📄 robot.mdl
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Block {
BlockType Fcn
Name "Fcn13"
Position [1310, 850, 1370, 880]
Expr "u(6)*u(9)*u(1)-u(4)*u(7)*u(1)+u(6)*u(9)*u(2)+(u"
"(4)+u(5)+u(6))*u(9)*u(3)"
}
Block {
BlockType Fcn
Name "Fcn14"
Position [1310, 925, 1370, 955]
Expr "-(u(4)*u(8)+u(5)*u(9))*u(1)-(u(4)+u(5))*u(9)*u("
"2)"
}
Block {
BlockType Fcn
Name "Fcn9"
Position [1020, 820, 1080, 850]
Expr "-(0.36+0.72)*sin(u(1))-0.36*sin(u(1)+u(2))"
}
Block {
BlockType Mux
Name "Mux"
Ports [5, 1]
Position [150, 129, 160, 261]
ShowName off
Inputs "5"
DisplayOption "bar"
}
Block {
BlockType Mux
Name "Mux1"
Ports [5, 1]
Position [1050, 393, 1060, 587]
ShowName off
Inputs "5"
DisplayOption "bar"
}
Block {
BlockType Mux
Name "Mux10"
Ports [2, 1]
Position [1230, 223, 1235, 287]
ShowName off
Inputs "2"
DisplayOption "bar"
}
Block {
BlockType Mux
Name "Mux2"
Ports [2, 1]
Position [810, 851, 820, 929]
ShowName off
Inputs "2"
DisplayOption "bar"
}
Block {
BlockType Mux
Name "Mux3"
Ports [6, 1]
Position [1050, 602, 1060, 763]
ShowName off
Inputs "6"
DisplayOption "bar"
}
Block {
BlockType Mux
Name "Mux4"
Ports [5, 1]
Position [280, 337, 290, 503]
ShowName off
Inputs "5"
DisplayOption "bar"
}
Block {
BlockType Mux
Name "Mux5"
Ports [5, 1]
Position [280, 529, 290, 681]
ShowName off
Inputs "5"
DisplayOption "bar"
}
Block {
BlockType Mux
Name "Mux6"
Ports [5, 1]
Position [280, 714, 290, 876]
ShowName off
Inputs "5"
DisplayOption "bar"
}
Block {
BlockType Mux
Name "Mux7"
Ports [4, 1]
Position [1215, 751, 1230, 974]
ShowName off
DisplayOption "bar"
}
Block {
BlockType Mux
Name "Mux8"
Ports [2, 1]
Position [1230, 103, 1235, 167]
ShowName off
Inputs "2"
DisplayOption "bar"
}
Block {
BlockType Mux
Name "Mux9"
Ports [2, 1]
Position [1230, 163, 1235, 227]
ShowName off
Inputs "2"
DisplayOption "bar"
}
Block {
BlockType "S-Function"
Name "S-Function"
Ports [1, 1]
Position [200, 180, 260, 210]
FunctionName "a_1"
}
Block {
BlockType Scope
Name "Scope"
Ports [1]
Position [1300, 14, 1330, 46]
Floating off
Location [1, 52, 1017, 729]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
DataFormat "StructureWithTime"
SampleTime "0"
}
Block {
BlockType Scope
Name "Scope1"
Ports [1]
Position [1530, 19, 1560, 51]
Floating off
Location [1, 52, 1017, 729]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
SaveName "ScopeData1"
DataFormat "StructureWithTime"
SampleTime "0"
}
Block {
BlockType Scope
Name "Scope2"
Ports [1]
Position [1630, 14, 1660, 46]
Floating off
Location [1, 52, 1017, 729]
Open off
NumInputPorts "1"
ZoomMode "yonly"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
SaveName "ScopeData2"
DataFormat "StructureWithTime"
SampleTime "0"
}
Block {
BlockType Scope
Name "Scope4"
Ports [1]
Position [1380, 19, 1410, 51]
Orientation "left"
NamePlacement "alternate"
Floating off
Location [1, 52, 1017, 729]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
SaveName "ScopeData4"
DataFormat "StructureWithTime"
SampleTime "0"
}
Block {
BlockType Sin
Name "Sine Wave"
Ports [0, 1]
Position [20, 335, 50, 365]
SineType "Time based"
SampleTime "0"
}
Block {
BlockType Sin
Name "Sine Wave1"
Ports [0, 1]
Position [20, 590, 50, 620]
SineType "Time based"
Phase "pi/2"
SampleTime "0"
}
Block {
BlockType Sin
Name "Sine Wave2"
Ports [0, 1]
Position [20, 650, 50, 680]
SineType "Time based"
Phase "pi"
SampleTime "0"
}
Block {
BlockType Sum
Name "Sum3"
Ports [4, 1]
Position [1485, 330, 1545, 430]
ShowName off
IconShape "round"
Inputs "|++++"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
}
Block {
BlockType Sum
Name "Sum4"
Ports [4, 1]
Position [1575, 620, 1645, 730]
ShowName off
IconShape "round"
Inputs "|++++"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
}
Block {
BlockType Sum
Name "Sum5"
Ports [4, 1]
Position [1525, 470, 1585, 570]
ShowName off
IconShape "round"
Inputs "|++++"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
}
Block {
BlockType ToWorkspace
Name "To Workspace"
Position [315, 15, 375, 45]
VariableName "t"
MaxDataPoints "inf"
SampleTime "-1"
SaveFormat "Array"
}
Block {
BlockType ToWorkspace
Name "To Workspace1"
Position [1290, 120, 1350, 150]
VariableName "q1"
MaxDataPoints "inf"
SampleTime "-1"
SaveFormat "Array"
}
Block {
BlockType ToWorkspace
Name "To Workspace2"
Position [1290, 180, 1350, 210]
VariableName "q2"
MaxDataPoints "inf"
SampleTime "-1"
SaveFormat "Array"
}
Block {
BlockType ToWorkspace
Name "To Workspace3"
Position [1295, 240, 1355, 270]
VariableName "q3"
MaxDataPoints "inf"
SampleTime "-1"
SaveFormat "Array"
}
Block {
BlockType ToWorkspace
Name "To Workspace4"
Position [1490, 145, 1550, 175]
VariableName "t1"
MaxDataPoints "inf"
SampleTime "-1"
SaveFormat "Array"
}
Block {
BlockType ToWorkspace
Name "To Workspace5"
Position [1490, 195, 1550, 225]
VariableName "t2"
MaxDataPoints "inf"
SampleTime "-1"
SaveFormat "Array"
}
Block {
BlockType ToWorkspace
Name "To Workspace6"
Position [1495, 245, 1555, 275]
VariableName "t3"
MaxDataPoints "inf"
SampleTime "-1"
SaveFormat "Array"
}
Block {
BlockType ToWorkspace
Name "To Workspace7"
Position [515, 350, 575, 380]
VariableName "e1"
MaxDataPoints "inf"
SampleTime "-1"
SaveFormat "Array"
}
Block {
BlockType ToWorkspace
Name "To Workspace8"
Position [515, 540, 575, 570]
VariableName "e2"
MaxDataPoints "inf"
SampleTime "-1"
SaveFormat "Array"
}
Block {
BlockType ToWorkspace
Name "To Workspace9"
Position [515, 715, 575, 745]
VariableName "e3"
MaxDataPoints "inf"
SampleTime "-1"
SaveFormat "Array"
}
Block {
BlockType Fcn
Name "m1"
Position [350, 405, 410, 435]
Expr "u[5]+325*(u[3]-u[4])"
}
Block {
BlockType Fcn
Name "m11"
Position [1210, 330, 1270, 360]
Expr "(2.72+1.7+0.98+2*(0.365+0.72)*cos(u(4))+2*0.36*"
"cos(u(5))+2*0.36*cos(u(4)+u(5)))*u(1)"
}
Block {
BlockType Fcn
Name "m12"
Position [1210, 370, 1270, 400]
Expr "(1.7+0.98+(0.36+0.72)*cos(u(4))+2*0.36*cos(u(5)"
")+0.36*cos(u(4)+u(5)))*u(2)"
}
Block {
BlockType Fcn
Name "m13"
Position [1215, 410, 1275, 440]
Expr "(0.98+0.36*cos(u(5))+0.36*cos(u(4)+u(5)))*u(3)"
}
Block {
BlockType Fcn
Name "m2"
Position [350, 455, 410, 485]
Expr "u[3]+325*(u[1]-u[2])"
}
Block {
BlockType Fcn
Name "m21"
Position [1215, 475, 1275, 505]
Expr "(1.7+0.98+(0.36+0.72)*cos(u(4))+2*0.36*cos(u(5)"
")+0.36*cos(u(4)+u(5)))*u(1)"
}
Block {
BlockType Fcn
Name "m22"
Position [1215, 515, 1275, 545]
Expr "(1.7+0.98+2*0.36*cos(u(5)))*u(2)"
}
Block {
BlockType Fcn
Name "m23"
Position [1215, 555, 1275, 585]
Expr "(0.98+0.36*cos(u(5)))*u(3)"
}
Block {
BlockType Fcn
Name "m3"
Position [350, 350, 410, 380]
Expr "u[1]-u[2]"
}
Block {
BlockType Fcn
Name "m31"
Position [1220, 620, 1280, 650]
Expr "(0.98+0.36*cos(u(5))+0.36*cos(u(4)+u(5)))*u(1)"
}
Block {
BlockType Fcn
Name "m32"
Position [1220, 660, 1280, 690]
Expr "(0.98+0.36*cos(u(5)))*u(2)"
}
Block {
BlockType Fcn
Name "m33"
Position [1220, 700, 1280, 730]
Expr "0.98*u(3)"
}
Block {
BlockType Fcn
Name "m4"
Position [360, 590, 420, 620]
Expr "u[5]+210*(u[3]-u[4])"
}
Block {
BlockType Fcn
Name "m5"
Position [360, 645, 420, 675]
Expr "u[3]+210*(u[1]-u[2])"
}
Block {
BlockType Fcn
Name "m6"
Position [355, 540, 415, 570]
Expr "u[1]-u[2]"
}
Block {
BlockType Fcn
Name "m7"
Position [370, 835, 430, 865]
Expr "u[3]+150*(u[1]-u[2])"
}
Block {
BlockType Fcn
Name "m8"
Position [370, 780, 430, 810]
Expr "u[5]+150*(u[3]-u[4])"
}
Block {
BlockType Fcn
Name "m9"
Position [370, 715, 430, 745]
Expr "u[1]-u[2]"
}
Line {
SrcBlock "S-Function"
SrcPort 1
DstBlock "Demux"
DstPort 1
}
Line {
SrcBlock "Sine Wave"
SrcPort 1
Points [80, 0]
Branch {
DstBlock "Mux4"
DstPort 1
}
Branch {
Points [0, 195]
Branch {
DstBlock "Mux5"
DstPort 1
}
Branch {
Points [0, 190]
DstBlock "Mux6"
DstPort 1
}
}
Branch {
Points [0, -30; 1025, 0; 0, -50]
Branch {
Points [0, -60]
Branch {
Points [0, -60]
DstBlock "Mux8"
DstPort 2
}
Branch {
DstBlock "Mux9"
DstPort 2
}
}
Branch {
DstBlock "Mux10"
DstPort 2
}
}
}
Line {
SrcBlock "Clock"
SrcPort 1
DstBlock "To Workspace"
DstPort 1
}
Line {
SrcBlock "Demux"
SrcPort 2
Points [295, 0; 0, 355]
Branch {
Points [0, 190]
DstBlock "Mux3"
DstPort 4
}
Branch {
Points [-360, 0; 0, -50]
DstBlock "Mux4"
DstPort 4
}
}
Line {
SrcBlock "Demux"
SrcPort 3
Points [315, 0]
Branch {
Points [0, 125]
Branch {
Points [0, 210]
Branch {
Points [0, 15]
DstBlock "Mux1"
DstPort 4
}
Branch {
Points [0, 0]
Branch {
Points [0, 355]
DstBlock "Mux2"
DstPort 1
}
Branch {
Points [-380, 0; 0, 60]
DstBlock "Mux5"
DstPort 2
}
}
}
Branch {
Points [-535, 0; 0, -85]
DstBlock "Mux"
DstPort 4
}
}
Branch {
DstBlock "Mux9"
DstPort 1
}
}
Line {
SrcBlock "Demux"
SrcPort 4
Points [335, 0; 0, 475]
Branch {
Points [-395, 0; 0, -50]
DstBlock "Mux5"
DstPort 4
}
Branch {
Points [0, 35]
DstBlock "Mux3"
DstPort 5
}
}
Line {
SrcBlock "Demux"
SrcPort 5
Points [350, 0]
Branch {
Points [0, 55]
Branch {
Points [0, 275]
Branch {
DstBlock "Mux1"
DstPort 5
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