📄 ex33b1_pid.mdl
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ForegroundColor "black"
BackgroundColor "white"
DropShadow off
NamePlacement "normal"
FontName "Helvetica"
FontSize 10
FontWeight "normal"
FontAngle "normal"
ShowName on
}
BlockParameterDefaults {
Block {
BlockType Derivative
LinearizePole "inf"
}
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 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 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 Step
Time "1"
Before "0"
After "1"
SampleTime "-1"
VectorParams1D on
ZeroCross on
}
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"
}
Block {
BlockType TransportDelay
DelayTime "1"
InitialInput "0"
BufferSize "1024"
PadeOrder "0"
TransDelayFeedthrough off
}
}
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 "ex33B1_pid"
Location [285, 82, 1073, 710]
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 Derivative
Name "Derivative1"
Position [315, 290, 345, 320]
}
Block {
BlockType Derivative
Name "Derivative2"
Position [315, 425, 345, 455]
}
Block {
BlockType Derivative
Name "Derivative3"
Position [315, 560, 345, 590]
}
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 "Gain10"
Position [360, 558, 405, 592]
Gain "Kd"
}
Block {
BlockType Gain
Name "Gain11"
Position [450, 483, 480, 517]
Gain "Kp"
}
Block {
BlockType Gain
Name "Gain2"
Position [455, 83, 485, 117]
BackgroundColor "cyan"
Gain "Kp"
}
Block {
BlockType Gain
Name "Gain3"
Position [360, 245, 390, 275]
Gain "Ki"
}
Block {
BlockType Gain
Name "Gain4"
Position [360, 288, 405, 322]
Gain "Kd"
}
Block {
BlockType Gain
Name "Gain5"
Position [460, 213, 490, 247]
Gain "Kp"
}
Block {
BlockType Gain
Name "Gain6"
Position [360, 380, 390, 410]
Gain "Ki"
}
Block {
BlockType Gain
Name "Gain7"
Position [360, 423, 405, 457]
Gain "Kd"
}
Block {
BlockType Gain
Name "Gain8"
Position [460, 348, 490, 382]
Gain "Kp"
}
Block {
BlockType Gain
Name "Gain9"
Position [360, 515, 390, 545]
Gain "Ki"
}
Block {
BlockType Integrator
Name "Integrator"
Ports [1, 1]
Position [310, 115, 340, 145]
IgnoreLimit off
}
Block {
BlockType Integrator
Name "Integrator1"
Ports [1, 1]
Position [315, 245, 345, 275]
IgnoreLimit off
}
Block {
BlockType Integrator
Name "Integrator2"
Ports [1, 1]
Position [315, 380, 345, 410]
IgnoreLimit off
}
Block {
BlockType Integrator
Name "Integrator3"
Ports [1, 1]
Position [315, 515, 345, 545]
IgnoreLimit off
}
Block {
BlockType Mux
Name "Mux"
Ports [5, 1]
Position [645, 82, 650, 148]
ShowName off
Inputs "5"
DisplayOption "bar"
}
Block {
BlockType Mux
Name "Mux1"
Ports [2, 1]
Position [650, 164, 655, 231]
ShowName off
Inputs "2"
DisplayOption "bar"
}
Block {
BlockType Scope
Name "Scope"
Ports [1]
Position [680, 99, 710, 131]
Location [6, 56, 301, 288]
Open on
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
TimeRange "2.5"
YMin "0"
YMax "1.5"
SaveToWorkspace on
SaveName "Y"
DataFormat "Array"
MaxDataPoints "50000"
}
Block {
BlockType Scope
Name "Scope1"
Ports [1]
Position [680, 184, 710, 216]
Location [8, 296, 303, 458]
Open on
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
TimeRange "2.5"
YMin "0"
YMax "1.5"
SaveToWorkspace on
SaveName "IO1"
DataFormat "Array"
MaxDataPoints "50000"
}
Block {
BlockType Step
Name "Step"
Position [25, 85, 55, 115]
Time "0"
SampleTime "0"
}
Block {
BlockType Sum
Name "Sum1"
Ports [3, 1]
Position [410, 90, 430, 110]
ShowName off
IconShape "round"
Inputs "|+++"
}
Block {
BlockType Sum
Name "Sum12"
Ports [2, 1]
Position [135, 90, 155, 110]
ShowName off
IconShape "round"
Inputs "|+-"
}
Block {
BlockType Sum
Name "Sum2"
Ports [2, 1]
Position [135, 265, 155, 285]
ShowName off
IconShape "round"
Inputs "|+-"
}
Block {
BlockType Sum
Name "Sum3"
Ports [3, 1]
Position [415, 220, 435, 240]
ShowName off
IconShape "round"
Inputs "|+++"
}
Block {
BlockType Sum
Name "Sum4"
Ports [2, 1]
Position [135, 400, 155, 420]
ShowName off
IconShape "round"
Inputs "|+-"
}
Block {
BlockType Sum
Name "Sum5"
Ports [3, 1]
Position [415, 355, 435, 375]
ShowName off
IconShape "round"
Inputs "|+++"
}
Block {
BlockType Sum
Name "Sum6"
Ports [2, 1]
Position [135, 535, 155, 555]
ShowName off
IconShape "round"
Inputs "|+-"
}
Block {
BlockType Sum
Name "Sum7"
Ports [3, 1]
Position [415, 490, 435, 510]
ShowName off
IconShape "round"
Inputs "|+++"
}
Block {
BlockType TransferFcn
Name "Transfer Fcn1"
Position [510, 82, 565, 118]
BackgroundColor "green"
Numerator "[10]"
Denominator "[1 3 2]"
}
Block {
BlockType TransferFcn
Name "Transfer Fcn2"
Position [515, 212, 570, 248]
Numerator "[5]"
}
Block {
BlockType TransferFcn
Name "Transfer Fcn3"
Position [515, 347, 570, 383]
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