📄 c5f14_n.mdl
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BlockType Inport
Name "alpha"
Position [30, 103, 60, 117]
Port "2"
Interpolate on
}
Block {
BlockType Inport
Name "gamma_c"
Position [30, 173, 60, 187]
Port "3"
Interpolate on
}
Block {
BlockType Gain
Name "Gain1"
Position [160, 28, 200, 62]
Gain "KQ"
Multiplication "Element-wise(K.*u)"
SaturateOnIntegerOverflow on
}
Block {
BlockType Gain
Name "Gain2"
Position [160, 93, 195, 127]
Gain "Ka"
Multiplication "Element-wise(K.*u)"
SaturateOnIntegerOverflow on
}
Block {
BlockType Gain
Name "Gain3"
Position [285, 38, 315, 72]
Gain "KF"
Multiplication "Element-wise(K.*u)"
SaturateOnIntegerOverflow on
}
Block {
BlockType Gain
Name "Gain4"
Position [280, 94, 305, 126]
Gain "Kf"
Multiplication "Element-wise(K.*u)"
SaturateOnIntegerOverflow on
}
Block {
BlockType Integrator
Name "Integrator"
Ports [1, 1]
Position [320, 95, 350, 125]
ExternalReset "none"
InitialConditionSource "internal"
InitialCondition "0"
LimitOutput off
UpperSaturationLimit "inf"
LowerSaturationLimit "-inf"
ShowSaturationPort off
ShowStatePort off
AbsoluteTolerance "auto"
}
Block {
BlockType Sum
Name "Sum"
Ports [3, 1]
Position [215, 100, 235, 120]
ShowName off
IconShape "round"
Inputs "--+"
SaturateOnIntegerOverflow on
}
Block {
BlockType Sum
Name "Sum1"
Ports [2, 1]
Position [365, 100, 385, 120]
ShowName off
IconShape "round"
Inputs "++|"
SaturateOnIntegerOverflow on
}
Block {
BlockType TransferFcn
Name "Transfer Fcn"
Position [85, 26, 130, 64]
Numerator "[1, w1]"
Denominator "[1 w2]"
Realization "auto"
AbsoluteTolerance "auto"
}
Block {
BlockType TransferFcn
Name "Transfer Fcn1"
Position [85, 91, 130, 129]
Numerator "1"
Denominator "[ta 1]"
Realization "auto"
AbsoluteTolerance "auto"
}
Block {
BlockType TransferFcn
Name "Transfer Fcn2"
Position [95, 161, 140, 199]
Numerator "1"
Denominator "[ts 1]"
Realization "auto"
AbsoluteTolerance "auto"
}
Block {
BlockType Outport
Name "Out1"
Position [410, 103, 440, 117]
Port "1"
OutputWhenDisabled "held"
InitialOutput "[]"
}
Line {
SrcBlock "Gain4"
SrcPort 1
DstBlock "Integrator"
DstPort 1
}
Line {
SrcBlock "Integrator"
SrcPort 1
DstBlock "Sum1"
DstPort 2
}
Line {
SrcBlock "Sum1"
SrcPort 1
DstBlock "Out1"
DstPort 1
}
Line {
SrcBlock "Gain3"
SrcPort 1
Points [55, 0]
DstBlock "Sum1"
DstPort 1
}
Line {
SrcBlock "Sum"
SrcPort 1
Points [0, 0; 10, 0]
Branch {
DstBlock "Gain4"
DstPort 1
}
Branch {
Points [0, -55]
DstBlock "Gain3"
DstPort 1
}
}
Line {
SrcBlock "Transfer Fcn2"
SrcPort 1
Points [80, 0]
DstBlock "Sum"
DstPort 3
}
Line {
SrcBlock "Gain2"
SrcPort 1
DstBlock "Sum"
DstPort 2
}
Line {
SrcBlock "Gain1"
SrcPort 1
Points [20, 0]
DstBlock "Sum"
DstPort 1
}
Line {
SrcBlock "Transfer Fcn"
SrcPort 1
DstBlock "Gain1"
DstPort 1
}
Line {
SrcBlock "Transfer Fcn1"
SrcPort 1
DstBlock "Gain2"
DstPort 1
}
Line {
SrcBlock "gamma_c"
SrcPort 1
DstBlock "Transfer Fcn2"
DstPort 1
}
Line {
SrcBlock "q"
SrcPort 1
DstBlock "Transfer Fcn"
DstPort 1
}
Line {
SrcBlock "alpha"
SrcPort 1
DstBlock "Transfer Fcn1"
DstPort 1
}
}
}
Block {
BlockType Outport
Name "Out1"
Position [410, 103, 440, 117]
Port "1"
OutputWhenDisabled "held"
InitialOutput "[]"
}
Line {
SrcBlock "q"
SrcPort 1
Points [65, 0; 0, 50]
DstBlock "Subsystem"
DstPort 1
}
Line {
SrcBlock "alpha"
SrcPort 1
Points [65, 0; 0, 5]
DstBlock "Subsystem"
DstPort 2
}
Line {
SrcBlock "Subsystem"
SrcPort 1
Points [70, 0; 0, -5]
DstBlock "Out1"
DstPort 1
}
Line {
SrcBlock "gamma_c"
SrcPort 1
Points [65, 0; 0, -45]
DstBlock "Subsystem"
DstPort 3
}
}
}
Block {
BlockType SubSystem
Name "Subsystem 4"
Ports [2, 1]
Position [550, 16, 630, 74]
ShowPortLabels on
TreatAsAtomicUnit off
RTWSystemCode "Auto"
RTWFcnNameOpts "Auto"
RTWFileNameOpts "Auto"
System {
Name "Subsystem 4"
Location [329, 362, 759, 559]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "automatic"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "A4"
PaperUnits "centimeters"
ZoomFactor "100"
AutoZoom on
Block {
BlockType Inport
Name "w"
Position [25, 33, 55, 47]
Port "1"
Interpolate on
}
Block {
BlockType Inport
Name "q"
Position [25, 83, 55, 97]
Port "2"
Interpolate on
}
Block {
BlockType Derivative
Name "Derivative"
Position [165, 25, 195, 55]
}
Block {
BlockType Derivative
Name "Derivative1"
Position [200, 140, 230, 170]
}
Block {
BlockType Gain
Name "Gain"
Position [290, 72, 345, 108]
Gain "1/32.2"
Multiplication "Element-wise(K.*u)"
SaturateOnIntegerOverflow on
}
Block {
BlockType Gain
Name "Gain1"
Position [115, 75, 145, 105]
Gain "U0"
Multiplication "Element-wise(K.*u)"
SaturateOnIntegerOverflow on
}
Block {
BlockType Gain
Name "Gain2"
Position [120, 141, 175, 169]
Gain "22.8"
Multiplication "Element-wise(K.*u)"
SaturateOnIntegerOverflow on
}
Block {
BlockType Sum
Name "Sum"
Ports [3, 1]
Position [250, 80, 270, 100]
ShowName off
IconShape "round"
Inputs "-++"
SaturateOnIntegerOverflow on
}
Block {
BlockType Outport
Name "N_Zp"
Position [375, 83, 405, 97]
Port "1"
OutputWhenDisabled "held"
InitialOutput "[]"
}
Line {
SrcBlock "Gain"
SrcPort 1
DstBlock "N_Zp"
DstPort 1
}
Line {
SrcBlock "Sum"
SrcPort 1
DstBlock "Gain"
DstPort 1
}
Line {
SrcBlock "w"
SrcPort 1
DstBlock "Derivative"
DstPort 1
}
Line {
SrcBlock "Derivative"
SrcPort 1
Points [60, 0]
DstBlock "Sum"
DstPort 1
}
Line {
SrcBlock "q"
SrcPort 1
Points [0, 0; 25, 0]
Branch {
Points [0, 65]
DstBlock "Gain2"
DstPort 1
}
Branch {
DstBlock "Gain1"
DstPort 1
}
}
Line {
SrcBlock "Gain1"
SrcPort 1
DstBlock "Sum"
DstPort 2
}
Line {
SrcBlock "Gain2"
SrcPort 1
DstBlock "Derivative1"
DstPort 1
}
Line {
SrcBlock "Derivative1"
SrcPort 1
Points [25, 0]
DstBlock "Sum"
DstPort 3
}
}
}
Block {
BlockType Sum
Name "Sum"
Ports [2, 1]
Position [330, 80, 350, 100]
ShowName off
IconShape "round"
Inputs "|++"
SaturateOnIntegerOverflow on
}
Block {
BlockType Sum
Name "Sum2"
Ports [2, 1]
Position [300, 240, 320, 260]
ShowName off
IconShape "round"
Inputs "++|"
SaturateOnIntegerOverflow on
}
Block {
BlockType Sum
Name "Sum3"
Ports [2, 1]
Position [170, 180, 190, 200]
ShowName off
IconShape "round"
Inputs "-+|"
SaturateOnIntegerOverflow on
}
Block {
BlockType TransferFcn
Name "Transfer Fcn"
Position [490, 212, 550, 248]
Numerator "[1]"
Denominator "[tA 1]"
Realization "auto"
AbsoluteTolerance "auto"
}
Block {
BlockType Outport
Name "Out1"
Position [660, 38, 690, 52]
Port "1"
OutputWhenDisabled "held"
InitialOutput "[]"
}
Block {
BlockType Outport
Name "Out2"
Position [660, 118, 690, 132]
Port "2"
OutputWhenDisabled "held"
InitialOutput "[]"
}
Block {
BlockType Outport
Name "Out3"
Position [660, 158, 690, 172]
Port "3"
OutputWhenDisabled "held"
InitialOutput "[]"
}
Line {
SrcBlock "Subsystem 3"
SrcPort 1
DstBlock "Transfer Fcn"
DstPort 1
}
Line {
SrcBlock "Transfer Fcn"
SrcPort 1
Points [25, 0; 0, -40; -195, 0; 0, -165]
DstBlock "Subsystem 2"
DstPort 1
}
Line {
SrcBlock "Subsystem 2"
SrcPort 1
Points [0, 0; 35, 0]
Branch {
DstBlock "Subsystem 4"
DstPort 1
}
Branch {
DstBlock "Gain3"
DstPort 1
}
}
Line {
SrcBlock "Subsystem 2"
SrcPort 2
Points [0, 0; 5, 0]
Branch {
DstBlock "Subsystem 4"
DstPort 2
}
Branch {
Points [0, 105]
Branch {
Points [0, 10; -130, 0; 0, 35]
DstBlock "Subsystem 3"
DstPort 1
}
Branch {
DstBlock "Out3"
DstPort 1
}
}
}
Line {
SrcBlock "Subsystem 1"
SrcPort 1
Points [0, 0; 20, 0]
Branch {
DstBlock "Gain"
DstPort 1
}
Branch {
Points [0, 45]
DstBlock "Gain1"
DstPort 1
}
}
Line {
SrcBlock "Gain"
SrcPort 1
DstBlock "Subsystem 2"
DstPort 2
}
Line {
SrcBlock "Subsystem 1"
SrcPort 2
Points [10, 0; 0, 60]
DstBlock "Gain2"
DstPort 1
}
Line {
SrcBlock "Gain1"
SrcPort 1
DstBlock "Sum"
DstPort 1
}
Line {
SrcBlock "Gain2"
SrcPort 1
Points [35, 0]
DstBlock "Sum"
DstPort 2
}
Line {
SrcBlock "Sum"
SrcPort 1
Points [10, 0; 0, -25]
DstBlock "Subsystem 2"
DstPort 3
}
Line {
SrcBlock "In1"
SrcPort 1
DstBlock "Subsystem 1"
DstPort 1
}
Line {
SrcBlock "In2"
SrcPort 1
DstBlock "Sum2"
DstPort 2
}
Line {
SrcBlock "Sum2"
SrcPort 1
DstBlock "Subsystem 3"
DstPort 3
}
Line {
SrcBlock "Subsystem 4"
SrcPort 1
DstBlock "Out1"
DstPort 1
}
Line {
SrcBlock "Gain3"
SrcPort 1
Points [0, 0]
Branch {
Points [0, 25; -180, 0; 0, 80]
DstBlock "Subsystem 3"
DstPort 2
}
Branch {
Points [0, 0]
DstBlock "Out2"
DstPort 1
}
}
Line {
SrcBlock "Gain4"
SrcPort 1
DstBlock "Math\nFunction"
DstPort 1
}
Line {
SrcBlock "Gain5"
SrcPort 1
DstBlock "Math\nFunction1"
DstPort 1
}
Line {
SrcBlock "Clock"
SrcPort 1
Points [5, 0]
Branch {
DstBlock "Gain4"
DstPort 1
}
Branch {
Points [0, 55]
DstBlock "Gain5"
DstPort 1
}
}
Line {
SrcBlock "Math\nFunction1"
SrcPort 1
DstBlock "Sum3"
DstPort 2
}
Line {
SrcBlock "Math\nFunction"
SrcPort 1
Points [30, 0]
DstBlock "Sum3"
DstPort 1
}
Line {
SrcBlock "Sum3"
SrcPort 1
DstBlock "Gain6"
DstPort 1
}
Line {
SrcBlock "Gain6"
SrcPort 1
Points [10, 0]
DstBlock "Sum2"
DstPort 1
}
Annotation {
Position [560, 131]
Text "alpha(t)"
}
Annotation {
Position [543, 156]
Text "q(t)"
}
}
}
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