📄 slcpp1.mdl
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}
}
Line {
SrcBlock "SysInport1"
SrcPort 1
DstBlock "SysMux"
DstPort 1
}
Line {
SrcBlock "x1"
SrcPort 1
DstBlock "Integ1"
DstPort 1
}
Line {
SrcBlock "x2"
SrcPort 1
DstBlock "Integ2"
DstPort 1
}
Line {
SrcBlock "x3"
SrcPort 1
DstBlock "Integ3"
DstPort 1
}
Line {
SrcBlock "x4"
SrcPort 1
DstBlock "Integ4"
DstPort 1
}
Line {
SrcBlock "SysMux"
SrcPort 1
Points [15, 0]
Branch {
Points [0, -120]
DstBlock "x1"
DstPort 1
}
Branch {
Points [0, -70]
DstBlock "x2"
DstPort 1
}
Branch {
Points [0, -20]
DstBlock "x3"
DstPort 1
}
Branch {
Points [0, 55]
DstBlock "x4"
DstPort 1
}
Branch {
Points [0, 105]
DstBlock "x5"
DstPort 1
}
Branch {
Points [0, 155]
DstBlock "x6"
DstPort 1
}
}
Line {
SrcBlock "x5"
SrcPort 1
DstBlock "Integ5"
DstPort 1
}
Line {
SrcBlock "x6"
SrcPort 1
DstBlock "Integ6"
DstPort 1
}
Line {
SrcBlock "Gain3"
SrcPort 1
Points [70, 0]
DstBlock "SysMux"
DstPort 10
}
Line {
SrcBlock "Length\nof pole 2"
SrcPort 1
Points [25, 0]
Branch {
DstBlock "Gain3"
DstPort 1
}
Branch {
DstBlock "Gain2"
DstPort 1
}
}
Line {
SrcBlock "Gain2"
SrcPort 1
Points [115, 0]
DstBlock "SysMux"
DstPort 11
}
Line {
SrcBlock "Gain"
SrcPort 1
Points [115, 0]
DstBlock "SysMux"
DstPort 9
}
Line {
SrcBlock "in_2"
SrcPort 1
Points [15, 0]
Branch {
DstBlock "Gain1"
DstPort 1
}
Branch {
DstBlock "Gain"
DstPort 1
}
}
Line {
SrcBlock "Gain1"
SrcPort 1
Points [70, 0]
DstBlock "SysMux"
DstPort 8
}
Annotation {
Name "half pole length2"
Position [274, 469]
VerticalAlignment top
Text "half pole length2"
}
Annotation {
Name "pole mass2"
Position [272, 527]
VerticalAlignment top
Text "pole mass2"
}
Annotation {
Name "pole mass1"
Position [272, 437]
VerticalAlignment top
Text "pole mass1"
}
Annotation {
Name "half pole length1"
Position [274, 379]
VerticalAlignment top
Text "half pole length1"
}
}
}
Block {
BlockType Clock
Name "Clock"
Position [55, 55, 75, 75]
Location [30, 40, 140, 75]
}
Block {
BlockType Constant
Name "Constant"
Position [96, 170, 114, 190]
Orientation up
NamePlacement alternate
Value "1"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate none
MaskIconUnits autoscale
}
Block {
BlockType SubSystem
Name "Double click\non this for demo.5"
Ports [0, 0, 0, 0, 0]
Position [40, 312, 181, 345]
DropShadow on
ShowName off
OpenFcn "initcpp1"
ShowPortLabels off
MaskDisplay "disp('Variable Initialization')"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate none
MaskIconUnits autoscale
System {
Name "Double click\non this for demo.5"
Location [-10, 380, 117, 533]
Open off
ToolBar off
StatusBar off
ScreenColor white
PaperOrientation landscape
PaperPositionMode auto
PaperType usletter
PaperUnits inches
}
}
Block {
BlockType Fcn
Name "Fcn"
Position [105, 55, 145, 75]
Expr "1-0.5*(pow(abs(cos(2*u[1])),0.3)*sgn(cos(2*u[1]"
")))"
}
Block {
BlockType "S-Function"
Name "Fuzzy Logic Controller"
Ports [1, 1, 0, 0, 0]
Position [240, 309, 295, 361]
Orientation left
FunctionName "sffis"
Parameters "fismatrix"
PortCounts "[]"
SFunctionModules "sfsup"
MaskType "FIS"
MaskDescription "FIS"
MaskHelp "Fuzzy Inference System"
MaskPromptString "FIS Matrix:"
MaskStyleString "edit"
MaskTunableValueString "on"
MaskInitialization "fismatrix = @1;"
MaskDisplay "plot(0, -0.3, 6, -0.3, 0, 1.2, 6, 1.2, [0 6], ["
"0 0], [1 2 3],[0 1 0],[2 3 4],[0 1 0],[3 4 5],[0 1 0])"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate none
MaskIconUnits autoscale
MaskValueString "fismat"
}
Block {
BlockType Mux
Name "Mux1"
Ports [7, 1, 0, 0, 0]
Position [360, 298, 420, 372]
Orientation left
Inputs "7"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate none
MaskIconUnits autoscale
}
Block {
BlockType Mux
Name "Mux2"
Ports [6, 1, 0, 0, 0]
Position [371, 80, 439, 105]
Orientation up
Inputs "6"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate none
MaskIconUnits autoscale
}
Block {
BlockType Sum
Name "Sum"
Ports [2, 1, 0, 0, 0]
Position [465, 280, 485, 300]
Orientation down
ShowName off
Inputs "+-"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate none
MaskIconUnits autoscale
}
Block {
BlockType Switch
Name "Switch"
Position [155, 129, 180, 161]
Threshold "0"
}
Block {
BlockType SignalGenerator
Name "Target Position"
Position [30, 118, 75, 152]
WaveForm square
Amplitude "1.500000"
Frequency "0.350000"
Units "rad/sec"
}
Block {
BlockType Constant
Name "Target Position\n(Mouse-Driven)"
Position [117, 200, 143, 220]
Orientation up
NamePlacement alternate
Value "1.5"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate none
MaskIconUnits autoscale
}
Line {
SrcBlock "Fcn"
SrcPort 1
Points [95, 0; 0, 70]
Branch {
Points [185, 0]
Branch {
Points [19, 0; 0, 230]
DstBlock "Mux1"
DstPort 7
}
Branch {
DstBlock "Mux2"
DstPort 6
}
}
Branch {
Points [0, 70]
DstBlock "Cart & Parallel Poles\nDynamics"
DstPort 2
}
}
Line {
SrcBlock "Fuzzy Logic Controller"
SrcPort 1
Points [-20, 0; 0, -160]
Branch {
DstBlock "Cart & Parallel Poles\nDynamics"
DstPort 1
}
Branch {
Points [0, -55]
DstBlock "Mux2"
DstPort 4
}
}
Line {
SrcBlock "Clock"
SrcPort 1
DstBlock "Fcn"
DstPort 1
}
Line {
SrcBlock "Target Position\n(Mouse-Driven)"
SrcPort 1
Points [0, -40]
DstBlock "Switch"
DstPort 3
}
Line {
SrcBlock "Constant"
SrcPort 1
Points [0, -20]
DstBlock "Switch"
DstPort 2
}
Line {
SrcBlock "Target Position"
SrcPort 1
DstBlock "Switch"
DstPort 1
}
Line {
SrcBlock "Switch"
SrcPort 1
Points [235, 0]
Branch {
Points [60, 0]
DstBlock "Sum"
DstPort 2
}
Branch {
DstBlock "Mux2"
DstPort 5
}
}
Line {
SrcBlock "Cart & Parallel Poles\nDynamics"
SrcPort 5
Points [65, 0]
Branch {
Points [70, 0]
DstBlock "Sum"
DstPort 1
}
Branch {
DstBlock "Mux2"
DstPort 3
}
}
Line {
SrcBlock "Sum"
SrcPort 1
Points [0, 40]
DstBlock "Mux1"
DstPort 5
}
Line {
SrcBlock "Mux2"
SrcPort 1
Points [0, -20]
DstBlock "Animation"
DstPort 1
}
Line {
SrcBlock "Cart & Parallel Poles\nDynamics"
SrcPort 3
Points [55, 0]
Branch {
DstBlock "Mux2"
DstPort 2
}
Branch {
Points [110, 0; 0, 140]
DstBlock "Mux1"
DstPort 3
}
}
Line {
SrcBlock "Cart & Parallel Poles\nDynamics"
SrcPort 1
Points [45, 0]
Branch {
DstBlock "Mux2"
DstPort 1
}
Branch {
Points [140, 0; 0, 140]
DstBlock "Mux1"
DstPort 1
}
}
Line {
SrcBlock "Cart & Parallel Poles\nDynamics"
SrcPort 6
Points [125, 0; 0, 140]
DstBlock "Mux1"
DstPort 6
}
Line {
SrcBlock "Cart & Parallel Poles\nDynamics"
SrcPort 4
Points [155, 0; 0, 140]
DstBlock "Mux1"
DstPort 4
}
Line {
SrcBlock "Cart & Parallel Poles\nDynamics"
SrcPort 2
Points [175, 0; 0, 140]
DstBlock "Mux1"
DstPort 2
}
Line {
SrcBlock "Mux1"
SrcPort 1
DstBlock "Fuzzy Logic Controller"
DstPort 1
}
Annotation {
Name "Length of Pole 1"
Position [207, 47]
VerticalAlignment top
Text "Length of Pole 1"
}
}
}
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