q4.mdl

control souce code with LQR

      SourceBlock	      "simulink/Sources/Band-Limited\nWhite Noise"
      SourceType	      "Continuous White Noise."
      Cov		      "[0.01]"
      Ts		      "0.1"
      seed		      "[23341]"
      VectorParams1D	      on
    }
    Block {
      BlockType		      Reference
      Name		      "Noise to x2"
      Ports		      [0, 1]
      Position		      [230, 175, 260, 205]
      Orientation	      "up"
      NamePlacement	      "alternate"
      SourceBlock	      "simulink/Sources/Band-Limited\nWhite Noise"
      SourceType	      "Continuous White Noise."
      Cov		      "[0.01]"
      Ts		      "0.1"
      seed		      "[23341]"
      VectorParams1D	      on
    }
    Block {
      BlockType		      Constant
      Name		      "R"
      Position		      [65, 109, 95, 141]
      Value		      "0"
    }
    Block {
      BlockType		      Scope
      Name		      "Scope"
      Ports		      [1]
      Position		      [695, 109, 725, 141]
      Location		      [1, 56, 1025, 737]
      Open		      off
      NumInputPorts	      "1"
      List {
	ListType		AxesTitles
	axes1			"%<SignalLabel>"
      }
      List {
	ListType		SelectedSignals
	axes1			""
      }
      DataFormat	      "StructureWithTime"
    }
    Block {
      BlockType		      Sum
      Name		      "Sum"
      Ports		      [2, 1]
      Position		      [125, 110, 155, 140]
      ShowName		      off
      IconShape		      "round"
      Inputs		      "|+-"
      InputSameDT	      off
      OutDataTypeMode	      "Inherit via internal rule"
    }
    Block {
      BlockType		      Sum
      Name		      "Sum1"
      Ports		      [2, 1]
      Position		      [230, 110, 260, 140]
      ShowName		      off
      IconShape		      "round"
      Inputs		      "|++"
      InputSameDT	      off
      OutDataTypeMode	      "Inherit via internal rule"
      Port {
	PortNumber		1
	Name			"x2dot"
	TestPoint		off
	LinearAnalysisOutput	off
	LinearAnalysisInput	off
	RTWStorageClass		"Auto"
	DataLogging		off
	DataLoggingNameMode	"SignalName"
	DataLoggingDecimateData	off
	DataLoggingDecimation	"2"
	DataLoggingLimitDataPoints off
	DataLoggingMaxPoints	"5000"
      }
    }
    Block {
      BlockType		      Sum
      Name		      "Sum2"
      Ports		      [2, 1]
      Position		      [405, 110, 435, 140]
      ShowName		      off
      IconShape		      "round"
      Inputs		      "|++"
      InputSameDT	      off
      OutDataTypeMode	      "Inherit via internal rule"
      Port {
	PortNumber		1
	Name			"x1dot"
	TestPoint		off
	LinearAnalysisOutput	off
	LinearAnalysisInput	off
	RTWStorageClass		"Auto"
	DataLogging		off
	DataLoggingNameMode	"SignalName"
	DataLoggingDecimateData	off
	DataLoggingDecimation	"2"
	DataLoggingLimitDataPoints off
	DataLoggingMaxPoints	"5000"
      }
    }
    Block {
      BlockType		      Sum
      Name		      "Sum3"
      Ports		      [2, 1]
      Position		      [605, 310, 635, 340]
      Orientation	      "left"
      ShowName		      off
      IconShape		      "round"
      Inputs		      "|++"
      InputSameDT	      off
      OutDataTypeMode	      "Inherit via internal rule"
    }
    Block {
      BlockType		      Sum
      Name		      "Sum4"
      Ports		      [3, 1]
      Position		      [400, 310, 430, 340]
      Orientation	      "left"
      ShowName		      off
      IconShape		      "round"
      Inputs		      "+|+|+"
      InputSameDT	      off
      OutDataTypeMode	      "Inherit via internal rule"
      Port {
	PortNumber		1
	Name			"xh1dot"
	TestPoint		off
	LinearAnalysisOutput	off
	LinearAnalysisInput	off
	RTWStorageClass		"Auto"
	DataLogging		off
	DataLoggingNameMode	"SignalName"
	DataLoggingDecimateData	off
	DataLoggingDecimation	"2"
	DataLoggingLimitDataPoints off
	DataLoggingMaxPoints	"5000"
      }
    }
    Block {
      BlockType		      Sum
      Name		      "Sum5"
      Ports		      [2, 1]
      Position		      [400, 435, 430, 465]
      Orientation	      "left"
      NamePlacement	      "alternate"
      ShowName		      off
      IconShape		      "round"
      Inputs		      "|++"
      InputSameDT	      off
      OutDataTypeMode	      "Inherit via internal rule"
      Port {
	PortNumber		1
	Name			"xh2dot"
	TestPoint		off
	LinearAnalysisOutput	off
	LinearAnalysisInput	off
	RTWStorageClass		"Auto"
	DataLogging		off
	DataLoggingNameMode	"SignalName"
	DataLoggingDecimateData	off
	DataLoggingDecimation	"2"
	DataLoggingLimitDataPoints off
	DataLoggingMaxPoints	"5000"
      }
    }
    Block {
      BlockType		      Sum
      Name		      "Sum6"
      Ports		      [2, 1]
      Position		      [160, 340, 190, 370]
      Orientation	      "left"
      ShowName		      off
      IconShape		      "round"
      Inputs		      "+||+"
      InputSameDT	      off
      OutDataTypeMode	      "Inherit via internal rule"
    }
    Block {
      BlockType		      ToWorkspace
      Name		      "To Workspace"
      Position		      [405, 30, 465, 60]
      VariableName	      "x2"
      MaxDataPoints	      "inf"
      SampleTime	      "-1"
      SaveFormat	      "Array"
    }
    Block {
      BlockType		      ToWorkspace
      Name		      "To Workspace1"
      Position		      [580, 30, 640, 60]
      VariableName	      "x1"
      MaxDataPoints	      "inf"
      SampleTime	      "-1"
      SaveFormat	      "Array"
    }
    Block {
      BlockType		      ToWorkspace
      Name		      "To Workspace2"
      Position		      [300, 565, 360, 595]
      VariableName	      "xh2"
      MaxDataPoints	      "inf"
      SampleTime	      "-1"
      SaveFormat	      "Array"
    }
    Block {
      BlockType		      ToWorkspace
      Name		      "To Workspace3"
      Position		      [565, 220, 625, 250]
      VariableName	      "xh1"
      MaxDataPoints	      "inf"
      SampleTime	      "-1"
      SaveFormat	      "Array"
    }
    Line {
      SrcBlock		      "R"
      SrcPort		      1
      DstBlock		      "Sum"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Sum"
      SrcPort		      1
      Points		      [-5, 0]
      DstBlock		      "Sum1"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Noise to x2"
      SrcPort		      1
      DstBlock		      "Sum1"
      DstPort		      2
    }
    Line {
      Name		      "x2dot"
      Labels		      [0, 0]
      SrcBlock		      "Sum1"
      SrcPort		      1
      Points		      [-5, 0]
      DstBlock		      "Integrator"
      DstPort		      1
    }
    Line {
      Name		      "x2"
      Labels		      [0, 0]
      SrcBlock		      "Integrator"
      SrcPort		      1
      Points		      [15, 0]
      Branch {
	DstBlock		"Sum2"
	DstPort			1
      }
      Branch {
	Points			[0, -80]
	DstBlock		"To Workspace"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Noise to x1"
      SrcPort		      1
      DstBlock		      "Sum2"
      DstPort		      2
    }
    Line {
      Name		      "x1dot"
      Labels		      [0, 0]
      SrcBlock		      "Sum2"
      SrcPort		      1
      DstBlock		      "Integrator1"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Measurement \nNoise"
      SrcPort		      1
      DstBlock		      "Sum3"
      DstPort		      2
    }
    Line {
      Name		      "xh1dot"
      Labels		      [0, 0]
      SrcBlock		      "Sum4"
      SrcPort		      1
      Points		      [5, 0]
      DstBlock		      "Integrator2"
      DstPort		      1
    }
    Line {
      Name		      "xh1"
      Labels		      [0, 0]
      SrcBlock		      "Integrator2"
      SrcPort		      1
      Points		      [-45, 0; 0, -60]
      Branch {
	DstBlock		"Gain"
	DstPort			1
      }
      Branch {
	DstBlock		"Gain4"
	DstPort			1
      }
      Branch {
	Points			[0, -30; 260, 0]
	Branch {
	  Labels		  [2, 0]
	  Points		  [0, 215]
	  DstBlock		  "Gain2"
	  DstPort		  1
	}
	Branch {
	  DstBlock		  "To Workspace3"
	  DstPort		  1
	}
      }
    }
    Line {
      SrcBlock		      "Gain"
      SrcPort		      1
      Points		      [50, 0]
      DstBlock		      "Sum4"
      DstPort		      1
    }
    Line {
      Name		      "xh2dot"
      Labels		      [0, 0]
      SrcBlock		      "Sum5"
      SrcPort		      1
      DstBlock		      "Integrator3"
      DstPort		      1
    }
    Line {
      Name		      "xh2"
      Labels		      [0, 0]
      SrcBlock		      "Integrator3"
      SrcPort		      1
      Points		      [0, 0; -45, 0]
      Branch {
	Points			[0, -60]
	DstBlock		"Gain3"
	DstPort			1
      }
      Branch {
	DstBlock		"Gain5"
	DstPort			1
      }
      Branch {
	Points			[0, 65]
	Branch {
	  DstBlock		  "Gain1"
	  DstPort		  1
	}
	Branch {
	  Points		  [0, 65]
	  DstBlock		  "To Workspace2"
	  DstPort		  1
	}
      }
    }
    Line {
      SrcBlock		      "Gain1"
      SrcPort		      1
      Points		      [60, 0]
      DstBlock		      "Sum5"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Gain2"
      SrcPort		      1
      DstBlock		      "Sum5"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Gain3"
      SrcPort		      1
      Points		      [65, 0]
      DstBlock		      "Sum4"
      DstPort		      3
    }
    Line {
      SrcBlock		      "Gain5"
      SrcPort		      1
      Points		      [-10, 0]
      DstBlock		      "Sum6"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Gain4"
      SrcPort		      1
      Points		      [-10, 0]
      DstBlock		      "Sum6"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Sum6"
      SrcPort		      1
      Points		      [-15, 0]
      DstBlock		      "Sum"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Gain6"
      SrcPort		      1
      DstBlock		      "Sum4"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Sum3"
      SrcPort		      1
      Points		      [0, 0]
      DstBlock		      "Gain6"
      DstPort		      1
    }
    Line {
      Name		      "x1"
      Labels		      [0, 0]
      SrcBlock		      "Integrator1"
      SrcPort		      1
      Points		      [25, 0]
      Branch {
	Points			[100, 0]
	Branch {
	  DstBlock		  "Scope"
	  DstPort		  1
	}
	Branch {
	  Points		  [0, 200]
	  DstBlock		  "Sum3"
	  DstPort		  1
	}
      }
      Branch {
	Points			[0, -80]
	DstBlock		"To Workspace1"
	DstPort			1
      }
    }
  }
}