📄 ipolimpulse.mdl
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Model {
Name "ipolimpulse"
Version 4.00
SampleTimeColors off
LibraryLinkDisplay "none"
WideLines off
ShowLineDimensions off
ShowPortDataTypes off
ShowStorageClass off
ExecutionOrder off
RecordCoverage off
CovPath "/"
CovSaveName "covdata"
CovMetricSettings "dw"
CovNameIncrementing off
CovHtmlReporting on
BlockNameDataTip off
BlockParametersDataTip on
BlockDescriptionStringDataTip off
ToolBar on
StatusBar on
BrowserShowLibraryLinks off
BrowserLookUnderMasks off
Created "Fri May 23 06:02:41 2003"
UpdateHistory "UpdateHistoryNever"
ModifiedByFormat "%<Auto>"
ModifiedDateFormat "%<Auto>"
LastModifiedDate "Tue Jun 03 03:28:45 2003"
ModelVersionFormat "1.%<AutoIncrement:403>"
ConfigurationManager "none"
SimParamPage "Solver"
StartTime "0.0"
StopTime "1.5"
SolverMode "Auto"
Solver "ode45"
RelTol "1e-3"
AbsTol "auto"
Refine "1"
MaxStep "0.05"
MinStep "auto"
MaxNumMinSteps "-1"
InitialStep "auto"
FixedStep "auto"
MaxOrder 5
OutputOption "RefineOutputTimes"
OutputTimes "[]"
LoadExternalInput off
ExternalInput "[t, u]"
SaveTime on
TimeSaveName "tout"
SaveState off
StateSaveName "xout"
SaveOutput on
OutputSaveName "yout"
LoadInitialState off
InitialState "xInitial"
SaveFinalState off
FinalStateName "xFinal"
SaveFormat "Array"
LimitDataPoints off
MaxDataPoints "1000"
Decimation "1"
AlgebraicLoopMsg "warning"
MinStepSizeMsg "warning"
UnconnectedInputMsg "warning"
UnconnectedOutputMsg "warning"
UnconnectedLineMsg "warning"
InheritedTsInSrcMsg "warning"
SingleTaskRateTransMsg "none"
MultiTaskRateTransMsg "error"
IntegerOverflowMsg "warning"
CheckForMatrixSingularity "none"
UnnecessaryDatatypeConvMsg "none"
Int32ToFloatConvMsg "warning"
InvalidFcnCallConnMsg "error"
SignalLabelMismatchMsg "none"
LinearizationMsg "none"
VectorMatrixConversionMsg "none"
SfunCompatibilityCheckMsg "none"
BlockPriorityViolationMsg "warning"
ArrayBoundsChecking "none"
ConsistencyChecking "none"
ZeroCross on
Profile off
SimulationMode "normal"
RTWSystemTargetFile "grt.tlc"
RTWInlineParameters off
RTWRetainRTWFile off
RTWTemplateMakefile "grt_default_tmf"
RTWMakeCommand "make_rtw"
RTWGenerateCodeOnly off
TLCProfiler off
TLCDebug off
TLCCoverage off
AccelSystemTargetFile "accel.tlc"
AccelTemplateMakefile "accel_default_tmf"
AccelMakeCommand "make_rtw"
TryForcingSFcnDF off
ExtModeMexFile "ext_comm"
ExtModeBatchMode off
ExtModeTrigType "manual"
ExtModeTrigMode "oneshot"
ExtModeTrigPort "1"
ExtModeTrigElement "any"
ExtModeTrigDuration 1000
ExtModeTrigHoldOff 0
ExtModeTrigDelay 0
ExtModeTrigDirection "rising"
ExtModeTrigLevel 0
ExtModeArchiveMode "off"
ExtModeAutoIncOneShot off
ExtModeIncDirWhenArm off
ExtModeAddSuffixToVar off
ExtModeWriteAllDataToWs off
ExtModeArmWhenConnect off
ExtModeSkipDownloadWhenConnect off
ExtModeLogAll on
ExtModeAutoUpdateStatusClock on
OptimizeBlockIOStorage on
BufferReuse on
ParameterPooling on
BlockReductionOpt on
RTWExpressionDepthLimit 5
BooleanDataType 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 "ipolimpulse"
Location [279, 74, 779, 496]
Open on
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "automatic"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "100"
ReportName "simulink-default.rpt"
Block {
BlockType SubSystem
Name "\n"
Ports []
Position [70, 243, 111, 280]
FontName "Verdana"
ShowPortLabels on
TreatAsAtomicUnit off
RTWSystemCode "Auto"
RTWFcnNameOpts "Auto"
RTWFileNameOpts "Auto"
MaskDisplay "plot([-10 10],[0 0],[-2 -2 2 2],[0 1 1 0],[0 3]"
",[1 5])"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
System {
Name "\n"
Location [2, 74, 790, 556]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "automatic"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "100"
}
}
Block {
BlockType SubSystem
Name "Impulse \nGenerator"
Ports [0, 1]
Position [20, 76, 70, 114]
FontName "Verdana"
ShowPortLabels on
TreatAsAtomicUnit off
RTWSystemCode "Auto"
RTWFcnNameOpts "Auto"
RTWFileNameOpts "Auto"
MaskType "Impulse Generator"
MaskDescription "This model generates an impulse of specified wi"
"dth."
MaskHelp "This model generates an impulse of specified wi"
"dth."
MaskPromptString "Impulse Time|Impulse Duration"
MaskStyleString "edit,edit"
MaskTunableValueString "on,on"
MaskCallbackString "|"
MaskEnableString "on,on"
MaskVisibilityString "on,on"
MaskToolTipString "on,on"
MaskVariables "T=@1;dt=@2;"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
MaskValueString "0.5|0.00000001"
MaskVariableAliases ","
System {
Name "Impulse \nGenerator"
Location [287, 103, 462, 240]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "automatic"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "100"
Block {
BlockType Step
Name "Step"
Position [25, 25, 55, 55]
FontName "Verdana"
Time "T"
Before "0"
After "1 / dt"
SampleTime "0"
VectorParams1D on
}
Block {
BlockType Step
Name "Step1"
Position [25, 80, 55, 110]
FontName "Verdana"
Time "T + dt"
Before "0"
After "1 / dt"
SampleTime "0"
VectorParams1D on
}
Block {
BlockType Sum
Name "Sum"
Ports [2, 1]
Position [75, 30, 95, 50]
ShowName off
IconShape "round"
Inputs "|+-"
SaturateOnIntegerOverflow on
}
Block {
BlockType Outport
Name "Impulse"
Position [120, 33, 150, 47]
FontName "Verdana"
Port "1"
OutputWhenDisabled "held"
InitialOutput "[]"
}
Line {
SrcBlock "Step"
SrcPort 1
DstBlock "Sum"
DstPort 1
}
Line {
SrcBlock "Step1"
SrcPort 1
Points [25, 0]
DstBlock "Sum"
DstPort 2
}
Line {
SrcBlock "Sum"
SrcPort 1
DstBlock "Impulse"
DstPort 1
}
}
}
Block {
BlockType Scope
Name "Input \nto Motor \nDriver Ckt"
Ports [1]
Position [440, 160, 470, 190]
FontName "Verdana"
Floating off
Location [351, 239, 675, 478]
Open off
NumInputPorts "1"
TickLabels "OneTimeTick"
ZoomMode "on"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
List {
ListType SelectedSignals
axes1 ""
}
Grid "on"
TimeRange "auto"
YMin "-5"
YMax "5"
SaveToWorkspace on
SaveName "input"
DataFormat "Array"
LimitDataPoints on
MaxDataPoints "5000"
Decimation "1"
SampleInput off
SampleTime "0"
}
Block {
BlockType TransferFcn
Name "PLANT\n(Cart + IP)"
Position [305, 73, 405, 117]
FontName "Verdana"
Numerator "[0 0 0.102]"
Denominator "[0.0446 0 -1]"
AbsoluteTolerance "auto"
Realization "auto"
}
Block {
BlockType TransferFcn
Name "SERVOMECHANISM\n(Motor + Pulley-Chain \nMechani"
"sm)"
Position [150, 77, 210, 113]
FontName "Verdana"
Numerator "[0.391 0]"
Denominator "[0.5 1]"
AbsoluteTolerance "auto"
Realization "auto"
}
Block {
BlockType Scope
Name "Theta\n(Angle from \nthe Vertical)"
Ports [1]
Position [440, 79, 470, 111]
FontName "Verdana"
Floating off
Location [36, 312, 360, 550]
Open off
NumInputPorts "1"
TickLabels "OneTimeTick"
ZoomMode "on"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
List {
ListType SelectedSignals
axes1 ""
}
Grid "on"
TimeRange "auto"
YMin "-5"
YMax "5"
SaveToWorkspace on
SaveName "ipolim"
DataFormat "Array"
LimitDataPoints off
MaxDataPoints "30000"
Decimation "1"
SampleInput off
SampleTime "0"
}
Line {
SrcBlock "SERVOMECHANISM\n(Motor + Pulley-Chain \nMechani"
"sm)"
SrcPort 1
DstBlock "PLANT\n(Cart + IP)"
DstPort 1
}
Line {
SrcBlock "PLANT\n(Cart + IP)"
SrcPort 1
DstBlock "Theta\n(Angle from \nthe Vertical)"
DstPort 1
}
Line {
SrcBlock "Impulse \nGenerator"
SrcPort 1
Points [15, 0]
Branch {
Points [0, 80]
DstBlock "Input \nto Motor \nDriver Ckt"
DstPort 1
}
Branch {
DstBlock "SERVOMECHANISM\n(Motor + Pulley-Chain \nMecha"
"nism)"
DstPort 1
}
}
Annotation {
Position [253, 84]
Text "Force on Cart"
FontName "Verdana"
}
Annotation {
Position [251, 36]
Text "Open Loop Impulse Response of Uncompensated Inv"
"erted Pendulum System"
DropShadow on
FontName "Arial"
FontSize 11
FontWeight "bold"
}
Annotation {
Position [88, 296]
Text "Click Here for more \nInformation on IP"
FontName "Verdana"
}
Annotation {
Position [304, 274]
Text "This model shows the impulse response of \nInve"
"rted Pendulum System. The system is \nhighly unstable as Theta diverges very "
"rapidly."
FontName "Arial"
FontSize 12
}
}
}
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