📄 mvt_blocks.mdl
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Orientation "left"
ShowName off
IconShape "round"
Inputs "++-"
SaturateOnIntegerOverflow on
}
Block {
BlockType SubSystem
Name "setpoint"
Ports [1, 2, 0, 0, 0]
Position [215, 40, 315, 75]
Orientation "left"
ShowPortLabels off
MaskDisplay "disp('SET POINT')"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
System {
Name "setpoint"
Location [423, 301, 632, 448]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "automatic"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "100"
AutoZoom on
Block {
BlockType Inport
Name "Y*"
Position [135, 55, 155, 75]
Orientation "left"
Port "1"
PortWidth "-1"
SampleTime "0"
DataType "auto"
SignalType "auto"
Interpolate on
}
Block {
BlockType Outport
Name "X*"
Position [25, 30, 45, 50]
Orientation "left"
Port "1"
OutputWhenDisabled "held"
InitialOutput "[]"
}
Block {
BlockType Outport
Name "U*"
Position [25, 85, 45, 105]
Orientation "left"
Port "2"
OutputWhenDisabled "held"
InitialOutput "[]"
}
}
}
Block {
BlockType Outport
Name "Out1"
Position [20, 78, 50, 92]
Orientation "left"
Port "1"
OutputWhenDisabled "held"
InitialOutput "[]"
}
Line {
SrcBlock "setpoint"
SrcPort 1
DstBlock "Matrix\nGain"
DstPort 1
}
Line {
SrcBlock "Matrix\nGain"
SrcPort 1
Points [-25, 0]
DstBlock "Sum"
DstPort 1
}
Line {
SrcBlock "setpoint"
SrcPort 2
Points [-30, 0; 0, 20]
DstBlock "Sum"
DstPort 2
}
Line {
SrcBlock "Matrix\nGain1"
SrcPort 1
Points [-130, 0]
DstBlock "Sum"
DstPort 3
}
Line {
SrcBlock "In1"
SrcPort 1
Points [-10, 0]
Branch {
DstBlock "setpoint"
DstPort 1
}
Branch {
Points [0, 60]
DstBlock "Matrix\nGain1"
DstPort 1
}
}
Line {
SrcBlock "Sum"
SrcPort 1
DstBlock "Out1"
DstPort 1
}
Annotation {
Position [207, 78]
ForegroundColor "red"
Text "U*"
FontSize 12
FontWeight "bold"
}
Annotation {
Position [206, 36]
ForegroundColor "red"
Text "X*"
FontSize 12
FontWeight "bold"
}
}
}
Block {
BlockType SubSystem
Name "imfc_controller"
Ports [2, 2, 0, 0, 0]
Position [45, 527, 155, 583]
Orientation "left"
BackgroundColor "yellow"
FontSize 14
FontWeight "bold"
ShowPortLabels on
MaskDisplay "disp('CONTROLLER')"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
System {
Name "imfc_controller"
Location [316, 267, 610, 442]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "100"
AutoZoom on
Block {
BlockType Inport
Name "Y"
Position [220, 43, 250, 57]
Orientation "left"
FontSize 12
FontWeight "bold"
Port "1"
PortWidth "-1"
SampleTime "-1"
DataType "auto"
SignalType "auto"
Interpolate on
}
Block {
BlockType Inport
Name "YR=Ym*=Y*"
Position [225, 98, 255, 112]
Orientation "left"
FontSize 12
FontWeight "bold"
Port "2"
PortWidth "-1"
SampleTime "-1"
DataType "auto"
SignalType "auto"
Interpolate on
}
Block {
BlockType StateSpace
Name "CONTROLLER"
Position [115, 33, 175, 67]
Orientation "left"
A "stack.simulation.Ak"
B "stack.simulation.Bk"
C "stack.simulation.Ck"
D "stack.simulation.Dk"
X0 "0"
}
Block {
BlockType StateSpace
Name "MODEL"
Position [115, 88, 175, 122]
Orientation "left"
A "stack.simulation.Am"
B "stack.simulation.Bm"
C "stack.simulation.Cm"
D "stack.simulation.Dm"
X0 "0"
}
Block {
BlockType Outport
Name "Ym"
Position [40, 98, 70, 112]
Orientation "left"
FontSize 12
FontWeight "bold"
Port "1"
OutputWhenDisabled "held"
InitialOutput "[]"
}
Block {
BlockType Outport
Name "U1"
Position [40, 43, 70, 57]
Orientation "left"
FontSize 12
FontWeight "bold"
Port "2"
OutputWhenDisabled "held"
InitialOutput "[]"
}
Line {
SrcBlock "Y"
SrcPort 1
DstBlock "CONTROLLER"
DstPort 1
}
Line {
SrcBlock "YR=Ym*=Y*"
SrcPort 1
DstBlock "MODEL"
DstPort 1
}
Line {
SrcBlock "MODEL"
SrcPort 1
DstBlock "Ym"
DstPort 1
}
Line {
SrcBlock "CONTROLLER"
SrcPort 1
DstBlock "U1"
DstPort 1
}
}
}
Block {
BlockType SubSystem
Name "imfc_kpf"
Ports [1, 1, 0, 0, 0]
Position [195, 508, 305, 542]
Orientation "left"
FontSize 14
FontWeight "bold"
ShowPortLabels on
MaskDisplay "disp('Kpf')"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
System {
Name "imfc_kpf"
Location [234, 338, 642, 462]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "100"
AutoZoom on
Block {
BlockType Inport
Name "In1"
Position [360, 53, 390, 67]
Orientation "left"
Port "1"
PortWidth "-1"
SampleTime "-1"
DataType "auto"
SignalType "auto"
Interpolate on
}
Block {
BlockType SubSystem
Name "Matrix\nGain"
Ports [1, 1, 0, 0, 0]
Position [125, 35, 155, 65]
Orientation "left"
ShowName off
ShowPortLabels on
MaskType "Matrix Gain"
MaskDescription "Matrix Gain."
MaskHelp "Multiplies input vector by entered matrix t"
"o produce output vector (y=Au)."
MaskPromptString "Gain matrix:"
MaskStyleString "edit"
MaskTunableValueString "on"
MaskEnableString "on"
MaskVisibilityString "on"
MaskVariables "K=@1;"
MaskDisplay "disp('Kfb')"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
MaskValueString "stack.simulation.Kfb"
System {
Name "Matrix\nGain"
Location [160, 235, 400, 328]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "100"
AutoZoom on
Block {
BlockType Inport
Name "In1"
Position [25, 33, 55, 47]
Port "1"
PortWidth "-1"
SampleTime "-1"
DataType "auto"
SignalType "auto"
Interpolate on
}
Block {
BlockType StateSpace
Name "State\nSpace"
Position [80, 23, 145, 57]
ShowName off
A "[]"
B "[]"
C "[]"
D "K"
X0 "0"
}
Block {
BlockType Outport
Name "Out1"
Position [170, 33, 200, 47]
Port "1"
OutputWhenDisabled "held"
InitialOutput "[]"
}
Line {
SrcBlock "State\nSpace"
SrcPort 1
DstBlock "Out1"
DstPort 1
}
Line {
SrcBlock "In1"
SrcPort 1
DstBlock "State\nSpace"
DstPort 1
}
}
}
Block {
BlockType Sum
Name "Sum"
Ports [2, 1, 0, 0, 0]
Position [75, 40, 95, 60]
Orientation "left"
ShowName off
IconShape "round"
Inputs "|++"
SaturateOnIntegerOverflow on
}
Block {
BlockType SubSystem
Name "setpoint"
Ports [1, 2, 0, 0, 0]
Position [215, 40, 315, 75]
Orientation "left"
ShowPortLabels off
MaskDisplay "disp('SET POINT')"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
System {
Name "setpoint"
Location [423, 301, 632, 448]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "automatic"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "100"
AutoZoom on
Block {
BlockType Inport
Name "Y*"
Position [135, 55, 155, 75]
Orientation "left"
Port "1"
PortWidth "-1"
SampleTime "0"
DataType "auto"
SignalType "auto"
Interpolate on
}
Block {
BlockType Outport
Name "X*"
Position [25, 30, 45, 50]
Orientation "left"
Port "1"
OutputWhenDisabled "held"
InitialOutput "[]"
}
Block {
BlockType Outport
Name "U*"
Position [25, 85, 45, 105]
Orientation "left"
Port "2"
OutputWhenDisabled "held"
InitialOutput "[]"
}
}
}
Block {
BlockType Outport
Name "Out1"
Position [20, 43, 50, 57]
Orientation "left"
Port "1"
OutputWhenDisabled "held"
InitialOutput "[]"
}
Line {
SrcBlock "Sum"
SrcPort 1
DstBlock "Out1"
DstPort 1
}
Line {
SrcBlock "setpoint"
SrcPort 2
Points [-30, 0; 0, 20; -95, 0]
DstBlock "Sum"
DstPort 2
}
Line {
SrcBlock "Matrix\nGain"
SrcPort 1
DstBlock "Sum"
DstPort 1
}
Line {
SrcBlock "setpoint"
SrcPort 1
DstBlock "Matrix\nGain"
DstPort 1
}
Line {
SrcBlock "In1"
SrcPort 1
DstBlock "setpoint"
DstPort 1
}
Annotation {
Position [206, 36]
ForegroundColor "red"
Text "X*"
FontSize 12
FontWeight "bold"
}
Annotation {
Position [207, 78]
ForegroundColor "red"
Text "U*"
FontSize 12
FontWeight "bold"
}
}
}
Block {
BlockType SubSystem
Name "in1"
Ports [0, 1, 0, 0, 0]
Position [45, 21, 135, 59]
Orientation "left"
DropShadow on
ShowPortLabels on
MaskDisplay "disp('COMMANDS')"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
System {
Name "in1"
Location [377, 346, 632, 450]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "automatic"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "100"
AutoZoom on
Block {
BlockType SignalGenerator
Name "Gen 1"
Position [185, 38, 225, 62]
Orientation "left"
NamePlacement "alternate"
ShowName off
WaveForm "sine"
Amplitude "0.000000"
Frequency "1"
Units "rad/sec"
}
Block {
BlockType Step
Name "Step 1"
Position [155, 62, 180, 88]
Orientation "left"
ShowName off
Time "0"
Before "0"
After "1"
SampleTime "0"
}
Block {
BlockType Sum
Name "Sum"
Ports [2, 1, 0, 0, 0]
Position [100, 40, 120, 60]
Orientation "left"
ShowName off
IconShape "round"
Inputs "|++"
SaturateOnIntegerOverflow on
}
Block {
BlockType Outport
Name "YR"
Position [25, 40, 45, 60]
Orientation "left"
Port "1"
OutputWhenDisabled "held"
InitialOutput "[]"
}
Line {
SrcBlock "Step 1"
SrcPort 1
DstBlock "Sum"
DstPort 2
}
Line {
SrcBlock "Gen 1"
SrcPort 1
DstBlock "Sum"
DstPort 1
}
Line {
SrcBlock "Sum"
SrcPort 1
DstBlock "YR"
DstPort 1
}
Annotation {
Position [81, 41]
Text "YR1"
}
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