📄 d_pend.mdl
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DstBlock "Zero-Order\nHold1"
DstPort 1
}
Annotation {
Name "r"
Position [117, 90]
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Annotation {
Name "u"
Position [552, 87]
FontSize 12
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Block {
BlockType Scope
Name "Controls"
Ports [1]
Position [395, 74, 425, 106]
BackgroundColor "orange"
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 [125, 245, 155, 275]
BackgroundColor "magenta"
DropShadow on
Gain "Cp"
Multiplication "Matrix(K*u)"
}
Block {
BlockType Step
Name "Disturbances"
Position [485, 75, 515, 105]
BackgroundColor "yellow"
Time "0"
Before "[0 0 0]"
After "[0 0 0]"
SampleTime "0"
}
Block {
BlockType SubSystem
Name "Noises"
Ports [0, 1]
Position [575, 413, 655, 457]
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"
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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"
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Block {
BlockType TransferFcn
Name "Shaping Filter1"
Position [155, 67, 215, 103]
BackgroundColor "lightBlue"
DropShadow on
Numerator "kf*[Tf1 1]"
Denominator "[Tf2 1]"
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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 [785, 169, 815, 201]
BackgroundColor "magenta"
Location [32, 335, 597, 734]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
YMin "-0.125"
YMax "0.25"
DataFormat "StructureWithTime"
MaxDataPoints "10000"
}
Block {
BlockType "S-Function"
Name "Pendulum"
Ports [1, 1]
Position [595, 160, 670, 210]
BackgroundColor "green"
DropShadow on
FunctionName "s_pend"
}
Block {
BlockType Step
Name "References"
Position [65, 245, 95, 275]
BackgroundColor "yellow"
Time "0"
Before "[0 0 0]"
After "[0 -0.1 0.2]"
SampleTime "0"
}
Block {
BlockType Gain
Name "Sensors"
Position [725, 270, 755, 300]
Orientation "down"
BackgroundColor "magenta"
DropShadow on
NamePlacement "alternate"
Gain "Cp"
Multiplication "Matrix(K*u)"
}
Block {
BlockType Sum
Name "Sum2"
Ports [2, 1]
Position [685, 375, 705, 395]
Orientation "left"
BackgroundColor "cyan"
ShowName off
IconShape "round"
Inputs "|--"
}
Block {
BlockType ToWorkspace
Name "Time"
Position [175, 415, 235, 445]
BackgroundColor "orange"
VariableName "t"
MaxDataPoints "inf"
SampleTime "-1"
SaveFormat "Array"
}
Block {
BlockType ToWorkspace
Name "y Vector"
Position [770, 85, 830, 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 "Bus\nCreator1"
SrcPort 1
DstBlock "Controller"
DstPort 1
}
Line {
SrcBlock "Disturbances"
SrcPort 1
Points [15, 0]
DstBlock "Bus\nCreator"
DstPort 1
}
Line {
SrcBlock "Sum2"
SrcPort 1
Points [-640, 0; 0, -200]
DstBlock "Bus\nCreator1"
DstPort 1
}
Line {
SrcBlock "Noises"
SrcPort 1
Points [35, 0]
DstBlock "Sum2"
DstPort 2
}
Line {
SrcBlock "Actuators"
SrcPort 1
DstBlock "Bus\nCreator"
DstPort 2
}
Line {
SrcBlock "Pendulum"
SrcPort 1
Points [0, 0; 65, 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, 80]
DstBlock "Sum2"
DstPort 1
}
Line {
SrcBlock "Controller"
SrcPort 1
Points [0, 0; 40, 0]
Branch {
DstBlock "Actuators"
DstPort 1
}
Branch {
Points [0, -105]
DstBlock "Controls"
DstPort 1
}
}
Line {
Labels [2, 0]
SrcBlock "Cp"
SrcPort 1
Points [20, 0; 0, -55]
DstBlock "Bus\nCreator1"
DstPort 2
}
Line {
SrcBlock "Clock"
SrcPort 1
DstBlock "Time"
DstPort 1
}
Annotation {
Name "SIMULINK Model of the Sampled-Data Triple Inver"
"ted Pendulum System "
Position [479, 24]
FontSize 14
FontWeight "bold"
}
Annotation {
Name "yp"
Position [755, 319]
FontSize 12
FontWeight "bold"
}
Annotation {
Name "y"
Position [761, 167]
FontSize 12
FontWeight "bold"
}
Annotation {
Name "d"
Position [547, 138]
FontSize 12
FontWeight "bold"
}
Annotation {
Name "tp"
Position [446, 183]
}
Annotation {
Name "r"
Position [110, 243]
FontSize 12
FontWeight "bold"
}
Annotation {
Name "u"
Position [345, 183]
FontSize 12
FontWeight "bold"
}
}
}
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