control.mdl

单摆、倒立摆的二维及三维控制与仿真（请在matlab7.0中打开）

	      LogVarNameModifier      "rt_"
	      MatFileLogging	      on
	      MultiInstanceERTCode    off
	      SupportNonFinite	      on
	      SupportComplex	      on
	      PurelyIntegerCode	      off
	      SupportContinuousTime   on
	      SupportNonInlinedSFcns  on
	      ExtMode		      off
	      ExtModeStaticAlloc      off
	      ExtModeTesting	      off
	      ExtModeStaticAllocSize  1000000
	      ExtModeTransport	      0
	      ExtModeMexFile	      "ext_comm"
	      RTWCAPISignals	      off
	      RTWCAPIParams	      off
	      RTWCAPIStates	      off
	      GenerateASAP2	      off
	    }
	    PropName		    "Components"
	  }
	}
	PropName		"Components"
      }
      Name		      "Configuration"
      SimulationMode	      "normal"
      CurrentDlgPage	      "Solver"
    }
    PropName		    "ConfigurationSets"
  }
  Simulink.ConfigSet {
    $PropName		    "ActiveConfigurationSet"
    $ObjectID		    1
  }
  BlockDefaults {
    Orientation		    "right"
    ForegroundColor	    "black"
    BackgroundColor	    "white"
    DropShadow		    off
    NamePlacement	    "normal"
    FontName		    "Helvetica"
    FontSize		    10
    FontWeight		    "normal"
    FontAngle		    "normal"
    ShowName		    on
  }
  BlockParameterDefaults {
    Block {
      BlockType		      Derivative
      LinearizePole	      "inf"
    }
    Block {
      BlockType		      Gain
      Gain		      "1"
      Multiplication	      "Element-wise(K.*u)"
      ParameterDataTypeMode   "Same as input"
      ParameterDataType	      "sfix(16)"
      ParameterScalingMode    "Best Precision: Matrix-wise"
      ParameterScaling	      "2^0"
      OutDataTypeMode	      "Same as input"
      OutDataType	      "sfix(16)"
      OutScaling	      "2^0"
      LockScale		      off
      RndMeth		      "Floor"
      SaturateOnIntegerOverflow	on
      SampleTime	      "-1"
    }
    Block {
      BlockType		      Integrator
      ExternalReset	      "none"
      InitialConditionSource  "internal"
      InitialCondition	      "0"
      LimitOutput	      off
      UpperSaturationLimit    "inf"
      LowerSaturationLimit    "-inf"
      ShowSaturationPort      off
      ShowStatePort	      off
      AbsoluteTolerance	      "auto"
      ZeroCross		      on
    }
    Block {
      BlockType		      Scope
      Floating		      off
      ModelBased	      off
      TickLabels	      "OneTimeTick"
      ZoomMode		      "on"
      Grid		      "on"
      TimeRange		      "auto"
      YMin		      "-5"
      YMax		      "5"
      SaveToWorkspace	      off
      SaveName		      "ScopeData"
      LimitDataPoints	      on
      MaxDataPoints	      "5000"
      Decimation	      "1"
      SampleInput	      off
      SampleTime	      "0"
    }
    Block {
      BlockType		      Step
      Time		      "1"
      Before		      "0"
      After		      "1"
      SampleTime	      "-1"
      VectorParams1D	      on
      ZeroCross		      on
    }
    Block {
      BlockType		      Sum
      IconShape		      "rectangular"
      Inputs		      "++"
      InputSameDT	      on
      OutDataTypeMode	      "Same as first input"
      OutDataType	      "sfix(16)"
      OutScaling	      "2^0"
      LockScale		      off
      RndMeth		      "Floor"
      SaturateOnIntegerOverflow	on
      SampleTime	      "-1"
    }
    Block {
      BlockType		      TransferFcn
      Numerator		      "[1]"
      Denominator	      "[1 2 1]"
      AbsoluteTolerance	      "auto"
      Realization	      "auto"
    }
  }
  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		    "control"
    Location		    [29, 207, 690, 585]
    Open		    on
    ModelBrowserVisibility  off
    ModelBrowserWidth	    200
    ScreenColor		    "white"
    PaperOrientation	    "landscape"
    PaperPositionMode	    "auto"
    PaperType		    "A4"
    PaperUnits		    "centimeters"
    ZoomFactor		    "100"
    ReportName		    "simulink-default.rpt"
    Block {
      BlockType		      Sum
      Name		      "Add"
      Ports		      [3, 1]
      Position		      [155, 249, 185, 281]
      Orientation	      "left"
      Inputs		      "+++"
      InputSameDT	      off
      OutDataTypeMode	      "Inherit via internal rule"
      OutScaling	      "2^-10"
      SaturateOnIntegerOverflow	off
    }
    Block {
      BlockType		      Derivative
      Name		      "Derivative"
      Position		      [220, 200, 250, 230]
      Orientation	      "left"
    }
    Block {
      BlockType		      Integrator
      Name		      "Integrator"
      Ports		      [1, 1]
      Position		      [225, 320, 255, 350]
      Orientation	      "left"
    }
    Block {
      BlockType		      Step
      Name		      "Step"
      Position		      [50, 130, 80, 160]
      Time		      "0"
      After		      "9"
      SampleTime	      "0"
    }
    Block {
      BlockType		      Sum
      Name		      "Sum"
      Ports		      [2, 1]
      Position		      [120, 135, 140, 155]
      ShowName		      off
      IconShape		      "round"
      Inputs		      "|+-"
      InputSameDT	      off
      OutDataTypeMode	      "Inherit via internal rule"
      SaturateOnIntegerOverflow	off
    }
    Block {
      BlockType		      TransferFcn
      Name		      "car"
      Position		      [195, 22, 290, 58]
      Numerator		      "[-1 10]"
      Denominator	      "[20 0 0]"
    }
    Block {
      BlockType		      Gain
      Name		      "kd"
      Position		      [270, 199, 315, 231]
      Orientation	      "left"
      Gain		      "22"
      ParameterDataTypeMode   "Inherit via internal rule"
      OutDataTypeMode	      "Inherit via internal rule"
      SaturateOnIntegerOverflow	off
    }
    Block {
      BlockType		      Gain
      Name		      "ki"
      Position		      [270, 322, 320, 348]
      Orientation	      "left"
      Gain		      "111"
      ParameterDataTypeMode   "Inherit via internal rule"
      OutDataTypeMode	      "Inherit via internal rule"
      SaturateOnIntegerOverflow	off
    }
    Block {
      BlockType		      Gain
      Name		      "kp"
      Position		      [220, 265, 270, 295]
      Orientation	      "left"
      Gain		      "44"
      ParameterDataTypeMode   "Inherit via internal rule"
      OutDataTypeMode	      "Inherit via internal rule"
      SaturateOnIntegerOverflow	off
    }
    Block {
      BlockType		      TransferFcn
      Name		      "pendlum"
      Position		      [215, 126, 290, 164]
      Denominator	      "[20 0]"
    }
    Block {
      BlockType		      Scope
      Name		      "thet"
      Ports		      [1]
      Position		      [370, 129, 400, 161]
      Location		      [172, 95, 496, 334]
      Open		      on
      NumInputPorts	      "1"
      List {
	ListType		AxesTitles
	axes1			"%<SignalLabel>"
      }
      DataFormat	      "StructureWithTime"
    }
    Block {
      BlockType		      Scope
      Name		      "x"
      Ports		      [1]
      Position		      [370, 24, 400, 56]
      Location		      [188, 390, 512, 629]
      Open		      off
      NumInputPorts	      "1"
      List {
	ListType		AxesTitles
	axes1			"%<SignalLabel>"
      }
      SaveName		      "ScopeData1"
      DataFormat	      "StructureWithTime"
    }
    Line {
      SrcBlock		      "Sum"
      SrcPort		      1
      Points		      [0, 0; 15, 0]
      Branch {
	DstBlock		"pendlum"
	DstPort			1
      }
      Branch {
	Points			[0, -105]
	DstBlock		"car"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "pendlum"
      SrcPort		      1
      Points		      [45, 0]
      Branch {
	DstBlock		"thet"
	DstPort			1
      }
      Branch {
	Points			[0, 70]
	Branch {
	  DstBlock		  "kd"
	  DstPort		  1
	}
	Branch {
	  Points		  [0, 65]
	  Branch {
	    DstBlock		    "kp"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, 55]
	    DstBlock		    "ki"
	    DstPort		    1
	  }
	}
      }
    }
    Line {
      SrcBlock		      "Step"
      SrcPort		      1
      DstBlock		      "Sum"
      DstPort		      1
    }
    Line {
      SrcBlock		      "kd"
      SrcPort		      1
      DstBlock		      "Derivative"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Derivative"
      SrcPort		      1
      Points		      [-5, 0; 0, 40]
      DstBlock		      "Add"
      DstPort		      1
    }
    Line {
      SrcBlock		      "kp"
      SrcPort		      1
      Points		      [-5, 0; 0, -15]
      DstBlock		      "Add"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Integrator"
      SrcPort		      1
      Points		      [-20, 0]
      DstBlock		      "Add"
      DstPort		      3
    }
    Line {
      SrcBlock		      "ki"
      SrcPort		      1
      DstBlock		      "Integrator"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Add"
      SrcPort		      1
      Points		      [-20, 0]
      DstBlock		      "Sum"
      DstPort		      2
    }
    Line {
      SrcBlock		      "car"
      SrcPort		      1
      DstBlock		      "x"
      DstPort		      1
    }
  }
}