📄 wang_superv.mdl
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Port "1"
OutputWhenDisabled "held"
InitialOutput "[]"
}
Block {
BlockType Outport
Name "x2"
Position [340, 118, 370, 132]
Port "2"
OutputWhenDisabled "held"
InitialOutput "[]"
}
Line {
SrcBlock "Gain"
SrcPort 1
Points [130, 0]
DstBlock "Integrator1"
DstPort 2
}
Line {
SrcBlock "x10"
SrcPort 1
DstBlock "Gain"
DstPort 1
}
Line {
SrcBlock "Mux1"
SrcPort 1
DstBlock "Fcn1"
DstPort 1
}
Line {
SrcBlock "Product"
SrcPort 1
Points [10, 0]
DstBlock "Sum"
DstPort 1
}
Line {
SrcBlock "Fcn"
SrcPort 1
Points [-25, 0]
DstBlock "Sum"
DstPort 2
}
Line {
SrcBlock "Sum"
SrcPort 1
DstBlock "Integrator"
DstPort 1
}
Line {
SrcBlock "Fcn1"
SrcPort 1
Points [-105, 0]
DstBlock "Product"
DstPort 2
}
Line {
SrcBlock "Integrator"
SrcPort 1
Points [15, 0]
Branch {
Points [0, 70]
Branch {
Points [0, 10]
Branch {
Points [0, 0]
DstBlock "x2"
DstPort 1
}
Branch {
DstBlock "Mux1"
DstPort 2
}
}
Branch {
DstBlock "Mux"
DstPort 2
}
}
Branch {
DstBlock "Integrator1"
DstPort 1
}
}
Line {
SrcBlock "u"
SrcPort 1
DstBlock "Product"
DstPort 1
}
Line {
SrcBlock "Mux"
SrcPort 1
DstBlock "Fcn"
DstPort 1
}
Line {
SrcBlock "Integrator1"
SrcPort 1
Points [0, 30]
Branch {
Points [0, 15]
Branch {
DstBlock "Mux"
DstPort 1
}
Branch {
Points [0, 50]
DstBlock "Mux1"
DstPort 1
}
}
Branch {
DstBlock "x1"
DstPort 1
}
}
Annotation {
Position [149, 122]
Text "f"
}
Annotation {
Position [140, 147]
Text "g"
}
}
}
Block {
BlockType Mux
Name "Mux1"
Ports [2, 1]
Position [380, 186, 385, 219]
ShowName off
Inputs "2"
DisplayOption "bar"
}
Block {
BlockType Mux
Name "Mux2"
Ports [2, 1]
Position [410, 122, 415, 153]
ShowName off
Inputs "2"
DisplayOption "bar"
}
Block {
BlockType Constant
Name "Mx"
Position [65, 191, 125, 219]
Value "15*pi/180"
VectorParams1D on
}
Block {
BlockType RandomNumber
Name "Random\nNumber"
Position [25, 145, 55, 175]
Mean "0"
Variance "1"
Seed "0"
SampleTime "0"
VectorParams1D on
}
Block {
BlockType Scope
Name "Scope"
Ports [1]
Position [435, 124, 465, 156]
Floating off
Location [7, 53, 231, 202]
Open on
NumInputPorts "1"
TickLabels "OneTimeTick"
ZoomMode "on"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
List {
ListType SelectedSignals
axes1 ""
}
Grid "on"
TimeRange "10"
YMin "-50"
YMax "50"
SaveToWorkspace off
SaveName "ScopeData"
DataFormat "StructureWithTime"
LimitDataPoints on
MaxDataPoints "500000"
Decimation "1"
SampleInput off
SampleTime "0"
}
Block {
BlockType Scope
Name "Scope1"
Ports [1]
Position [295, 184, 325, 216]
Floating off
Location [7, 255, 228, 399]
Open on
NumInputPorts "1"
TickLabels "OneTimeTick"
ZoomMode "on"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
List {
ListType SelectedSignals
axes1 ""
}
Grid "on"
TimeRange "10"
YMin "0"
YMax "1"
SaveToWorkspace off
SaveName "ScopeData1"
DataFormat "StructureWithTime"
LimitDataPoints on
MaxDataPoints "500000"
Decimation "1"
SampleInput off
SampleTime "0"
}
Block {
BlockType Scope
Name "Scope2"
Ports [1]
Position [400, 189, 430, 221]
Floating off
Location [10, 430, 232, 564]
Open on
NumInputPorts "1"
TickLabels "OneTimeTick"
ZoomMode "on"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
List {
ListType SelectedSignals
axes1 ""
}
Grid "on"
TimeRange "10"
YMin "-10"
YMax "0"
SaveToWorkspace off
SaveName "ScopeData2"
DataFormat "StructureWithTime"
LimitDataPoints on
MaxDataPoints "500000"
Decimation "1"
SampleInput off
SampleTime "0"
}
Block {
BlockType Sum
Name "Sum"
Ports [3, 1]
Position [185, 75, 205, 95]
ShowName off
IconShape "round"
Inputs "|+-+"
SaturateOnIntegerOverflow on
}
Block {
BlockType SubSystem
Name "Supervisory Control\nSubsystem"
Ports [4, 2]
Position [210, 151, 250, 214]
ShowPortLabels on
TreatAsAtomicUnit off
RTWSystemCode "Auto"
RTWFcnNameOpts "Auto"
RTWFileNameOpts "Auto"
System {
Name "Supervisory Control\nSubsystem"
Location [184, 240, 577, 492]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "automatic"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "100"
Block {
BlockType Inport
Name "x1"
Position [70, 15, 100, 30]
Orientation "down"
Port "1"
LatchInput off
Interpolate on
}
Block {
BlockType Inport
Name "x2"
Position [120, 25, 150, 40]
Orientation "down"
Port "2"
LatchInput off
Interpolate on
}
Block {
BlockType Inport
Name "u"
Position [35, 108, 65, 122]
Port "3"
LatchInput off
Interpolate on
}
Block {
BlockType Inport
Name "Mx"
Position [115, 218, 145, 232]
Port "4"
LatchInput off
Interpolate on
}
Block {
BlockType SubSystem
Name "15.78 Subsystem1"
Ports [1, 1]
Position [165, 89, 210, 111]
ShowPortLabels on
TreatAsAtomicUnit off
RTWSystemCode "Auto"
RTWFcnNameOpts "Auto"
RTWFileNameOpts "Auto"
System {
Name "15.78 Subsystem1"
Location [213, 279, 623, 400]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "automatic"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "100"
Block {
BlockType Inport
Name "x2"
Position [25, 23, 55, 37]
Port "1"
LatchInput off
Interpolate on
}
Block {
BlockType Constant
Name "Constant1"
Position [195, 55, 225, 85]
Value "15.78"
VectorParams1D on
}
Block {
BlockType Gain
Name "Gain2"
Position [275, 22, 330, 58]
Gain "0.909"
Multiplication "Element-wise(K.*u)"
SaturateOnIntegerOverflow on
}
Block {
BlockType Gain
Name "Gain4"
Position [140, 22, 220, 58]
Gain "0.0366"
Multiplication "Element-wise(K.*u)"
SaturateOnIntegerOverflow on
}
Block {
BlockType Product
Name "Product"
Ports [2, 1]
Position [95, 24, 115, 51]
Inputs "2"
Multiplication "Element-wise(.*)"
SaturateOnIntegerOverflow on
}
Block {
BlockType Sum
Name "Sum5"
Ports [2, 1]
Position [235, 30, 255, 50]
ShowName off
IconShape "round"
Inputs "|++"
SaturateOnIntegerOverflow on
}
Block {
BlockType Outport
Name "Out1"
Position [355, 33, 385, 47]
Port "1"
OutputWhenDisabled "held"
InitialOutput "[]"
}
Line {
SrcBlock "Product"
SrcPort 1
DstBlock "Gain4"
DstPort 1
}
Line {
SrcBlock "Gain4"
SrcPort 1
DstBlock "Sum5"
DstPort 1
}
Line {
SrcBlock "Constant1"
SrcPort 1
Points [15, 0]
DstBlock "Sum5"
DstPort 2
}
Line {
SrcBlock "Sum5"
SrcPort 1
DstBlock "Gain2"
DstPort 1
}
Line {
SrcBlock "x2"
SrcPort 1
Points [0, 0; 15, 0]
Branch {
DstBlock "Product"
DstPort 1
}
Branch {
Points [0, 15]
DstBlock "Product"
DstPort 2
}
}
Line {
SrcBlock "Gain2"
SrcPort 1
DstBlock "Out1"
DstPort 1
}
}
}
Block {
BlockType Abs
Name "Abs"
Position [100, 100, 130, 130]
SaturateOnIntegerOverflow on
}
Block {
BlockType SubSystem
Name "I* Subsystem3"
Ports [3, 1]
Position [170, 189, 215, 231]
ShowPortLabels on
TreatAsAtomicUnit off
RTWSystemCode "Auto"
RTWFcnNameOpts "Auto"
RTWFileNameOpts "Auto"
System {
Name "I* Subsystem3"
Location [388, 153, 751, 317]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "automatic"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "100"
Block {
BlockType Inport
Name "x1"
Position [35, 13, 65, 27]
Port "1"
LatchInput off
Interpolate on
}
Block {
BlockType Inport
Name "x2"
Position [35, 53, 65, 67]
Port "2"
LatchInput off
Interpolate on
}
Block {
BlockType Inport
Name "Mx"
Position [35, 93, 65, 107]
Port "3"
LatchInput off
Interpolate on
}
Block {
BlockType Math
Name "Math\nFunction"
Ports [1, 1]
Position [185, 15, 215, 45]
Operator "sqrt"
OutputSignalType "auto"
}
Block {
BlockType Product
Name "Product1"
Ports [2, 1]
Position [105, 14, 125, 41]
Inputs "2"
Multiplication "Element-wise(.*)"
SaturateOnIntegerOverflow on
}
Block {
BlockType Product
Name "Product2"
Ports [2, 1]
Position [105, 54, 125, 81]
Inputs "2"
Multiplication "Element-wise(.*)"
SaturateOnIntegerOverflow on
}
Block {
BlockType RelationalOperator
Name "Relational\nOperator"
Position [245, 22, 275, 53]
Operator ">="
}
Block {
BlockType Sum
Name "Sum5"
Ports [2, 1]
Position [145, 20, 165, 40]
ShowName off
IconShape "round"
Inputs "|++"
SaturateOnIntegerOverflow on
}
Block {
BlockType Outport
Name "Out1"
Position [300, 33, 330, 47]
Port "1"
OutputWhenDisabled "held"
InitialOutput "[]"
}
Line {
SrcBlock "Product1"
SrcPort 1
DstBlock "Sum5"
DstPort 1
}
Line {
SrcBlock "Product2"
SrcPort 1
Points [25, 0]
DstBlock "Sum5"
DstPort 2
}
Line {
SrcBlock "Sum5"
SrcPort 1
DstBlock "Math\nFunction"
DstPort 1
}
Line {
SrcBlock "Math\nFunction"
SrcPort 1
DstBlock "Relational\nOperator"
DstPort 1
}
Line {
SrcBlock "Mx"
SrcPort 1
Points [160, 0]
DstBlock "Relational\nOperator"
DstPort 2
}
Line {
SrcBlock "x1"
SrcPort 1
Points [0, 0; 15, 0]
Branch {
DstBlock "Product1"
DstPort 1
}
Branch {
Points [0, 15]
DstBlock "Product1"
DstPort 2
}
}
Line {
SrcBlock "Relational\nOperator"
SrcPort 1
DstBlock "Out1"
DstPort 1
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