📄 work.mdl
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Position [520, 210, 550, 240]
Gain "1/3"
}
Block {
BlockType Gain
Name "Gain4"
Position [520, 335, 550, 365]
Gain "0.00005"
}
Block {
BlockType Integrator
Name "Integrator2"
Ports [1, 1]
Position [350, 425, 380, 455]
}
Block {
BlockType Mux
Name "Mux"
Ports [2, 1]
Position [285, 204, 310, 246]
ShowName off
Inputs "2"
}
Block {
BlockType Product
Name "Product"
Ports [2, 1]
Position [195, 118, 235, 182]
InputSameDT off
}
Block {
BlockType Product
Name "Product1"
Ports [2, 1]
Position [655, 150, 685, 185]
InputSameDT off
}
Block {
BlockType Product
Name "Product2"
Ports [2, 1]
Position [655, 225, 685, 260]
InputSameDT off
}
Block {
BlockType Product
Name "Product3"
Ports [2, 1]
Position [655, 355, 685, 390]
InputSameDT off
}
Block {
BlockType Scope
Name "Scope1"
Ports [1]
Position [950, 269, 980, 301]
Location [5, 60, 1029, 741]
Open off
NumInputPorts "1"
ZoomMode "xonly"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
List {
ListType SelectedSignals
axes1 ""
}
DataFormat "StructureWithTime"
}
Block {
BlockType Step
Name "Step"
Position [15, 200, 45, 230]
Time "0"
SampleTime "0"
}
Block {
BlockType Sum
Name "Sum"
Ports [2, 1]
Position [70, 205, 90, 225]
ShowName off
IconShape "round"
Inputs "|-+"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
}
Block {
BlockType Sum
Name "Sum1"
Ports [2, 1]
Position [575, 157, 605, 193]
ShowName off
Inputs "|++"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
}
Block {
BlockType Sum
Name "Sum2"
Ports [2, 1]
Position [575, 217, 605, 253]
ShowName off
Inputs "|++"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
}
Block {
BlockType Sum
Name "Sum3"
Ports [2, 1]
Position [575, 346, 605, 384]
ShowName off
Inputs "|++"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
}
Block {
BlockType Sum
Name "Sum4"
Ports [3, 1]
Position [735, 150, 765, 255]
ShowName off
Inputs "|+++"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
}
Block {
BlockType ToWorkspace
Name "To Workspace"
Position [60, 80, 120, 110]
VariableName "t"
MaxDataPoints "inf"
SampleTime "-1"
SaveFormat "Structure"
}
Block {
BlockType ToWorkspace
Name "To Workspace1"
Position [725, 65, 785, 95]
VariableName "kp"
MaxDataPoints "inf"
SampleTime "-1"
SaveFormat "Structure"
}
Block {
BlockType ToWorkspace
Name "To Workspace2"
Position [725, 310, 785, 340]
VariableName "kd"
MaxDataPoints "inf"
SampleTime "-1"
SaveFormat "Structure"
}
Block {
BlockType ToWorkspace
Name "To Workspace3"
Position [945, 190, 1005, 220]
VariableName "Y"
MaxDataPoints "inf"
SampleTime "-1"
SaveFormat "Structure"
}
Block {
BlockType ToWorkspace
Name "To Workspace4"
Position [725, 415, 785, 445]
VariableName "ki"
MaxDataPoints "inf"
SampleTime "-1"
SaveFormat "Structure"
}
Block {
BlockType TransferFcn
Name "Transfer Fcn"
Position [850, 187, 910, 223]
Denominator "[1 3 2 0]"
}
Block {
BlockType ZeroOrderHold
Name "Zero-Order\nHold"
Position [335, 206, 370, 244]
SampleTime "0.1"
}
Block {
BlockType ZeroOrderHold
Name "Zero-Order\nHold1"
Position [790, 186, 825, 224]
SampleTime "0.1"
}
Line {
SrcBlock "Clock"
SrcPort 1
DstBlock "To Workspace"
DstPort 1
}
Line {
SrcBlock "Step"
SrcPort 1
DstBlock "Sum"
DstPort 1
}
Line {
SrcBlock "Constant"
SrcPort 1
DstBlock "Product"
DstPort 1
}
Line {
SrcBlock "Gain"
SrcPort 1
DstBlock "Mux"
DstPort 1
}
Line {
SrcBlock "Derivative"
SrcPort 1
DstBlock "Gain1"
DstPort 1
}
Line {
SrcBlock "Gain1"
SrcPort 1
Points [35, 0]
DstBlock "Mux"
DstPort 2
}
Line {
SrcBlock "Mux"
SrcPort 1
DstBlock "Zero-Order\nHold"
DstPort 1
}
Line {
SrcBlock "Product"
SrcPort 1
Points [15, 0]
Branch {
Points [0, -70; 365, 0; 0, 80]
DstBlock "Product1"
DstPort 1
}
Branch {
Points [0, 175]
Branch {
DstBlock "Derivative1"
DstPort 1
}
Branch {
Points [0, 115]
DstBlock "Integrator2"
DstPort 1
}
}
}
Line {
SrcBlock "Zero-Order\nHold"
SrcPort 1
DstBlock "Fuzzy Logic \nController"
DstPort 1
}
Line {
SrcBlock "Fuzzy Logic \nController"
SrcPort 1
DstBlock "Demux"
DstPort 1
}
Line {
SrcBlock "Demux"
SrcPort 1
DstBlock "Gain2"
DstPort 1
}
Line {
SrcBlock "Demux"
SrcPort 2
DstBlock "Gain3"
DstPort 1
}
Line {
SrcBlock "Demux"
SrcPort 3
Points [15, 0]
DstBlock "Gain4"
DstPort 1
}
Line {
SrcBlock "Constant1"
SrcPort 1
Points [5, 0]
DstBlock "Sum1"
DstPort 1
}
Line {
SrcBlock "Gain2"
SrcPort 1
DstBlock "Sum1"
DstPort 2
}
Line {
SrcBlock "Sum1"
SrcPort 1
Points [25, 0]
Branch {
DstBlock "Product1"
DstPort 2
}
Branch {
Points [0, -95]
DstBlock "To Workspace1"
DstPort 1
}
}
Line {
SrcBlock "Gain3"
SrcPort 1
Points [0, 10]
DstBlock "Sum2"
DstPort 1
}
Line {
SrcBlock "Sum2"
SrcPort 1
Points [30, 0]
Branch {
DstBlock "Product2"
DstPort 1
}
Branch {
Points [0, 90]
DstBlock "To Workspace2"
DstPort 1
}
}
Line {
SrcBlock "Derivative1"
SrcPort 1
Points [295, 0; 0, -75]
DstBlock "Product2"
DstPort 2
}
Line {
SrcBlock "Gain4"
SrcPort 1
Points [5, 0]
DstBlock "Sum3"
DstPort 1
}
Line {
SrcBlock "Constant2"
SrcPort 1
Points [5, 0]
DstBlock "Sum3"
DstPort 2
}
Line {
SrcBlock "Integrator2"
SrcPort 1
Points [255, 0]
DstBlock "Product3"
DstPort 2
}
Line {
SrcBlock "Sum3"
SrcPort 1
Points [25, 0]
Branch {
DstBlock "Product3"
DstPort 1
}
Branch {
Points [0, 65]
DstBlock "To Workspace4"
DstPort 1
}
}
Line {
SrcBlock "Product1"
SrcPort 1
Points [30, 0]
DstBlock "Sum4"
DstPort 1
}
Line {
SrcBlock "Product2"
SrcPort 1
Points [30, 0]
DstBlock "Sum4"
DstPort 2
}
Line {
SrcBlock "Product3"
SrcPort 1
Points [20, 0; 0, -135]
DstBlock "Sum4"
DstPort 3
}
Line {
SrcBlock "Sum4"
SrcPort 1
DstBlock "Zero-Order\nHold1"
DstPort 1
}
Line {
SrcBlock "Zero-Order\nHold1"
SrcPort 1
DstBlock "Transfer Fcn"
DstPort 1
}
Line {
Labels [1, 0]
SrcBlock "Transfer Fcn"
SrcPort 1
Points [5, 0]
Branch {
DstBlock "To Workspace3"
DstPort 1
}
Branch {
Points [0, 80]
Branch {
Points [0, 195; -840, 0]
DstBlock "Sum"
DstPort 2
}
Branch {
DstBlock "Scope1"
DstPort 1
}
}
}
Line {
SrcBlock "Constant3"
SrcPort 1
Points [5, 0]
DstBlock "Sum2"
DstPort 2
}
Line {
SrcBlock "Sum"
SrcPort 1
Points [10, 0]
Branch {
DstBlock "Gain"
DstPort 1
}
Branch {
Points [0, 45]
DstBlock "Derivative"
DstPort 1
}
Branch {
Points [0, -50]
DstBlock "Product"
DstPort 2
}
}
}
}
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