📄 ex12_2.mdl
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Model {
Name "ex12_2"
Version 2.20
SimParamPage Solver
SampleTimeColors off
InvariantConstants off
WideVectorLines off
ShowLineWidths off
StartTime "0.0"
StopTime "500"
Solver ode113
RelTol "1e-3"
AbsTol "1e-6"
Refine "1"
MaxStep "auto"
InitialStep "auto"
FixedStep ".1"
MaxOrder 5
OutputOption SpecifiedOutputTimes
OutputTimes "[0:0.1:500]"
LoadExternalInput off
ExternalInput "[t, u]"
SaveTime off
TimeSaveName "tout"
SaveState off
StateSaveName "xout"
SaveOutput off
OutputSaveName "yout"
LoadInitialState off
InitialState "xInitial"
SaveFinalState off
FinalStateName "xFinal"
LimitMaxRows off
MaxRows "1000"
Decimation "1"
AlgebraicLoopMsg warning
MinStepSizeMsg warning
UnconnectedInputMsg warning
UnconnectedOutputMsg warning
UnconnectedLineMsg warning
ConsistencyChecking off
ZeroCross on
SimulationMode normal
RTWSystemTargetFile "grt.tlc"
RTWInlineParameters off
RTWPlaceOutputsASAP off
RTWRetainRTWFile off
RTWTemplateMakefile "grt_vc.tmf"
RTWMakeCommand "make_rtw"
RTWGenerateCodeOnly off
ExtModeMexFile "ext_comm"
ExtModeBatchMode 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 "ex12_2"
Location [185, 180, 664, 466]
Open on
ToolBar off
StatusBar off
ScreenColor white
PaperOrientation landscape
PaperPositionMode auto
PaperType usletter
PaperUnits inches
Block {
BlockType Clock
Name "Clock"
Position [325, 190, 345, 210]
DeleteFcn "simclock BlockIsBeingDestroyed"
PostSaveFcn "simclock Save"
Location [30, 40, 140, 75]
}
Block {
BlockType Display
Name "Display"
Ports [1, 0, 0, 0, 0]
Position [380, 185, 470, 215]
Format short
Decimation "1"
Floating off
SampleTime "-1"
}
Block {
BlockType Memory
Name "Memory"
Position [55, 75, 85, 105]
Orientation left
X0 "0"
InheritSampleTime off
}
Block {
BlockType Mux
Name "Mux"
Ports [2, 1, 0, 0, 0]
Position [320, 116, 350, 149]
Inputs "2"
}
Block {
BlockType Scope
Name "Scope"
Ports [1, 0, 0, 0, 0]
Position [370, 116, 400, 154]
Floating off
Location [127, 63, 706, 510]
Open off
Grid on
TickLabels on
ZoomMode xonly
TimeRange "500"
YMin "-20"
YMax "100"
SaveToWorkspace on
SaveName "tx"
LimitMaxRows on
MaxRows "5000"
Decimation "3"
SampleInput off
SampleTime "0"
}
Block {
BlockType Sum
Name "Sum"
Ports [2, 1, 0, 0, 0]
Position [95, 24, 115, 71]
Inputs "+-"
}
Block {
BlockType Sum
Name "Sum1"
Ports [2, 1, 0, 0, 0]
Position [95, 194, 115, 241]
Inputs "-+"
}
Block {
BlockType Gain
Name "mass_1"
Position [140, 28, 180, 72]
Gain "K11"
}
Block {
BlockType Gain
Name "mass_12"
Position [110, 113, 150, 157]
Orientation left
Gain "K12"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate none
MaskIconUnits autoscale
}
Block {
BlockType Gain
Name "mass_2"
Position [140, 198, 180, 242]
Gain "K22"
}
Block {
BlockType Gain
Name "mass_21"
Position [205, 128, 245, 172]
Gain "K21"
}
Block {
BlockType Sin
Name "tau_1"
Position [15, 14, 40, 56]
Amplitude "1"
Frequency "0.1"
Phase "0"
SampleTime "-1"
}
Block {
BlockType Sin
Name "tau_2"
Position [15, 209, 40, 251]
Amplitude "1"
Frequency "0.2"
Phase "-1"
SampleTime "-1"
}
Block {
BlockType Integrator
Name "th1"
Ports [1, 1, 0, 0, 0]
Position [270, 32, 290, 68]
ExternalReset none
InitialConditionSource internal
InitialCondition "0"
LimitOutput off
UpperSaturationLimit "inf"
LowerSaturationLimit "-inf"
ShowSaturationPort off
ShowStatePort off
AbsoluteTolerance "auto"
}
Block {
BlockType Integrator
Name "th1_dot"
Ports [1, 1, 0, 0, 0]
Position [205, 32, 225, 68]
ExternalReset none
InitialConditionSource internal
InitialCondition "0"
LimitOutput off
UpperSaturationLimit "inf"
LowerSaturationLimit "-inf"
ShowSaturationPort off
ShowStatePort off
AbsoluteTolerance "auto"
}
Block {
BlockType Integrator
Name "th2"
Ports [1, 1, 0, 0, 0]
Position [270, 202, 290, 238]
ExternalReset none
InitialConditionSource internal
InitialCondition "0"
LimitOutput off
UpperSaturationLimit "inf"
LowerSaturationLimit "-inf"
ShowSaturationPort off
ShowStatePort off
AbsoluteTolerance "auto"
}
Block {
BlockType Integrator
Name "th2_dot"
Ports [1, 1, 0, 0, 0]
Position [205, 202, 225, 238]
ExternalReset none
InitialConditionSource internal
InitialCondition "0"
LimitOutput off
UpperSaturationLimit "inf"
LowerSaturationLimit "-inf"
ShowSaturationPort off
ShowStatePort off
AbsoluteTolerance "auto"
}
Line {
SrcBlock "Clock"
SrcPort 1
DstBlock "Display"
DstPort 1
}
Line {
SrcBlock "Mux"
SrcPort 1
DstBlock "Scope"
DstPort 1
}
Line {
SrcBlock "th2"
SrcPort 1
Points [10, 0]
DstBlock "Mux"
DstPort 2
}
Line {
SrcBlock "th1"
SrcPort 1
Points [10, 0]
DstBlock "Mux"
DstPort 1
}
Line {
SrcBlock "mass_1"
SrcPort 1
Points [0, 0]
Branch {
Points [0, 85]
DstBlock "mass_12"
DstPort 1
}
Branch {
DstBlock "th1_dot"
DstPort 1
}
}
Line {
SrcBlock "mass_12"
SrcPort 1
Points [-55, 0; 0, 70]
DstBlock "Sum1"
DstPort 1
}
Line {
SrcBlock "tau_2"
SrcPort 1
DstBlock "Sum1"
DstPort 2
}
Line {
SrcBlock "tau_1"
SrcPort 1
DstBlock "Sum"
DstPort 1
}
Line {
SrcBlock "mass_2"
SrcPort 1
Points [0, 0]
Branch {
Points [0, -70]
DstBlock "mass_21"
DstPort 1
}
Branch {
DstBlock "th2_dot"
DstPort 1
}
}
Line {
SrcBlock "Sum1"
SrcPort 1
DstBlock "mass_2"
DstPort 1
}
Line {
SrcBlock "Sum"
SrcPort 1
DstBlock "mass_1"
DstPort 1
}
Line {
SrcBlock "th2_dot"
SrcPort 1
DstBlock "th2"
DstPort 1
}
Line {
SrcBlock "th1_dot"
SrcPort 1
DstBlock "th1"
DstPort 1
}
Line {
SrcBlock "mass_21"
SrcPort 1
Points [0, -60]
DstBlock "Memory"
DstPort 1
}
Line {
SrcBlock "Memory"
SrcPort 1
Points [0, -30]
DstBlock "Sum"
DstPort 2
}
}
}
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