ipolstep.mdl

Simulink for Inverted pendulum.

Model {
  Name			  "ipolstep"
  Version		  4.00
  SampleTimeColors	  off
  LibraryLinkDisplay	  "none"
  WideLines		  off
  ShowLineDimensions	  off
  ShowPortDataTypes	  off
  ShowStorageClass	  off
  ExecutionOrder	  off
  RecordCoverage	  off
  CovPath		  "/"
  CovSaveName		  "covdata"
  CovMetricSettings	  "dw"
  CovNameIncrementing	  off
  CovHtmlReporting	  on
  BlockNameDataTip	  off
  BlockParametersDataTip  on
  BlockDescriptionStringDataTip	off
  ToolBar		  on
  StatusBar		  on
  BrowserShowLibraryLinks off
  BrowserLookUnderMasks	  off
  Created		  "Sun May 25 20:10:28 2003"
  UpdateHistory		  "UpdateHistoryNever"
  ModifiedByFormat	  "%<Auto>"
  ModifiedDateFormat	  "%<Auto>"
  LastModifiedDate	  "Fri May 30 04:22:33 2003"
  ModelVersionFormat	  "1.%<AutoIncrement:103>"
  ConfigurationManager	  "none"
  SimParamPage		  "Solver"
  StartTime		  "0.0"
  StopTime		  "1.5"
  SolverMode		  "Auto"
  Solver		  "ode45"
  RelTol		  "1e-3"
  AbsTol		  "auto"
  Refine		  "1"
  MaxStep		  "0.05"
  MinStep		  "auto"
  MaxNumMinSteps	  "-1"
  InitialStep		  "auto"
  FixedStep		  "auto"
  MaxOrder		  5
  OutputOption		  "RefineOutputTimes"
  OutputTimes		  "[]"
  LoadExternalInput	  off
  ExternalInput		  "[t, u]"
  SaveTime		  on
  TimeSaveName		  "tout"
  SaveState		  off
  StateSaveName		  "xout"
  SaveOutput		  on
  OutputSaveName	  "yout"
  LoadInitialState	  off
  InitialState		  "xInitial"
  SaveFinalState	  off
  FinalStateName	  "xFinal"
  SaveFormat		  "Array"
  LimitDataPoints	  off
  MaxDataPoints		  "1000"
  Decimation		  "1"
  AlgebraicLoopMsg	  "warning"
  MinStepSizeMsg	  "warning"
  UnconnectedInputMsg	  "warning"
  UnconnectedOutputMsg	  "warning"
  UnconnectedLineMsg	  "warning"
  InheritedTsInSrcMsg	  "warning"
  SingleTaskRateTransMsg  "none"
  MultiTaskRateTransMsg	  "error"
  IntegerOverflowMsg	  "warning"
  CheckForMatrixSingularity "none"
  UnnecessaryDatatypeConvMsg "none"
  Int32ToFloatConvMsg	  "warning"
  InvalidFcnCallConnMsg	  "error"
  SignalLabelMismatchMsg  "none"
  LinearizationMsg	  "none"
  VectorMatrixConversionMsg "none"
  SfunCompatibilityCheckMsg "none"
  BlockPriorityViolationMsg "warning"
  ArrayBoundsChecking	  "none"
  ConsistencyChecking	  "none"
  ZeroCross		  on
  Profile		  off
  SimulationMode	  "normal"
  RTWSystemTargetFile	  "grt.tlc"
  RTWInlineParameters	  off
  RTWRetainRTWFile	  off
  RTWTemplateMakefile	  "grt_default_tmf"
  RTWMakeCommand	  "make_rtw"
  RTWGenerateCodeOnly	  off
  TLCProfiler		  off
  TLCDebug		  off
  TLCCoverage		  off
  AccelSystemTargetFile	  "accel.tlc"
  AccelTemplateMakefile	  "accel_default_tmf"
  AccelMakeCommand	  "make_rtw"
  TryForcingSFcnDF	  off
  ExtModeMexFile	  "ext_comm"
  ExtModeBatchMode	  off
  ExtModeTrigType	  "manual"
  ExtModeTrigMode	  "oneshot"
  ExtModeTrigPort	  "1"
  ExtModeTrigElement	  "any"
  ExtModeTrigDuration	  1000
  ExtModeTrigHoldOff	  0
  ExtModeTrigDelay	  0
  ExtModeTrigDirection	  "rising"
  ExtModeTrigLevel	  0
  ExtModeArchiveMode	  "off"
  ExtModeAutoIncOneShot	  off
  ExtModeIncDirWhenArm	  off
  ExtModeAddSuffixToVar	  off
  ExtModeWriteAllDataToWs off
  ExtModeArmWhenConnect	  off
  ExtModeSkipDownloadWhenConnect off
  ExtModeLogAll		  on
  ExtModeAutoUpdateStatusClock on
  OptimizeBlockIOStorage  on
  BufferReuse		  on
  ParameterPooling	  on
  BlockReductionOpt	  on
  RTWExpressionDepthLimit 5
  BooleanDataType	  off
  BlockDefaults {
    Orientation		    "right"
    ForegroundColor	    "black"
    BackgroundColor	    "white"
    DropShadow		    off
    NamePlacement	    "normal"
    FontName		    "Helvetica"
    FontSize		    10
    FontWeight		    "normal"
    FontAngle		    "normal"
    ShowName		    on
  }
  AnnotationDefaults {
    HorizontalAlignment	    "center"
    VerticalAlignment	    "middle"
    ForegroundColor	    "black"
    BackgroundColor	    "white"
    DropShadow		    off
    FontName		    "Helvetica"
    FontSize		    10
    FontWeight		    "normal"
    FontAngle		    "normal"
  }
  LineDefaults {
    FontName		    "Helvetica"
    FontSize		    9
    FontWeight		    "normal"
    FontAngle		    "normal"
  }
  System {
    Name		    "ipolstep"
    Location		    [282, 74, 781, 494]
    Open		    on
    ModelBrowserVisibility  off
    ModelBrowserWidth	    200
    ScreenColor		    "automatic"
    PaperOrientation	    "landscape"
    PaperPositionMode	    "auto"
    PaperType		    "usletter"
    PaperUnits		    "inches"
    ZoomFactor		    "100"
    ReportName		    "simulink-default.rpt"
    Block {
      BlockType		      SubSystem
      Name		      "\n"
      Ports		      []
      Position		      [50, 258, 91, 295]
      FontName		      "Verdana"
      ShowPortLabels	      on
      TreatAsAtomicUnit	      off
      RTWSystemCode	      "Auto"
      RTWFcnNameOpts	      "Auto"
      RTWFileNameOpts	      "Auto"
      MaskDisplay	      "plot([-10 10],[0 0],[-2 -2 2 2],[0 1 1 0],[0 3]"
",[1 5])"
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "autoscale"
      System {
	Name			"\n"
	Location		[236, 180, 662, 310]
	Open			off
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"automatic"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"usletter"
	PaperUnits		"inches"
	ZoomFactor		"100"
      }
    }
    Block {
      BlockType		      Scope
      Name		      "Input \nto Motor \nDriver Ckt"
      Ports		      [1]
      Position		      [440, 170, 470, 200]
      FontName		      "Verdana"
      Floating		      off
      Location		      [44, 53, 368, 292]
      Open		      on
      NumInputPorts	      "1"
      TickLabels	      "OneTimeTick"
      ZoomMode		      "on"
      List {
	ListType		AxesTitles
	axes1			"%<SignalLabel>"
      }
      List {
	ListType		SelectedSignals
	axes1			""
      }
      Grid		      "on"
      TimeRange		      "auto"
      YMin		      "-5"
      YMax		      "5"
      SaveToWorkspace	      on
      SaveName		      "inputstep"
      DataFormat	      "Array"
      LimitDataPoints	      on
      MaxDataPoints	      "30000"
      Decimation	      "1"
      SampleInput	      off
      SampleTime	      "0"
    }
    Block {
      BlockType		      TransferFcn
      Name		      "PLANT\n(Cart + IP)"
      Position		      [305, 78, 405, 122]
      FontName		      "Verdana"
      Numerator		      "[0 0 0.102]"
      Denominator	      "[0.0446 0 -1]"
      AbsoluteTolerance	      "auto"
      Realization	      "auto"
    }
    Block {
      BlockType		      TransferFcn
      Name		      "SERVOMECHANISM\n(Motor + Pulley-Chain \nMechani"
"sm)"
      Position		      [150, 82, 210, 118]
      FontName		      "Verdana"
      Numerator		      "[0.391 0]"
      Denominator	      "[0.5 1]"
      AbsoluteTolerance	      "auto"
      Realization	      "auto"
    }
    Block {
      BlockType		      Step
      Name		      "Step"
      Position		      [35, 85, 65, 115]
      Time		      "1"
      Before		      "0"
      After		      "1"
      SampleTime	      "0"
      VectorParams1D	      on
    }
    Block {
      BlockType		      Scope
      Name		      "Theta\n(Angle from \nthe Vertical)"
      Ports		      [1]
      Position		      [440, 84, 470, 116]
      FontName		      "Verdana"
      Floating		      off
      Location		      [36, 312, 360, 550]
      Open		      on
      NumInputPorts	      "1"
      TickLabels	      "OneTimeTick"
      ZoomMode		      "on"
      List {
	ListType		AxesTitles
	axes1			"%<SignalLabel>"
      }
      List {
	ListType		SelectedSignals
	axes1			""
      }
      Grid		      "on"
      TimeRange		      "auto"
      YMin		      "-5"
      YMax		      "5"
      SaveToWorkspace	      on
      SaveName		      "thetastep"
      DataFormat	      "Array"
      LimitDataPoints	      on
      MaxDataPoints	      "30000"
      Decimation	      "1"
      SampleInput	      off
      SampleTime	      "0"
    }
    Line {
      SrcBlock		      "SERVOMECHANISM\n(Motor + Pulley-Chain \nMechani"
"sm)"
      SrcPort		      1
      DstBlock		      "PLANT\n(Cart + IP)"
      DstPort		      1
    }
    Line {
      SrcBlock		      "PLANT\n(Cart + IP)"
      SrcPort		      1
      DstBlock		      "Theta\n(Angle from \nthe Vertical)"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Step"
      SrcPort		      1
      Points		      [20, 0]
      Branch {
	Points			[0, 85]
	DstBlock		"Input \nto Motor \nDriver Ckt"
	DstPort			1
      }
      Branch {
	DstBlock		"SERVOMECHANISM\n(Motor + Pulley-Chain \nMecha"
"nism)"
	DstPort			1
      }
    }
    Annotation {
      Position		      [253, 89]
      Text		      "Force on Cart"
      FontName		      "Verdana"
    }
    Annotation {
      Position		      [241, 41]
      Text		      "Open Loop Step Response of Uncompensated Invert"
"ed Pendulum System"
      DropShadow	      on
      FontName		      "Arial"
      FontSize		      11
      FontWeight	      "bold"
    }
    Annotation {
      Position		      [73, 311]
      Text		      "Click Here for more \nInformation on IP"
      FontName		      "Verdana"
    }
    Annotation {
      Position		      [319, 289]
      Text		      "This model shows the step response of Inverted "
"Pendulum \nSystem. Here initially the Inverted Pendulum is at vertical \nposi"
"tion. It also shows that the system is highly unstable as \nTheta diverges ve"
"ry rapidly, when step input comes."
      FontName		      "Arial"
      FontSize		      12
    }
  }
}