📄 general_sp.mdl
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}
}
Block {
BlockType SubSystem
Name "SubSystem1"
Ports [1, 1, 0, 0, 0]
Position [160, 144, 270, 196]
Orientation "left"
BackgroundColor "yellow"
ShowName off
FontSize 14
FontWeight "bold"
ShowPortLabels on
MaskDisplay "disp('CONTROLLER')"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
System {
Name "SubSystem1"
Location [179, 333, 469, 452]
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 [230, 58, 260, 72]
Orientation "left"
Port "1"
PortWidth "-1"
SampleTime "-1"
DataType "auto"
SignalType "auto"
Interpolate on
}
Block {
BlockType StateSpace
Name "CONTROLLER"
Position [115, 48, 175, 82]
Orientation "left"
A "stack.simulation.Ak"
B "stack.simulation.Bk"
C "stack.simulation.Ck"
D "stack.simulation.Dk"
X0 "0"
}
Block {
BlockType Outport
Name "Out1"
Position [30, 58, 60, 72]
Orientation "left"
Port "1"
OutputWhenDisabled "held"
InitialOutput "[]"
}
Line {
SrcBlock "In1"
SrcPort 1
DstBlock "CONTROLLER"
DstPort 1
}
Line {
SrcBlock "CONTROLLER"
SrcPort 1
DstBlock "Out1"
DstPort 1
}
}
}
Block {
BlockType Sum
Name "Sum"
Ports [2, 1, 0, 0, 0]
Position [40, 160, 60, 180]
Orientation "up"
NamePlacement "alternate"
ShowName off
IconShape "round"
Inputs "|+-"
SaturateOnIntegerOverflow on
}
Block {
BlockType SubSystem
Name "commands"
Ports [0, 1, 0, 0, 0]
Position [415, 151, 505, 189]
Orientation "left"
DropShadow on
ShowName off
ShowPortLabels on
MaskDisplay "disp('COMMANDS')"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
System {
Name "commands"
Location [481, 351, 622, 421]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "automatic"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "100"
AutoZoom on
Block {
BlockType Outport
Name "YR"
Position [50, 30, 70, 50]
Orientation "left"
Port "1"
OutputWhenDisabled "held"
InitialOutput "[]"
}
}
}
Block {
BlockType SubSystem
Name "matrix"
Ports [1, 1, 0, 0, 0]
Position [160, 208, 270, 242]
Orientation "left"
ShowName off
FontSize 14
FontWeight "bold"
ShowPortLabels on
MaskDisplay "disp('Kpf')"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
System {
Name "matrix"
Location [456, 369, 617, 449]
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, 28, 55, 42]
Port "1"
PortWidth "-1"
SampleTime "-1"
DataType "auto"
SignalType "auto"
Interpolate on
}
Block {
BlockType Outport
Name "Out1"
Position [90, 28, 120, 42]
Port "1"
OutputWhenDisabled "held"
InitialOutput "[]"
}
}
}
Block {
BlockType SubSystem
Name "outputs"
Ports [2, 0, 0, 0, 0]
Position [415, 96, 505, 134]
DropShadow on
ShowName off
ShowPortLabels off
MaskDisplay "disp('OUTPUTS')"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
System {
Name "outputs"
Location [526, 286, 626, 426]
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 [30, 30, 50, 50]
Port "1"
PortWidth "-1"
SampleTime "-1"
DataType "auto"
SignalType "auto"
Interpolate on
}
Block {
BlockType Inport
Name "YR"
Position [30, 80, 50, 100]
Port "2"
PortWidth "-1"
SampleTime "-1"
DataType "auto"
SignalType "auto"
Interpolate on
}
}
}
Block {
BlockType Scope
Name "u"
Ports [1, 0, 0, 0, 0]
Position [250, 15, 280, 45]
Orientation "up"
ShowName off
Floating off
Location [188, 235, 512, 474]
Open off
NumInputPorts "1"
TickLabels "OneTimeTick"
ZoomMode "on"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
Grid "on"
TimeRange "auto"
YMin "-5"
YMax "5"
SaveToWorkspace off
SaveName "ScopeData"
DataFormat "StructureWithTime"
LimitMaxRows on
MaxRows "5000"
Decimation "1"
SampleInput off
SampleTime "0"
}
Block {
BlockType Scope
Name "x"
Ports [1, 0, 0, 0, 0]
Position [285, 15, 315, 45]
Orientation "up"
ShowName off
Floating off
Location [195, 303, 519, 542]
Open off
NumInputPorts "1"
TickLabels "OneTimeTick"
ZoomMode "on"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
Grid "on"
TimeRange "auto"
YMin "-5"
YMax "5"
SaveToWorkspace off
SaveName "ScopeData"
DataFormat "StructureWithTime"
LimitMaxRows on
MaxRows "5000"
Decimation "1"
SampleInput off
SampleTime "0"
}
Block {
BlockType Scope
Name "y"
Ports [1, 0, 0, 0, 0]
Position [320, 15, 350, 45]
Orientation "up"
ShowName off
Floating off
Location [188, 365, 512, 604]
Open off
NumInputPorts "1"
TickLabels "OneTimeTick"
ZoomMode "on"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
Grid "on"
TimeRange "auto"
YMin "-5"
YMax "5"
SaveToWorkspace off
SaveName "ScopeData"
DataFormat "StructureWithTime"
LimitMaxRows on
MaxRows "5000"
Decimation "1"
SampleInput off
SampleTime "0"
}
Line {
SrcBlock "SubSystem1"
SrcPort 1
DstBlock "Sum"
DstPort 2
}
Line {
SrcBlock "matrix"
SrcPort 1
Points [-105, 0]
DstBlock "Sum"
DstPort 1
}
Line {
SrcBlock "commands"
SrcPort 1
Points [-30, 0]
Branch {
Points [0, 55]
DstBlock "matrix"
DstPort 1
}
Branch {
Labels [1, 0]
Points [0, -45]
DstBlock "outputs"
DstPort 2
}
}
Line {
SrcBlock "SubSystem"
SrcPort 1
Points [25, 0]
DstBlock "x"
DstPort 1
}
Line {
SrcBlock "Sum"
SrcPort 1
Points [0, -60]
Branch {
DstBlock "SubSystem"
DstPort 1
}
Branch {
Points [0, -35]
DstBlock "u"
DstPort 1
}
}
Line {
SrcBlock "SubSystem"
SrcPort 2
Points [60, 0]
Branch {
DstBlock "outputs"
DstPort 1
}
Branch {
DstBlock "y"
DstPort 1
}
Branch {
Points [0, 65]
DstBlock "SubSystem1"
DstPort 1
}
}
Annotation {
Position [62, 97]
VerticalAlignment "top"
ForegroundColor "red"
Text "U"
FontSize 12
FontWeight "bold"
}
Annotation {
Position [347, 112]
VerticalAlignment "top"
ForegroundColor "red"
Text "Y"
FontSize 12
FontWeight "bold"
}
Annotation {
Position [402, 177]
VerticalAlignment "top"
ForegroundColor "red"
Text "Y*"
FontSize 12
FontWeight "bold"
}
Annotation {
Position [287, 62]
VerticalAlignment "top"
ForegroundColor "red"
Text "X"
FontSize 12
FontWeight "bold"
}
}
}
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