📄 c_pend.mdl
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RTWSystemCode "Auto"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
System {
Name "Actuators"
Location [433, 403, 931, 703]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "100"
Block {
BlockType Inport
Name "In1"
Position [55, 138, 85, 152]
Port "1"
IconDisplay "Port number"
LatchInput off
}
Block {
BlockType TransferFcn
Name "Actuator1"
Position [200, 92, 260, 128]
BackgroundColor "lightBlue"
DropShadow on
Numerator "[gd1]"
Denominator "[Td1 1]"
}
Block {
BlockType TransferFcn
Name "Actuator2"
Position [200, 162, 260, 198]
BackgroundColor "lightBlue"
DropShadow on
Numerator "[gd2]"
Denominator "[Td2 1]"
}
Block {
BlockType BusCreator
Name "Bus\nCreator"
Ports [2, 1]
Position [330, 126, 335, 164]
ShowName off
DialogController "Simulink.DDGSource_Bus"
Inputs "2"
DisplayOption "bar"
}
Block {
BlockType Demux
Name "Demux1"
Ports [1, 2]
Position [120, 126, 125, 164]
BackgroundColor "black"
ShowName off
Outputs "[1, 1]"
}
Block {
BlockType Outport
Name "Out1"
Position [385, 138, 415, 152]
IconDisplay "Port number"
BusOutputAsStruct off
}
Line {
SrcBlock "In1"
SrcPort 1
DstBlock "Demux1"
DstPort 1
}
Line {
SrcBlock "Demux1"
SrcPort 1
Points [30, 0; 0, -25]
DstBlock "Actuator1"
DstPort 1
}
Line {
SrcBlock "Demux1"
SrcPort 2
Points [30, 0; 0, 25]
DstBlock "Actuator2"
DstPort 1
}
Line {
SrcBlock "Actuator1"
SrcPort 1
Points [35, 0; 0, 25]
DstBlock "Bus\nCreator"
DstPort 1
}
Line {
SrcBlock "Actuator2"
SrcPort 1
Points [35, 0; 0, -25]
DstBlock "Bus\nCreator"
DstPort 2
}
Line {
SrcBlock "Bus\nCreator"
SrcPort 1
DstBlock "Out1"
DstPort 1
}
Annotation {
Name "Actuators"
Position [231, 31]
FontSize 12
FontWeight "bold"
}
}
}
Block {
BlockType BusCreator
Name "Bus\nCreator"
Ports [2, 1]
Position [590, 166, 595, 204]
ShowName off
DialogController "Simulink.DDGSource_Bus"
Inputs "2"
DisplayOption "bar"
}
Block {
BlockType BusCreator
Name "Bus\nCreator1"
Ports [2, 1]
Position [255, 176, 260, 214]
ShowName off
DialogController "Simulink.DDGSource_Bus"
Inputs "2"
DisplayOption "bar"
}
Block {
BlockType Clock
Name "Clock"
Position [105, 430, 125, 450]
BackgroundColor "green"
Decimation "1"
}
Block {
BlockType StateSpace
Name "Controller"
Position [295, 171, 375, 219]
BackgroundColor "red"
DropShadow on
A "Ak"
B "Bk"
C "Ck"
D "Dk"
}
Block {
BlockType Scope
Name "Controls"
Ports [1]
Position [440, 74, 470, 106]
BackgroundColor "magenta"
Location [528, 339, 981, 714]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
YMin "-0.225"
YMax "0.15"
SaveName "ScopeData1"
DataFormat "StructureWithTime"
MaxDataPoints "10000"
}
Block {
BlockType Gain
Name "Cp"
Position [180, 230, 210, 260]
BackgroundColor "magenta"
DropShadow on
Gain "Cp"
Multiplication "Matrix(K*u)"
}
Block {
BlockType Step
Name "Disturbances"
Position [520, 75, 550, 105]
BackgroundColor "yellow"
Time "0"
Before "[0 0 0]"
After "[0 0 0]"
SampleTime "0"
}
Block {
BlockType SubSystem
Name "Noises"
Ports [0, 1]
Position [600, 420, 700, 470]
BackgroundColor "lightBlue"
DropShadow on
TreatAsAtomicUnit off
MinAlgLoopOccurrences off
RTWSystemCode "Auto"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
System {
Name "Noises"
Location [510, 253, 1008, 553]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "100"
Block {
BlockType Mux
Name "Mux"
Ports [3, 1]
Position [330, 131, 335, 169]
ShowName off
Inputs "3"
DisplayOption "bar"
}
Block {
BlockType Reference
Name "Noise1"
Ports [0, 1]
Position [70, 70, 100, 100]
BackgroundColor "yellow"
SourceBlock "simulink/Sources/Band-Limited\nWhite Noise"
SourceType "Band-Limited White Noise."
ShowPortLabels on
Cov "10^(-4)"
Ts "0.1"
seed "[23341]"
VectorParams1D on
}
Block {
BlockType Reference
Name "Noise2"
Ports [0, 1]
Position [70, 135, 100, 165]
BackgroundColor "yellow"
SourceBlock "simulink/Sources/Band-Limited\nWhite Noise"
SourceType "Band-Limited White Noise."
ShowPortLabels on
Cov "10^(-4)"
Ts "0.1"
seed "[57456]"
VectorParams1D on
}
Block {
BlockType Reference
Name "Noise3"
Ports [0, 1]
Position [70, 200, 100, 230]
BackgroundColor "yellow"
SourceBlock "simulink/Sources/Band-Limited\nWhite Noise"
SourceType "Band-Limited White Noise."
ShowPortLabels on
Cov "10^(-4)"
Ts "0.1"
seed "[79865]"
VectorParams1D on
}
Block {
BlockType TransferFcn
Name "Shaping Filter1"
Position [155, 67, 215, 103]
BackgroundColor "lightBlue"
DropShadow on
Numerator "kf*[Tf1 1]"
Denominator "[Tf2 1]"
}
Block {
BlockType TransferFcn
Name "Shaping Filter2"
Position [155, 132, 215, 168]
BackgroundColor "lightBlue"
DropShadow on
Numerator "kf*[Tf1 1]"
Denominator "[Tf2 1]"
}
Block {
BlockType TransferFcn
Name "Shaping Filter3"
Position [155, 197, 215, 233]
BackgroundColor "lightBlue"
DropShadow on
Numerator "kf*[Tf1 1]"
Denominator "[Tf2 1]"
}
Block {
BlockType Outport
Name "Out1"
Position [410, 143, 440, 157]
IconDisplay "Port number"
BusOutputAsStruct off
}
Line {
SrcBlock "Mux"
SrcPort 1
DstBlock "Out1"
DstPort 1
}
Line {
SrcBlock "Noise1"
SrcPort 1
DstBlock "Shaping Filter1"
DstPort 1
}
Line {
SrcBlock "Noise2"
SrcPort 1
DstBlock "Shaping Filter2"
DstPort 1
}
Line {
SrcBlock "Noise3"
SrcPort 1
DstBlock "Shaping Filter3"
DstPort 1
}
Line {
SrcBlock "Shaping Filter1"
SrcPort 1
Points [85, 0; 0, 55]
DstBlock "Mux"
DstPort 1
}
Line {
SrcBlock "Shaping Filter2"
SrcPort 1
DstBlock "Mux"
DstPort 2
}
Line {
SrcBlock "Shaping Filter3"
SrcPort 1
Points [85, 0; 0, -55]
DstBlock "Mux"
DstPort 3
}
Annotation {
Name "MEASUREMENT NOISES"
Position [247, 18]
FontSize 12
FontWeight "bold"
}
}
}
Block {
BlockType Scope
Name "Outputs"
Ports [1]
Position [805, 169, 835, 201]
BackgroundColor "magenta"
Location [15, 319, 519, 724]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
YMin "-0.125"
YMax "0.2"
DataFormat "StructureWithTime"
MaxDataPoints "10000"
}
Block {
BlockType "S-Function"
Name "Pendulum"
Ports [1, 1]
Position [640, 154, 730, 216]
BackgroundColor "green"
DropShadow on
FunctionName "s_pend"
}
Block {
BlockType Step
Name "References"
Position [120, 230, 150, 260]
BackgroundColor "yellow"
Time "0"
Before "[0 0 0]"
After "[0 -0.1 0.2]"
SampleTime "0"
}
Block {
BlockType Gain
Name "Sensors"
Position [740, 275, 770, 305]
Orientation "down"
BackgroundColor "magenta"
DropShadow on
NamePlacement "alternate"
Gain "Cp"
Multiplication "Matrix(K*u)"
}
Block {
BlockType Sum
Name "Sum2"
Ports [2, 1]
Position [715, 385, 735, 405]
Orientation "left"
BackgroundColor "cyan"
ShowName off
IconShape "round"
Inputs "|--"
}
Block {
BlockType ToWorkspace
Name "Time"
Position [225, 425, 285, 455]
BackgroundColor "orange"
VariableName "t"
MaxDataPoints "inf"
SampleTime "-1"
SaveFormat "Array"
}
Block {
BlockType ToWorkspace
Name "y vector"
Position [795, 85, 855, 115]
BackgroundColor "orange"
VariableName "y"
MaxDataPoints "inf"
SampleTime "-1"
SaveFormat "Array"
}
Line {
SrcBlock "References"
SrcPort 1
DstBlock "Cp"
DstPort 1
}
Line {
SrcBlock "Bus\nCreator"
SrcPort 1
DstBlock "Pendulum"
DstPort 1
}
Line {
SrcBlock "Controller"
SrcPort 1
Points [30, 0]
Branch {
Points [0, -105]
DstBlock "Controls"
DstPort 1
}
Branch {
DstBlock "Actuators"
DstPort 1
}
}
Line {
SrcBlock "Disturbances"
SrcPort 1
Points [20, 0]
DstBlock "Bus\nCreator"
DstPort 1
}
Line {
SrcBlock "Sum2"
SrcPort 1
Points [-615, 0; 0, -210]
DstBlock "Bus\nCreator1"
DstPort 1
}
Line {
SrcBlock "Noises"
SrcPort 1
Points [20, 0]
DstBlock "Sum2"
DstPort 2
}
Line {
SrcBlock "Actuators"
SrcPort 1
DstBlock "Bus\nCreator"
DstPort 2
}
Line {
SrcBlock "Pendulum"
SrcPort 1
Points [20, 0]
Branch {
DstBlock "Outputs"
DstPort 1
}
Branch {
DstBlock "Sensors"
DstPort 1
}
Branch {
Points [0, -85]
DstBlock "y vector"
DstPort 1
}
}
Line {
SrcBlock "Sensors"
SrcPort 1
Points [0, 85]
DstBlock "Sum2"
DstPort 1
}
Line {
SrcBlock "Cp"
SrcPort 1
Points [15, 0; 0, -40]
DstBlock "Bus\nCreator1"
DstPort 2
}
Line {
SrcBlock "Bus\nCreator1"
SrcPort 1
DstBlock "Controller"
DstPort 1
}
Line {
SrcBlock "Clock"
SrcPort 1
DstBlock "Time"
DstPort 1
}
Annotation {
Name "SIMULINK Model of the Triple Inverted Pendulum "
"System "
Position [479, 24]
FontSize 14
FontWeight "bold"
}
Annotation {
Name "r"
Position [162, 235]
FontSize 12
FontWeight "bold"
}
Annotation {
Name "yp"
Position [770, 334]
FontSize 12
FontWeight "bold"
}
Annotation {
Name "u"
Position [427, 182]
FontSize 12
FontWeight "bold"
}
Annotation {
Name "d"
Position [587, 138]
FontSize 12
FontWeight "bold"
}
Annotation {
Name "tp"
Position [551, 183]
FontSize 12
FontWeight "bold"
}
Annotation {
Name "y"
Position [776, 167]
FontSize 12
FontWeight "bold"
}
}
}
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