 210]
SaturateOnIntegerOverflow on
}
Block {
BlockType Clock
Name "Clock"
Position [20, 15, 40, 35]
DisplayTime off
Decimation "10"
}
Block {
BlockType Constant
Name "Constant"
Position [20, 255, 60, 285]
Value "Emin+1"
VectorParams1D on
}
Block {
BlockType SubSystem
Name "Digital PID\ncontroller"
Ports [1, 1]
Position [135, 64, 195, 106]
ShowPortLabels on
TreatAsAtomicUnit off
RTWSystemCode "Auto"
RTWFcnNameOpts "Auto"
RTWFileNameOpts "Auto"
System {
Name "Digital PID\ncontroller"
Location [45, 287, 604, 500]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "automatic"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "100"
AutoZoom on
Block {
BlockType Inport
Name "err"
Position [25, 40, 55, 54]
Port "1"
Interpolate on
}
Block {
BlockType DiscreteIntegrator
Name "Discrete-Time\nIntegrator"
Ports [1, 1]
Position [100, 54, 150, 96]
FontSize 10
IntegratorMethod "BackwardEuler"
ExternalReset "none"
InitialConditionSource "internal"
InitialCondition "0"
LimitOutput off
UpperSaturationLimit "inf"
LowerSaturationLimit "-inf"
ShowSaturationPort off
ShowStatePort off
SampleTime "Ts"
}
Block {
BlockType Gain
Name "Gain"
Position [180, 60, 210, 90]
Gain "Ki"
Multiplication "Element-wise(K.*u)"
SaturateOnIntegerOverflow on
}
Block {
BlockType Gain
Name "Gain1"
Position [205, 118, 250, 152]
Gain "Kd"
Multiplication "Element-wise(K.*u)"
SaturateOnIntegerOverflow on
}
Block {
BlockType Gain
Name "Gain2"
Position [295, 28, 325, 62]
Gain "Kp"
Multiplication "Element-wise(K.*u)"
SaturateOnIntegerOverflow on
}
Block {
BlockType Saturate
Name "Saturation"
Position [455, 30, 485, 60]
UpperLimit "100"
LowerLimit "-100"
LinearizeAsGain on
}
Block {
BlockType Sum
Name "Sum1"
Ports [3, 1]
Position [255, 35, 275, 55]
ShowName off
IconShape "round"
Inputs "|+++"
SaturateOnIntegerOverflow on
}
Block {
BlockType Sum
Name "Sum2"
Ports [2, 1]
Position [170, 125, 190, 145]
ShowName off
IconShape "round"
Inputs "|+-"
SaturateOnIntegerOverflow on
}
Block {
BlockType TransportDelay
Name "Transport\nDelay"
Position [395, 30, 425, 60]
DelayTime "1.2*Ts"
InitialInput "0"
BufferSize "1024"
PadeOrder "0"
}
Block {
BlockType UnitDelay
Name "Unit Delay"
Position [100, 150, 135, 190]
FontSize 10
X0 "0"
SampleTime "Ts"
}
Block {
BlockType ZeroOrderHold
Name "Zero-Order\nHold"
Position [340, 26, 375, 64]
SampleTime "Ts"
}
Block {
BlockType Outport
Name "ctrl"
Position [520, 40, 550, 54]
Port "1"
OutputWhenDisabled "held"
InitialOutput "[]"
}
Line {
SrcBlock "Gain1"
SrcPort 1
Points [10, 0]
DstBlock "Sum1"
DstPort 3
}
Line {
SrcBlock "Sum1"
SrcPort 1
DstBlock "Gain2"
DstPort 1
}
Line {
SrcBlock "Gain2"
SrcPort 1
DstBlock "Zero-Order\nHold"
DstPort 1
}
Line {
SrcBlock "err"
SrcPort 1
Points [0, 0; 15, 0]
Branch {
Points [169, 0]
DstBlock "Sum1"
DstPort 1
}
Branch {
Points [0, 30]
Branch {
DstBlock "Discrete-Time\nIntegrator"
DstPort 1
}
Branch {
Points [0, 45]
Branch {
Points [80, 0]
DstBlock "Sum2"
DstPort 1
}
Branch {
Points [0, 50]
DstBlock "Unit Delay"
DstPort 1
}
}
}
}
Line {
SrcBlock "Gain"
SrcPort 1
Points [29, 0]
DstBlock "Sum1"
DstPort 2
}
Line {
SrcBlock "Sum2"
SrcPort 1
DstBlock "Gain1"
DstPort 1
}
Line {
SrcBlock "Zero-Order\nHold"
SrcPort 1
DstBlock "Transport\nDelay"
DstPort 1
}
Line {
SrcBlock "Discrete-Time\nIntegrator"
SrcPort 1
DstBlock "Gain"
DstPort 1
}
Line {
SrcBlock "Unit Delay"
SrcPort 1
Points [40, 0]
DstBlock "Sum2"
DstPort 2
}
Line {
SrcBlock "Transport\nDelay"
SrcPort 1
DstBlock "Saturation"
DstPort 1
}
Line {
SrcBlock "Saturation"
SrcPort 1
DstBlock "ctrl"
DstPort 1
}
}
}
Block {
BlockType Display
Name "Display"
Ports [1]
Position [340, 180, 430, 210]
BackgroundColor "green"
FontSize 10
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