📄 c8mrbf.mdl
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VectorParams1D on
OutDataTypeMode "Inherit from 'Constant value'"
OutDataType "sfix(16)"
ConRadixGroup "Use specified scaling"
OutScaling "2^0"
SampleTime "inf"
}
Block {
BlockType Demux
Outputs "4"
DisplayOption "none"
BusSelectionMode off
}
Block {
BlockType Gain
Gain "1"
Multiplication "Element-wise(K.*u)"
ParameterDataTypeMode "Same as input"
ParameterDataType "sfix(16)"
ParameterScalingMode "Best Precision: Matrix-wise"
ParameterScaling "2^0"
OutDataTypeMode "Same as input"
OutDataType "sfix(16)"
OutScaling "2^0"
LockScale off
RndMeth "Floor"
SaturateOnIntegerOverflow on
SampleTime "-1"
}
Block {
BlockType Inport
BusObject "BusObject"
BusOutputAsStruct off
PortDimensions "-1"
SampleTime "-1"
DataType "auto"
OutDataType "sfix(16)"
OutScaling "2^0"
SignalType "auto"
SamplingMode "auto"
Interpolate on
}
Block {
BlockType Mux
Inputs "4"
DisplayOption "none"
BusObject "BusObject"
NonVirtualBus off
}
Block {
BlockType Outport
Port "1"
BusObject "BusObject"
BusOutputAsStruct off
PortDimensions "-1"
SampleTime "-1"
DataType "auto"
OutDataType "sfix(16)"
OutScaling "2^0"
SignalType "auto"
SamplingMode "auto"
OutputWhenDisabled "held"
InitialOutput "[]"
}
Block {
BlockType Product
Inputs "2"
Multiplication "Element-wise(.*)"
InputSameDT on
OutDataTypeMode "Same as first input"
OutDataType "sfix(16)"
OutScaling "2^0"
LockScale off
RndMeth "Zero"
SaturateOnIntegerOverflow on
SampleTime "-1"
}
Block {
BlockType Saturate
UpperLimit "0.5"
LowerLimit "-0.5"
LinearizeAsGain on
ZeroCross on
SampleTime "-1"
}
Block {
BlockType Scope
Floating off
ModelBased off
TickLabels "OneTimeTick"
ZoomMode "on"
Grid "on"
TimeRange "auto"
YMin "-5"
YMax "5"
SaveToWorkspace off
SaveName "ScopeData"
LimitDataPoints on
MaxDataPoints "5000"
Decimation "1"
SampleInput off
SampleTime "0"
}
Block {
BlockType "S-Function"
FunctionName "system"
SFunctionModules "''"
PortCounts "[]"
}
Block {
BlockType SubSystem
ShowPortLabels on
Permissions "ReadWrite"
PermitHierarchicalResolution "All"
SystemSampleTime "-1"
RTWFcnNameOpts "Auto"
RTWFileNameOpts "Auto"
SimViewingDevice off
DataTypeOverride "UseLocalSettings"
MinMaxOverflowLogging "UseLocalSettings"
}
Block {
BlockType Sum
IconShape "rectangular"
Inputs "++"
InputSameDT on
OutDataTypeMode "Same as first input"
OutDataType "sfix(16)"
OutScaling "2^0"
LockScale off
RndMeth "Floor"
SaturateOnIntegerOverflow on
SampleTime "-1"
}
Block {
BlockType UnitDelay
X0 "0"
SampleTime "1"
StateMustResolveToSignalObject off
RTWStateStorageClass "Auto"
}
}
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 "c8mrbf"
Location [418, 406, 998, 699]
Open on
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "portrait"
PaperPositionMode "auto"
PaperType "a4letter"
PaperUnits "centimeters"
ZoomFactor "100"
ReportName "simulink-default.rpt"
Block {
BlockType Reference
Name "Multi-step\nsignal generator"
Ports [0, 1]
Position [60, 111, 125, 149]
FontName "Times New Roman"
FontSize 14
SourceBlock "pidblock/Miscs/Multi-step\nsignal generator"
SourceType ""
tTime "[0 0.3 0.6]"
yStep "[1 -1 1]"
}
Block {
BlockType Mux
Name "Mux"
Ports [2, 1]
Position [385, 101, 390, 139]
ShowName off
FontName "Times New Roman"
FontSize 14
Inputs "2"
DisplayOption "bar"
}
Block {
BlockType SubSystem
Name "Nonlinear\nPlant Model"
Ports [1, 1]
Position [295, 112, 360, 148]
AncestorBlock "pidblock/Testing Plant Models/Another Nonlinear"
"\nPlant Model"
FontName "Times New Roman"
FontSize 14
TreatAsAtomicUnit off
MinAlgLoopOccurrences off
RTWSystemCode "Auto"
MaskDescription "The nonlinear plant model is given by\n "
" d(k)*y(k-1)\n y(k) = -------------- + u(k)\n "
" 1+y(k-1)^2\nwhere d(k) is time varying, such that \n d(k)=a*("
"1-b*exp(-c*t/T))\n"
MaskPromptString "The value of a|The value of b|The value of c|Sa"
"mpling period"
MaskStyleString "edit,edit,edit,edit"
MaskTunableValueString "on,on,on,on"
MaskCallbackString "|||"
MaskEnableString "on,on,on,on"
MaskVisibilityString "on,on,on,on"
MaskToolTipString "on,on,on,on"
MaskVarAliasString ",,,"
MaskVariables "a=@1;b=@2;c=@3;T=@4;"
MaskDisplay "disp('NL Plant')"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
MaskValueString "1.2|0.8|0.1|0.001"
MaskTabNameString ",,,"
System {
Name "Nonlinear\nPlant Model"
Location [236, 333, 830, 602]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "portrait"
PaperPositionMode "auto"
PaperType "a4letter"
PaperUnits "centimeters"
ZoomFactor "100"
Block {
BlockType Inport
Name "u(k)"
Position [140, 33, 170, 47]
ShowName off
FontName "Times New Roman"
FontSize 14
Port "1"
IconDisplay "Port number"
LatchInput off
}
Block {
BlockType Constant
Name "Constant"
Position [255, 70, 275, 90]
FontName "Times New Roman"
FontSize 14
}
Block {
BlockType Gain
Name "Gain2"
Position [225, 145, 270, 175]
Orientation "left"
FontName "Times New Roman"
FontSize 14
Gain "0.1"
}
Block {
BlockType Product
Name "Product"
Ports [2, 1]
Position [299, 110, 326, 140]
Orientation "up"
NamePlacement "alternate"
ShowName off
FontName "Times New Roman"
FontSize 14
InputSameDT off
RndMeth "Floor"
}
Block {
BlockType Product
Name "Product1"
Ports [2, 1]
Position [345, 31, 390, 64]
FontName "Times New Roman"
FontSize 14
Inputs "*/"
InputSameDT off
RndMeth "Floor"
}
Block {
BlockType Sum
Name "Sum"
Ports [2, 1]
Position [190, 30, 210, 50]
ShowName off
FontName "Times New Roman"
FontSize 14
IconShape "round"
Inputs "|+-"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
}
Block {
BlockType Sum
Name "Sum1"
Ports [2, 1]
Position [305, 70, 325, 90]
Orientation "up"
NamePlacement "alternate"
ShowName off
FontName "Times New Roman"
FontSize 14
IconShape "round"
Inputs "++|"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
}
Block {
BlockType UnitDelay
Name "Unit Delay1"
Position [355, 140, 390, 180]
Orientation "left"
FontName "Times New Roman"
FontSize 14
SampleTime "-1"
}
Block {
BlockType Outport
Name "y(k)"
Position [435, 43, 465, 57]
ShowName off
FontName "Times New Roman"
FontSize 14
IconDisplay "Port number"
}
Line {
SrcBlock "Sum1"
SrcPort 1
Points [0, -10]
DstBlock "Product1"
DstPort 2
}
Line {
SrcBlock "Product1"
SrcPort 1
Points [20, 0]
Branch {
Points [0, 110]
DstBlock "Unit Delay1"
DstPort 1
}
Branch {
DstBlock "y(k)"
DstPort 1
}
}
Line {
SrcBlock "Product"
SrcPort 1
DstBlock "Sum1"
DstPort 2
}
Line {
SrcBlock "Constant"
SrcPort 1
DstBlock "Sum1"
DstPort 1
}
Line {
SrcBlock "Gain2"
SrcPort 1
Points [-20, 0]
DstBlock "Sum"
DstPort 2
}
Line {
SrcBlock "Sum"
SrcPort 1
DstBlock "Product1"
DstPort 1
}
Line {
SrcBlock "Unit Delay1"
SrcPort 1
Points [0, 0; -30, 0]
Branch {
DstBlock "Product"
DstPort 2
}
Branch {
Points [-15, 0]
Branch {
DstBlock "Product"
DstPort 1
}
Branch {
DstBlock "Gain2"
DstPort 1
}
}
}
Line {
SrcBlock "u(k)"
SrcPort 1
DstBlock "Sum"
DstPort 1
}
}
}
Block {
BlockType SubSystem
Name "RBF Adaptive\nPID Controller"
Ports [2, 2]
Position [190, 115, 265, 175]
AncestorBlock "pidblock/Neural-net based\nPID Controllers/RBF "
"Adaptive\nPID Controller"
FontName "Times New Roman"
FontSize 14
TreatAsAtomicUnit off
MinAlgLoopOccurrences off
RTWSystemCode "Auto"
MaskPromptString "Learning rate eta|Moment factor alpha|The value"
" of beta0|number of nodes|Actuator Limit U_m|Sampling period|Initial PID para"
"meters|Learning rates vector(3x1)|Initial weightings"
MaskStyleString "edit,edit,edit,edit,edit,edit,edit,edit,edit"
MaskTunableValueString "on,on,on,on,on,on,on,on,on"
MaskCallbackString "||||||||"
MaskEnableString "on,on,on,on,on,on,on,on,on"
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