📄 ex33c1_pid.mdl
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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 Goto
IconDisplay "Tag"
}
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 Integrator
ExternalReset "none"
InitialConditionSource "internal"
InitialCondition "0"
LimitOutput off
UpperSaturationLimit "inf"
LowerSaturationLimit "-inf"
ShowSaturationPort off
ShowStatePort off
AbsoluteTolerance "auto"
IgnoreLimit off
ZeroCross 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 Sin
SineType "Time based"
TimeSource "Use simulation time"
Amplitude "1"
Bias "0"
Frequency "1"
Phase "0"
Samples "10"
Offset "0"
SampleTime "-1"
VectorParams1D on
}
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 TransferFcn
Numerator "[1]"
Denominator "[1 2 1]"
AbsoluteTolerance "auto"
Realization "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 "ex33C1_pid"
Location [311, 83, 1099, 363]
Open on
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "100"
ReportName "simulink-default.rpt"
Block {
BlockType Derivative
Name "Derivative"
Position [310, 160, 340, 190]
}
Block {
BlockType Gain
Name "Gain"
Position [355, 115, 385, 145]
BackgroundColor "cyan"
Gain "Ki"
}
Block {
BlockType Gain
Name "Gain1"
Position [355, 158, 400, 192]
BackgroundColor "cyan"
Gain "Kd"
}
Block {
BlockType Gain
Name "Gain2"
Position [455, 83, 485, 117]
BackgroundColor "cyan"
Gain "Kp"
}
Block {
BlockType Integrator
Name "Integrator"
Ports [1, 1]
Position [310, 115, 340, 145]
IgnoreLimit off
}
Block {
BlockType Mux
Name "Mux"
Ports [2, 1]
Position [645, 84, 650, 151]
ShowName off
Inputs "2"
DisplayOption "bar"
}
Block {
BlockType SubSystem
Name "Neural Subsystem1\n5 Neurons in HL\n"
Ports [1, 1]
Position [185, 121, 245, 169]
BackgroundColor "gray"
TreatAsAtomicUnit off
MinAlgLoopOccurrences off
RTWSystemCode "Auto"
System {
Name "Neural Subsystem1\n5 Neurons in HL\n"
Location [6, 193, 599, 359]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "A4"
PaperUnits "centimeters"
ZoomFactor "100"
Block {
BlockType Inport
Name "In1"
Position [25, 93, 55, 107]
Port "1"
IconDisplay "Port number"
LatchInput off
}
Block {
BlockType Derivative
Name "Derivative1"
Position [100, 85, 130, 115]
}
Block {
BlockType Mux
Name "Mux1"
Ports [2, 1]
Position [295, 26, 300, 124]
ShowName off
Inputs "2"
DisplayOption "bar"
}
Block {
BlockType SubSystem
Name "Neural Network2"
Ports [1, 1]
Position [330, 55, 390, 95]
BackgroundColor "lightBlue"
TreatAsAtomicUnit off
MinAlgLoopOccurrences off
RTWSystemCode "Auto"
System {
Name "Neural Network2"
Location [320, 120, 900, 413]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "A4"
PaperUnits "centimeters"
ZoomFactor "100"
Block {
BlockType Inport
Name "p{1}"
Position [40, 40, 60, 60]
BackgroundColor "magenta"
Port "1"
IconDisplay "Port number"
PortDimensions "2"
SampleTime "0.001"
LatchInput off
}
Block {
BlockType From
Name " a{1} "
Position [40, 120, 60, 140]
DialogController "Simulink.DDGSource"
GotoTag "feedback1"
MaskDisplay "plot(cos(0:.1:2*pi),sin(0:.1:2*pi))"
MaskIconFrame off
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
}
Block {
BlockType SubSystem
Name "Layer 1"
Ports [1, 1]
Position [190, 40, 250, 60]
BackgroundColor "lightBlue"
TreatAsAtomicUnit off
MinAlgLoopOccurrences off
RTWSystemCode "Auto"
System {
Name "Layer 1"
Location [388, 107, 968, 400]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "A4"
PaperUnits "centimeters"
ZoomFactor "100"
Block {
BlockType Inport
Name "p{1}"
Position [40, 40, 60, 60]
BackgroundColor "magenta"
Port "1"
IconDisplay "Port number"
PortDimensions "2"
SampleTime "0.001"
LatchInput off
}
Block {
BlockType SubSystem
Name "Delays 1"
Ports [1, 1]
Position [100, 40, 120, 60]
BackgroundColor "lightBlue"
TreatAsAtomicUnit off
MinAlgLoopOccurrences off
RTWSystemCode "Auto"
MaskDisplay "disp('TDL')"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
System {
Name "Delays 1"
Location [480, 93, 1060, 386]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "A4"
PaperUnits "centimeters"
ZoomFactor "100"
Block {
BlockType Inport
Name "p{1}"
Position [60, 40, 80, 60]
Orientation "down"
BackgroundColor "magenta"
NamePlacement "alternate"
Port "1"
IconDisplay "Port number"
PortDimensions "2"
SampleTime "0.001"
LatchInput off
}
Block {
BlockType Mux
Name "mux"
Ports [1, 1]
Position [200, 60, 240, 80]
BackgroundColor "lightBlue"
Inputs "1"
}
Block {
BlockType Outport
Name "pd{1,1}"
Position [300, 60, 320, 80]
BackgroundColor "magenta"
IconDisplay "Port number"
BusOutputAsStruct off
}
Line {
SrcBlock "p{1}"
SrcPort 1
DstBlock "mux"
DstPort 1
}
Line {
SrcBlock "mux"
SrcPort 1
DstBlock "pd{1,1}"
DstPort 1
}
}
}
Block {
BlockType SubSystem
Name "IW{1,1}"
Ports [1, 1]
Position [160, 40, 200, 60]
BackgroundColor "lightBlue"
TreatAsAtomicUnit off
MinAlgLoopOccurrences off
RTWSystemCode "Auto"
MaskDisplay "disp('weight')"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
System {
Name "IW{1,1}"
Location [326, 197, 906, 490]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "A4"
PaperUnits "centimeters"
ZoomFactor "100"
Block {
BlockType Inport
Name "pd{1,1}"
Position [40, 180, 60, 200]
BackgroundColor "magenta"
Port "1"
IconDisplay "Port number"
PortDimensions "2"
SampleTime "0.001"
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