📄 c6mmopt.mdl
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BlockType Product
Name "Product"
Ports [2, 1]
Position [330, 62, 360, 98]
FontName "Times New Roman"
FontSize 14
InputSameDT off
}
Block {
BlockType Saturate
Name "Saturation"
Position [235, 185, 265, 215]
ShowName off
FontName "Times New Roman"
FontSize 14
UpperLimit "um"
LowerLimit "-um"
}
Block {
BlockType Saturate
Name "Saturation1"
Position [235, 245, 265, 275]
ShowName off
FontName "Times New Roman"
FontSize 14
UpperLimit "um"
LowerLimit "-um"
}
Block {
BlockType Scope
Name "Scope"
Ports [1]
Position [670, 194, 700, 226]
FontName "Times New Roman"
FontSize 14
Location [188, 365, 512, 604]
Open on
NumInputPorts "1"
ZoomMode "yonly"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
List {
ListType SelectedSignals
axes1 ""
}
DataFormat "StructureWithTime"
}
Block {
BlockType Sum
Name "Sum"
Ports [2, 1]
Position [585, 190, 605, 210]
ShowName off
FontName "Times New Roman"
FontSize 14
IconShape "round"
Inputs "|++"
}
Block {
BlockType Sum
Name "Sum1"
Ports [2, 1]
Position [590, 325, 610, 345]
ShowName off
FontName "Times New Roman"
FontSize 14
IconShape "round"
Inputs "|++"
}
Block {
BlockType Sum
Name "Sum2"
Ports [2, 1]
Position [90, 190, 110, 210]
ShowName off
FontName "Times New Roman"
FontSize 14
IconShape "round"
Inputs "-+|"
}
Block {
BlockType Sum
Name "Sum3"
Ports [2, 1]
Position [90, 250, 110, 270]
ShowName off
FontName "Times New Roman"
FontSize 14
IconShape "round"
Inputs "|+-"
}
Block {
BlockType Sum
Name "Sum4"
Ports [2, 1]
Position [280, 80, 300, 100]
ShowName off
FontName "Times New Roman"
FontSize 14
IconShape "round"
Inputs "|++"
}
Block {
BlockType TransferFcn
Name "g11(s)"
Position [430, 179, 520, 221]
FontName "Times New Roman"
FontSize 14
Numerator "0.1134"
Denominator "[1.78 4.48 1]"
}
Block {
BlockType TransferFcn
Name "g12(s)"
Position [435, 245, 520, 285]
FontName "Times New Roman"
FontSize 14
Numerator "0.924"
Denominator "[2.07 1]"
}
Block {
BlockType TransferFcn
Name "g21(s)"
Position [430, 314, 525, 356]
FontName "Times New Roman"
FontSize 14
Numerator "0.3378"
Denominator "[0.361 1.09 1]"
}
Block {
BlockType TransferFcn
Name "g22(s)"
Position [440, 377, 515, 413]
FontName "Times New Roman"
FontSize 14
Numerator "-0.318"
Denominator "[2.93 1]"
}
Block {
BlockType TransportDelay
Name "t=0.3"
Position [540, 320, 570, 350]
ShowName off
FontName "Times New Roman"
FontSize 14
DelayTime "0.3"
}
Block {
BlockType TransportDelay
Name "t=0.72"
Position [535, 185, 565, 215]
ShowName off
FontName "Times New Roman"
FontSize 14
DelayTime "0.72"
}
Block {
BlockType TransportDelay
Name "t=1.26"
Position [535, 380, 565, 410]
ShowName off
FontName "Times New Roman"
FontSize 14
DelayTime "1.26"
}
Block {
BlockType Step
Name "u1"
Position [45, 185, 75, 215]
FontName "Times New Roman"
FontSize 14
Time "0"
After "u1"
SampleTime "0"
}
Block {
BlockType Step
Name "u2"
Position [45, 245, 75, 275]
FontName "Times New Roman"
FontSize 14
Time "0"
After "u2"
SampleTime "0"
}
Block {
BlockType Outport
Name "Out1"
Position [460, 73, 490, 87]
FontName "Times New Roman"
FontSize 14
}
Line {
SrcBlock "Demux"
SrcPort 1
Points [0, 0; 15, 0]
Branch {
DstBlock "g11(s)"
DstPort 1
}
Branch {
DstBlock "g21(s)"
DstPort 1
}
}
Line {
SrcBlock "Demux"
SrcPort 2
Points [5, 0; 0, 50]
Branch {
Points [0, 130]
DstBlock "g22(s)"
DstPort 1
}
Branch {
DstBlock "g12(s)"
DstPort 1
}
}
Line {
SrcBlock "g22(s)"
SrcPort 1
DstBlock "t=1.26"
DstPort 1
}
Line {
SrcBlock "g21(s)"
SrcPort 1
DstBlock "t=0.3"
DstPort 1
}
Line {
SrcBlock "g11(s)"
SrcPort 1
DstBlock "t=0.72"
DstPort 1
}
Line {
SrcBlock "t=0.72"
SrcPort 1
DstBlock "Sum"
DstPort 1
}
Line {
SrcBlock "g12(s)"
SrcPort 1
Points [70, 0]
DstBlock "Sum"
DstPort 2
}
Line {
SrcBlock "t=0.3"
SrcPort 1
DstBlock "Sum1"
DstPort 1
}
Line {
SrcBlock "t=1.26"
SrcPort 1
Points [30, 0]
DstBlock "Sum1"
DstPort 2
}
Line {
SrcBlock "Sum"
SrcPort 1
Points [0, 0; 5, 0]
Branch {
Points [0, 0]
DstBlock "Mux"
DstPort 1
}
Branch {
Points [0, -55; -515, 0]
DstBlock "Sum2"
DstPort 1
}
}
Line {
SrcBlock "Mux"
SrcPort 1
DstBlock "Scope"
DstPort 1
}
Line {
SrcBlock "Matrix\nGain Kp"
SrcPort 1
DstBlock "Demux"
DstPort 1
}
Line {
SrcBlock "Mux1"
SrcPort 1
DstBlock "Matrix\nGain Kp"
DstPort 1
}
Line {
SrcBlock "Saturation"
SrcPort 1
DstBlock "Mux1"
DstPort 1
}
Line {
SrcBlock "Saturation1"
SrcPort 1
Points [5, 0; 0, -40]
DstBlock "Mux1"
DstPort 2
}
Line {
SrcBlock "PI controller 2"
SrcPort 1
DstBlock "Saturation1"
DstPort 1
}
Line {
SrcBlock "PI controller 1"
SrcPort 1
DstBlock "Saturation"
DstPort 1
}
Line {
SrcBlock "Sum1"
SrcPort 1
Points [5, 0; 0, -50]
Branch {
Points [0, -65]
DstBlock "Mux"
DstPort 2
}
Branch {
Points [30, 0; 0, 150; -550, 0]
DstBlock "Sum3"
DstPort 2
}
}
Line {
SrcBlock "Sum3"
SrcPort 1
Points [0, 0; 15, 0]
Branch {
DstBlock "PI controller 2"
DstPort 1
}
Branch {
Points [0, -135]
DstBlock "Gain1"
DstPort 1
}
}
Line {
SrcBlock "Sum2"
SrcPort 1
Points [0, 0; 5, 0]
Branch {
DstBlock "PI controller 1"
DstPort 1
}
Branch {
Points [0, -110]
DstBlock "Gain"
DstPort 1
}
}
Line {
SrcBlock "u1"
SrcPort 1
DstBlock "Sum2"
DstPort 2
}
Line {
SrcBlock "u2"
SrcPort 1
DstBlock "Sum3"
DstPort 1
}
Line {
SrcBlock "Gain1"
SrcPort 1
DstBlock "Abs1"
DstPort 1
}
Line {
SrcBlock "Gain"
SrcPort 1
DstBlock "Abs"
DstPort 1
}
Line {
SrcBlock "Abs"
SrcPort 1
DstBlock "Sum4"
DstPort 1
}
Line {
SrcBlock "Abs1"
SrcPort 1
Points [35, 0]
DstBlock "Sum4"
DstPort 2
}
Line {
SrcBlock "Integrator"
SrcPort 1
DstBlock "Out1"
DstPort 1
}
Line {
SrcBlock "Sum4"
SrcPort 1
DstBlock "Product"
DstPort 2
}
Line {
SrcBlock "Product"
SrcPort 1
DstBlock "Integrator"
DstPort 1
}
Line {
SrcBlock "Clock"
SrcPort 1
Points [25, 0; 0, 20]
DstBlock "Product"
DstPort 1
}
}
}
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