dorsey188b.mdl

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    Block {
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    Block {
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    Annotation {
      Position		      [50, 15]
      Text		      "Dorsey188B.mdl"
    }
    Annotation {
      Position		      [84, 168]
      Text		      "Kp=108,Ki=98,Kd=9"
    }
    Annotation {
      Position		      [73, 152]
      Text		      "a=1,b=5, SW=1"
    }
    Annotation {
      Position		      [119, 182]
      Text		      "For robustness, Kp=683,Ki=221;Kd=24"
    }
  }
}