📄 slcp.mdl
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}
}
Line {
SrcBlock "Mux1"
SrcPort 1
Points [0, 0]
Branch {
DstBlock "Fcn1"
DstPort 1
}
Branch {
Points [10, 0; 0, 125]
DstBlock "Mux2"
DstPort 1
}
}
Line {
SrcBlock "Mux2"
SrcPort 1
DstBlock "Fcn2"
DstPort 1
}
Line {
SrcBlock "Fcn2"
SrcPort 1
DstBlock "x dot"
DstPort 1
}
Line {
SrcBlock "Fcn1"
SrcPort 1
Points [20, 0]
Branch {
Points [0, 30; -45, 0; 0, 115]
DstBlock "Mux2"
DstPort 2
}
Branch {
DstBlock "theta dot"
DstPort 1
}
}
Line {
SrcBlock "theta dot"
SrcPort 1
Points [15, 0]
Branch {
Points [0, 40]
Branch {
Points [-220, 0; 0, -20]
DstBlock "Mux1"
DstPort 4
}
Branch {
DstBlock "out_2"
DstPort 1
}
}
Branch {
DstBlock "theta"
DstPort 1
}
}
Line {
SrcBlock "Fcn4"
SrcPort 1
Points [25, 0; 0, -15]
DstBlock "Mux1"
DstPort 2
}
Line {
SrcBlock "Fcn5"
SrcPort 1
Points [35, 0; 0, -30]
DstBlock "Mux1"
DstPort 3
}
Line {
SrcBlock "theta"
SrcPort 1
Points [40, 0]
Branch {
Points [0, -65; -445, 0; 0, 70]
Branch {
DstBlock "Fcn4"
DstPort 1
}
Branch {
Points [0, 30]
DstBlock "Fcn5"
DstPort 1
}
}
Branch {
DstBlock "out_1"
DstPort 1
}
}
}
}
Block {
BlockType Constant
Name "Constant"
Position [101, 155, 119, 175]
Orientation "up"
NamePlacement "alternate"
Value "1"
VectorParams1D on
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
}
Block {
BlockType SubSystem
Name "Double click\non this for demo.5"
Ports []
Position [35, 247, 176, 280]
DropShadow on
ShowName off
OpenFcn "initcp"
ShowPortLabels off
TreatAsAtomicUnit off
RTWSystemCode "Auto"
RTWFcnNameOpts "Auto"
RTWFileNameOpts "Auto"
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
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "100"
AutoZoom on
}
}
Block {
BlockType Reference
Name "Fuzzy Logic\nController"
Ports [1, 1]
Position [225, 255, 285, 305]
Orientation "left"
FontName "Arial"
SourceBlock "fuzblock/Fuzzy Logic \nController"
SourceType "FIS"
fis "fismatrix"
}
Block {
BlockType Mux
Name "Mux"
Ports [4, 1]
Position [300, 70, 340, 105]
Orientation "up"
ShowName off
Inputs "4"
DisplayOption "none"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
}
Block {
BlockType Mux
Name "Mux1"
Ports [4, 1]
Position [315, 263, 350, 297]
Orientation "left"
ShowName off
Inputs "4"
DisplayOption "none"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
}
Block {
BlockType Mux
Name "Mux2"
Ports [2, 1]
Position [425, 124, 455, 151]
ShowName off
Inputs "2"
DisplayOption "none"
}
Block {
BlockType Scope
Name "Scope"
Ports [1]
Position [470, 127, 490, 153]
ShowName off
Floating off
Location [755, 361, 1035, 581]
Open off
NumInputPorts "1"
TickLabels "on"
ZoomMode "on"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
Grid "on"
TimeRange "10.000000"
YMin "-2"
YMax "2"
SaveToWorkspace off
SaveName "ScopeData"
DataFormat "Array"
LimitDataPoints on
MaxDataPoints "5000"
Decimation "1"
SampleInput off
SampleTime "0"
}
Block {
BlockType Sum
Name "Sum"
Ports [2, 1]
Position [375, 230, 395, 250]
Orientation "down"
ShowName off
IconShape "rectangular"
Inputs "+-"
SaturateOnIntegerOverflow on
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
}
Block {
BlockType Switch
Name "Switch"
Position [160, 114, 185, 146]
Threshold "0"
}
Block {
BlockType SignalGenerator
Name "Target Position"
Position [35, 103, 80, 137]
WaveForm "square"
Amplitude "1.500000"
Frequency "0.628320"
Units "rad/sec"
VectorParams1D on
}
Block {
BlockType Constant
Name "Target Position\n(Mouse-Driven)"
Position [122, 185, 148, 205]
Orientation "up"
NamePlacement "alternate"
Value "0.153846"
VectorParams1D on
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
}
Line {
SrcBlock "Target Position"
SrcPort 1
DstBlock "Switch"
DstPort 1
}
Line {
SrcBlock "Constant"
SrcPort 1
Points [0, -20]
DstBlock "Switch"
DstPort 2
}
Line {
SrcBlock "Target Position\n(Mouse-Driven)"
SrcPort 1
Points [0, -40]
DstBlock "Switch"
DstPort 3
}
Line {
SrcBlock "Mux2"
SrcPort 1
DstBlock "Scope"
DstPort 1
}
Line {
SrcBlock "Mux"
SrcPort 1
Points [0, -15]
DstBlock "Animation"
DstPort 1
}
Line {
SrcBlock "Cart & Pole\nDynamics"
SrcPort 4
Points [80, 0; 0, 95]
DstBlock "Mux1"
DstPort 4
}
Line {
SrcBlock "Switch"
SrcPort 1
Points [145, 0]
Branch {
Points [55, 0]
Branch {
DstBlock "Mux2"
DstPort 1
}
Branch {
DstBlock "Sum"
DstPort 2
}
}
Branch {
DstBlock "Mux"
DstPort 4
}
}
Line {
SrcBlock "Fuzzy Logic\nController"
SrcPort 1
Points [-15, 0; 0, -100]
Branch {
Points [0, -60]
DstBlock "Mux"
DstPort 3
}
Branch {
DstBlock "Cart & Pole\nDynamics"
DstPort 1
}
}
Line {
SrcBlock "Cart & Pole\nDynamics"
SrcPort 3
Points [25, 0]
Branch {
Points [65, 0]
Branch {
Points [0, -40]
DstBlock "Mux2"
DstPort 2
}
Branch {
DstBlock "Sum"
DstPort 1
}
}
Branch {
DstBlock "Mux"
DstPort 2
}
}
Line {
SrcBlock "Cart & Pole\nDynamics"
SrcPort 1
Points [15, 0]
Branch {
DstBlock "Mux"
DstPort 1
}
Branch {
Points [105, 0; 0, 110]
DstBlock "Mux1"
DstPort 1
}
}
Line {
SrcBlock "Cart & Pole\nDynamics"
SrcPort 2
Points [110, 0; 0, 105]
DstBlock "Mux1"
DstPort 2
}
Line {
SrcBlock "Sum"
SrcPort 1
Points [0, 30]
DstBlock "Mux1"
DstPort 3
}
Line {
SrcBlock "Mux1"
SrcPort 1
DstBlock "Fuzzy Logic\nController"
DstPort 1
}
}
}
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