📄 double_pendulum1.mdl
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}
Block {
BlockType Demux
Name "Demux1"
Ports [1, 6]
Position [735, 48, 755, 247]
BackgroundColor "black"
ShowName off
Outputs "6"
}
Block {
BlockType Reference
Name "Fuzzy Logic \nController"
Ports [1, 1]
Position [405, 84, 465, 136]
FontName "Arial"
SourceBlock "fuzblock/Fuzzy Logic \nController"
SourceType "FIS"
fis "daolibai3"
}
Block {
BlockType Gain
Name "Gain"
Position [280, 85, 310, 115]
Gain "12"
}
Block {
BlockType Gain
Name "Gain1"
Position [515, 95, 545, 125]
Gain "25"
}
Block {
BlockType Gain
Name "Gain2"
Position [275, 160, 305, 190]
Gain "12"
}
Block {
BlockType Gain
Name "Matrix\nGain"
Position [145, 90, 175, 120]
Gain "[0.0752 0.4816 -0.8581 0 0 0;0 0 0 0.0802 0.011"
"8 -0.1396] "
Multiplication "Matrix(K*u)"
}
Block {
BlockType Mux
Name "Mux"
Ports [2, 1]
Position [365, 91, 370, 129]
ShowName off
Inputs "2"
DisplayOption "bar"
}
Block {
BlockType Scope
Name "Scope"
Ports [1]
Position [865, 14, 895, 46]
Location [5, 60, 1029, 741]
Open off
NumInputPorts "1"
ZoomMode "xonly"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
List {
ListType SelectedSignals
axes1 ""
}
TimeRange "10"
YMin "-0.8"
YMax "0.15"
DataFormat "StructureWithTime"
}
Block {
BlockType Scope
Name "Scope1"
Ports [1]
Position [860, 69, 890, 101]
Location [5, 60, 1029, 741]
Open off
NumInputPorts "1"
ZoomMode "xonly"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
TimeRange "10"
YMin "-0.8"
YMax "0.15"
SaveName "ScopeData1"
DataFormat "StructureWithTime"
}
Block {
BlockType Scope
Name "Scope2"
Ports [1]
Position [860, 124, 890, 156]
Location [5, 60, 1029, 741]
Open off
NumInputPorts "1"
ZoomMode "xonly"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
TimeRange "10"
YMin "-0.8"
YMax "0.15"
SaveName "ScopeData2"
DataFormat "StructureWithTime"
}
Block {
BlockType Scope
Name "Scope3"
Ports [1]
Position [860, 174, 890, 206]
Location [5, 60, 1029, 741]
Open off
NumInputPorts "1"
ZoomMode "xonly"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
TimeRange "10"
YMin "-0.8"
YMax "0.15"
SaveName "ScopeData3"
DataFormat "StructureWithTime"
}
Block {
BlockType Scope
Name "Scope4"
Ports [1]
Position [865, 224, 895, 256]
Location [5, 60, 1029, 741]
Open off
NumInputPorts "1"
ZoomMode "xonly"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
TimeRange "10"
YMin "-0.8"
YMax "0.15"
SaveName "ScopeData4"
DataFormat "StructureWithTime"
}
Block {
BlockType Scope
Name "Scope5"
Ports [1]
Position [865, 279, 895, 311]
Location [5, 60, 1029, 741]
Open off
NumInputPorts "1"
ZoomMode "xonly"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
TimeRange "10"
YMin "-0.8"
YMax "0.15"
SaveName "ScopeData5"
DataFormat "StructureWithTime"
}
Block {
BlockType StateSpace
Name "State-Space"
Position [580, 93, 640, 127]
A "[0 0 0 1 0 0;0 0 0 0 1 0;0 0 0 0 0 1;0 0 0 0 0 "
"0;0 86.69 -21.62 0 0 0;0 -40.31 39.45 0 0 0]"
B "[0 0 0 1 6.64 -0.088]'"
C "[1 0 0 0 0 0;0 1 0 0 0 0;0 0 1 0 0 0;0 0 0 1 0 "
"0;0 0 0 0 1 0;0 0 0 0 0 1]"
D "[0 0 0 0 0 0]'"
}
Block {
BlockType Sum
Name "Sum"
Ports [2, 1]
Position [100, 95, 120, 115]
ShowName off
IconShape "round"
Inputs "|+-"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
}
Line {
SrcBlock "State-Space"
SrcPort 1
Points [35, 0]
Branch {
Points [0, 140; -570, 0]
DstBlock "Sum"
DstPort 2
}
Branch {
Points [40, 0]
DstBlock "Demux1"
DstPort 1
}
}
Line {
SrcBlock "Constant"
SrcPort 1
DstBlock "Sum"
DstPort 1
}
Line {
SrcBlock "Sum"
SrcPort 1
DstBlock "Matrix\nGain"
DstPort 1
}
Line {
SrcBlock "Gain"
SrcPort 1
DstBlock "Mux"
DstPort 1
}
Line {
SrcBlock "Gain2"
SrcPort 1
Points [20, 0; 0, -55]
DstBlock "Mux"
DstPort 2
}
Line {
SrcBlock "Mux"
SrcPort 1
DstBlock "Fuzzy Logic \nController"
DstPort 1
}
Line {
SrcBlock "Fuzzy Logic \nController"
SrcPort 1
DstBlock "Gain1"
DstPort 1
}
Line {
SrcBlock "Gain1"
SrcPort 1
DstBlock "State-Space"
DstPort 1
}
Line {
SrcBlock "Matrix\nGain"
SrcPort 1
DstBlock "Demux"
DstPort 1
}
Line {
SrcBlock "Demux"
SrcPort 1
Points [15, 0; 0, 5]
DstBlock "Gain"
DstPort 1
}
Line {
SrcBlock "Demux"
SrcPort 2
Points [10, 0; 0, 60]
DstBlock "Gain2"
DstPort 1
}
Line {
SrcBlock "Demux1"
SrcPort 1
Points [45, 0; 0, -30]
DstBlock "Scope"
DstPort 1
}
Line {
SrcBlock "Demux1"
SrcPort 2
Points [40, 0; 0, -10]
DstBlock "Scope1"
DstPort 1
}
Line {
SrcBlock "Demux1"
SrcPort 3
Points [40, 0; 0, 10]
DstBlock "Scope2"
DstPort 1
}
Line {
SrcBlock "Demux1"
SrcPort 4
Points [30, 0; 0, 25]
DstBlock "Scope3"
DstPort 1
}
Line {
SrcBlock "Demux1"
SrcPort 5
Points [20, 0; 0, 40]
DstBlock "Scope4"
DstPort 1
}
Line {
SrcBlock "Demux1"
SrcPort 6
Points [10, 0; 0, 60]
DstBlock "Scope5"
DstPort 1
}
}
}
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