📄 wang_superv.mdl
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}
Line {
SrcBlock "x2"
SrcPort 1
Points [0, 0; 15, 0]
Branch {
DstBlock "Product2"
DstPort 1
}
Branch {
Points [0, 15]
DstBlock "Product2"
DstPort 2
}
}
}
}
Block {
BlockType Product
Name "Product"
Ports [3, 1]
Position [285, 66, 305, 94]
Inputs "3"
Multiplication "Element-wise(.*)"
SaturateOnIntegerOverflow on
}
Block {
BlockType Sum
Name "Sum2"
Ports [3, 1]
Position [235, 60, 255, 80]
ShowName off
IconShape "round"
Inputs "|+++"
SaturateOnIntegerOverflow on
}
Block {
BlockType SubSystem
Name "abs(2x1+x2)"
Ports [2, 1]
Position [165, 39, 210, 66]
ShowPortLabels on
TreatAsAtomicUnit off
RTWSystemCode "Auto"
RTWFcnNameOpts "Auto"
RTWFileNameOpts "Auto"
System {
Name "abs(2x1+x2)"
Location [362, 202, 705, 318]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "automatic"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "100"
Block {
BlockType Inport
Name "x1"
Position [30, 33, 60, 47]
Port "1"
LatchInput off
Interpolate on
}
Block {
BlockType Inport
Name "x2"
Position [35, 63, 65, 77]
Port "2"
LatchInput off
Interpolate on
}
Block {
BlockType Abs
Name "Abs1"
Position [180, 25, 210, 55]
SaturateOnIntegerOverflow on
}
Block {
BlockType Gain
Name "Gain1"
Position [230, 24, 280, 56]
Gain "0.909"
Multiplication "Element-wise(K.*u)"
SaturateOnIntegerOverflow on
}
Block {
BlockType Gain
Name "Gain4"
Position [95, 24, 125, 56]
Gain "2"
Multiplication "Element-wise(K.*u)"
SaturateOnIntegerOverflow on
}
Block {
BlockType Sum
Name "Sum5"
Ports [2, 1]
Position [140, 30, 160, 50]
ShowName off
IconShape "round"
Inputs "|++"
SaturateOnIntegerOverflow on
}
Block {
BlockType Outport
Name "Out1"
Position [300, 33, 330, 47]
Port "1"
OutputWhenDisabled "held"
InitialOutput "[]"
}
Line {
SrcBlock "Sum5"
SrcPort 1
DstBlock "Abs1"
DstPort 1
}
Line {
SrcBlock "Gain4"
SrcPort 1
DstBlock "Sum5"
DstPort 1
}
Line {
SrcBlock "x1"
SrcPort 1
DstBlock "Gain4"
DstPort 1
}
Line {
SrcBlock "Abs1"
SrcPort 1
DstBlock "Gain1"
DstPort 1
}
Line {
SrcBlock "x2"
SrcPort 1
Points [0, -5]
DstBlock "Sum5"
DstPort 2
}
Line {
SrcBlock "Gain1"
SrcPort 1
DstBlock "Out1"
DstPort 1
}
}
}
Block {
BlockType SubSystem
Name "sgn Subsystem2"
Ports [2, 1]
Position [165, 131, 230, 169]
ShowPortLabels on
TreatAsAtomicUnit off
RTWSystemCode "Auto"
RTWFcnNameOpts "Auto"
RTWFileNameOpts "Auto"
System {
Name "sgn Subsystem2"
Location [359, 215, 680, 333]
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, 23, 65, 37]
Port "1"
LatchInput off
Interpolate on
}
Block {
BlockType Inport
Name "x2"
Position [60, 48, 90, 62]
Port "2"
LatchInput off
Interpolate on
}
Block {
BlockType Gain
Name "Gain2"
Position [140, 18, 170, 52]
Gain "5"
Multiplication "Element-wise(K.*u)"
SaturateOnIntegerOverflow on
}
Block {
BlockType Signum
Name "Sign"
Position [190, 20, 220, 50]
}
Block {
BlockType Sum
Name "Sum3"
Ports [2, 1]
Position [100, 20, 120, 40]
ShowName off
IconShape "round"
Inputs "|++"
SaturateOnIntegerOverflow on
}
Block {
BlockType Outport
Name "Out1"
Position [245, 28, 275, 42]
Port "1"
OutputWhenDisabled "held"
InitialOutput "[]"
}
Line {
SrcBlock "Sum3"
SrcPort 1
DstBlock "Gain2"
DstPort 1
}
Line {
SrcBlock "Gain2"
SrcPort 1
DstBlock "Sign"
DstPort 1
}
Line {
SrcBlock "x1"
SrcPort 1
DstBlock "Sum3"
DstPort 1
}
Line {
SrcBlock "Sign"
SrcPort 1
DstBlock "Out1"
DstPort 1
}
Line {
SrcBlock "x2"
SrcPort 1
DstBlock "Sum3"
DstPort 2
}
}
}
Block {
BlockType Outport
Name "usI"
Position [330, 72, 360, 88]
Port "1"
OutputWhenDisabled "held"
InitialOutput "[]"
}
Block {
BlockType Outport
Name "I*"
Position [290, 103, 320, 117]
Port "2"
OutputWhenDisabled "held"
InitialOutput "[]"
}
Line {
SrcBlock "abs(2x1+x2)"
SrcPort 1
Points [9, 0]
DstBlock "Sum2"
DstPort 1
}
Line {
SrcBlock "15.78 Subsystem1"
SrcPort 1
Points [9, 0]
DstBlock "Sum2"
DstPort 2
}
Line {
SrcBlock "Abs"
SrcPort 1
Points [110, 0]
DstBlock "Sum2"
DstPort 3
}
Line {
SrcBlock "Sum2"
SrcPort 1
DstBlock "Product"
DstPort 1
}
Line {
SrcBlock "sgn Subsystem2"
SrcPort 1
Points [25, 0; 0, -70]
DstBlock "Product"
DstPort 2
}
Line {
SrcBlock "I* Subsystem3"
SrcPort 1
Points [50, 0; 0, -100]
Branch {
DstBlock "Product"
DstPort 3
}
Branch {
DstBlock "I*"
DstPort 1
}
}
Line {
SrcBlock "x2"
SrcPort 1
Points [0, 0; 0, 15]
Branch {
DstBlock "abs(2x1+x2)"
DstPort 2
}
Branch {
Points [0, 40]
Branch {
DstBlock "15.78 Subsystem1"
DstPort 1
}
Branch {
Points [0, 50]
Branch {
Points [15, 0]
DstBlock "sgn Subsystem2"
DstPort 2
}
Branch {
Points [0, 60]
DstBlock "I* Subsystem3"
DstPort 2
}
}
}
}
Line {
SrcBlock "x1"
SrcPort 1
Points [0, 0; 0, 15]
Branch {
Points [65, 0]
DstBlock "abs(2x1+x2)"
DstPort 1
}
Branch {
Points [0, 90]
Branch {
DstBlock "sgn Subsystem2"
DstPort 1
}
Branch {
Points [0, 55]
DstBlock "I* Subsystem3"
DstPort 1
}
}
}
Line {
SrcBlock "u"
SrcPort 1
DstBlock "Abs"
DstPort 1
}
Line {
SrcBlock "Mx"
SrcPort 1
DstBlock "I* Subsystem3"
DstPort 3
}
Line {
SrcBlock "Product"
SrcPort 1
DstBlock "usI"
DstPort 1
}
}
}
Block {
BlockType ToWorkspace
Name "To Workspace"
Position [435, 75, 455, 95]
VariableName "x1"
MaxDataPoints "inf"
Decimation "1"
SampleTime "-1"
SaveFormat "Array"
}
Block {
BlockType ToWorkspace
Name "To Workspace2"
Position [85, 20, 110, 50]
VariableName "t"
MaxDataPoints "inf"
Decimation "1"
SampleTime "-1"
SaveFormat "Array"
}
Block {
BlockType ToWorkspace
Name "To Workspace4"
Position [180, 35, 200, 55]
VariableName "u"
MaxDataPoints "inf"
Decimation "1"
SampleTime "-1"
SaveFormat "Array"
}
Block {
BlockType ToWorkspace
Name "To Workspace5"
Position [385, 155, 405, 175]
VariableName "x2"
MaxDataPoints "inf"
Decimation "1"
SampleTime "-1"
SaveFormat "Array"
}
Line {
SrcBlock "Digital Fuzzy\n Subsystem"
SrcPort 1
Points [10, 0]
Branch {
Points [9, 0]
DstBlock "Sum"
DstPort 1
}
Branch {
DstBlock "To Workspace4"
DstPort 1
}
Branch {
Points [0, 100]
Branch {
Points [30, 0]
DstBlock "Supervisory Control\nSubsystem"
DstPort 3
}
Branch {
Points [0, 50; 170, 0; 0, -25]
DstBlock "Mux1"
DstPort 2
}
}
}
Line {
SrcBlock "Inverted Pendulum\nSubsystem"
SrcPort 1
Points [20, 0]
Branch {
DstBlock "Gain"
DstPort 1
}
Branch {
Points [0, 50; -190, 0]
Branch {
Points [0, 25]
DstBlock "Supervisory Control\nSubsystem"
DstPort 1
}
Branch {
Points [-25, 0; 0, -60]
DstBlock "Digital Fuzzy\n Subsystem"
DstPort 1
}
}
}
Line {
SrcBlock "Clock"
SrcPort 1
DstBlock "To Workspace2"
DstPort 1
}
Line {
SrcBlock "Gain"
SrcPort 1
Points [5, 0]
Branch {
Points [0, 45]
DstBlock "Mux2"
DstPort 1
}
Branch {
DstBlock "To Workspace"
DstPort 1
}
}
Line {
SrcBlock "Constant"
SrcPort 1
DstBlock "Inverted Pendulum\nSubsystem"
DstPort 2
}
Line {
SrcBlock "Sum"
SrcPort 1
DstBlock "Inverted Pendulum\nSubsystem"
DstPort 1
}
Line {
SrcBlock "Supervisory Control\nSubsystem"
SrcPort 1
Points [5, 0]
Branch {
Points [0, -45; -86, 0]
DstBlock "Sum"
DstPort 2
}
Branch {
Points [0, 10; 80, 0; 0, 15]
DstBlock "Mux1"
DstPort 1
}
}
Line {
SrcBlock "Mux1"
SrcPort 1
DstBlock "Scope2"
DstPort 1
}
Line {
SrcBlock "Mux2"
SrcPort 1
DstBlock "Scope"
DstPort 1
}
Line {
SrcBlock "Inverted Pendulum\nSubsystem"
SrcPort 2
Points [10, 0; 0, 35; -30, 0]
Branch {
DstBlock "Gain1"
DstPort 1
}
Branch {
Points [-75, 0]
Branch {
Points [0, 30]
DstBlock "Supervisory Control\nSubsystem"
DstPort 2
}
Branch {
Points [-95, 0]
DstBlock "Digital Fuzzy\n Subsystem"
DstPort 2
}
}
}
Line {
SrcBlock "Supervisory Control\nSubsystem"
SrcPort 2
DstBlock "Scope1"
DstPort 1
}
Line {
SrcBlock "Mx"
SrcPort 1
DstBlock "Supervisory Control\nSubsystem"
DstPort 4
}
Line {
SrcBlock "Gain1"
SrcPort 1
Points [20, 0]
Branch {
DstBlock "To Workspace5"
DstPort 1
}
Branch {
Points [0, -20]
DstBlock "Mux2"
DstPort 2
}
}
Line {
SrcBlock "Random\nNumber"
SrcPort 1
DstBlock "Gain2"
DstPort 1
}
Line {
SrcBlock "Gain2"
SrcPort 1
Points [0, 5; 90, 0]
DstBlock "Sum"
DstPort 3
}
Annotation {
Position [349, 35]
Text "SIMULINK BLOCK DIAGRAM for FLC design\nChou, Pe"
"nchen, 4/15/2001, FCU_control\nwang_superv.mdl Use with Matlab 6.0\nx10 is l"
"imited in +-30 deg. Ts=0.03 sec."
}
}
}
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