📄 correctstatefeedback.mdl
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Branch {
DstBlock "Product9"
DstPort 1
}
Branch {
DstBlock "Product9"
DstPort 2
}
}
}
Branch {
Points [0, 150]
DstBlock "Product11"
DstPort 2
}
}
Line {
SrcBlock "b"
SrcPort 1
Points [30, 0; 0, 20]
DstBlock "Subsystem"
DstPort 1
}
Line {
SrcBlock "Product4"
SrcPort 1
Points [30, 0; 0, -35]
DstBlock "Subsystem"
DstPort 3
}
Line {
SrcBlock "Subsystem"
SrcPort 1
Points [10, 0; 0, 60; 30, 0]
Branch {
DstBlock "Product6"
DstPort 1
}
Branch {
Points [0, 240]
DstBlock "Product11"
DstPort 1
}
}
Line {
SrcBlock "Trigonometric\nFunction2"
SrcPort 1
Points [0, 0; 15, 0]
Branch {
Points [110, 0]
DstBlock "Product7"
DstPort 1
}
Branch {
Points [0, 190]
DstBlock "Product4"
DstPort 1
}
}
Line {
SrcBlock "g"
SrcPort 1
DstBlock "Product7"
DstPort 2
}
Line {
SrcBlock "Product9"
SrcPort 1
Points [5, 0; 0, 15]
DstBlock "Sum1"
DstPort 1
}
Line {
SrcBlock "Sum1"
SrcPort 1
DstBlock "Fcn"
DstPort 1
}
Line {
SrcBlock "Fcn"
SrcPort 1
Points [30, 0; 0, -80]
Branch {
Points [0, -135]
DstBlock "Product10"
DstPort 2
}
Branch {
Points [140, 0; 0, 65]
DstBlock "Product13"
DstPort 1
}
}
Line {
SrcBlock "Sum4"
SrcPort 1
Points [0, 5; 55, 0]
Branch {
Points [185, 0; 0, 400]
DstBlock "Product12"
DstPort 1
}
Branch {
Points [0, 155]
DstBlock "Product8"
DstPort 1
}
}
Line {
SrcBlock "f"
SrcPort 1
DstBlock "Sum4"
DstPort 1
}
Line {
SrcBlock "Product8"
SrcPort 1
Points [5, 0; 0, 30]
DstBlock "Sum5"
DstPort 1
}
Line {
SrcBlock "Product6"
SrcPort 1
Points [95, 0]
DstBlock "Sum5"
DstPort 2
}
Line {
SrcBlock "M"
SrcPort 1
DstBlock "Sum2"
DstPort 2
}
Line {
SrcBlock "Sum6"
SrcPort 1
Points [5, 0; 0, -85]
DstBlock "Product13"
DstPort 2
}
Line {
SrcBlock "Product13"
SrcPort 1
DstBlock "Integrator2"
DstPort 1
}
Line {
SrcBlock "Integrator2"
SrcPort 1
Points [0, 0; 40, 0]
Branch {
DstBlock "Integrator3"
DstPort 1
}
Branch {
Points [0, -85]
Branch {
DstBlock "x4"
DstPort 1
}
Branch {
Points [0, -365; -855, 0]
Branch {
Points [0, 40]
DstBlock "f"
DstPort 1
}
Branch {
Points [-140, 0; 0, 275]
Branch {
DstBlock "Product14"
DstPort 1
}
Branch {
DstBlock "Product14"
DstPort 2
}
}
}
}
}
Line {
SrcBlock "Integrator3"
SrcPort 1
Points [0, 0; 5, 0]
Branch {
DstBlock "x3"
DstPort 1
}
Branch {
Points [0, -480; -975, 0; 0, 115]
Branch {
Points [0, 255]
DstBlock "Trigonometric\nFunction1"
DstPort 1
}
Branch {
DstBlock "Trigonometric\nFunction2"
DstPort 1
}
}
Branch {
Points [0, 75]
DstBlock "Scope1"
DstPort 1
}
}
Line {
SrcBlock "Product10"
SrcPort 1
DstBlock "Integrator4"
DstPort 1
}
Line {
SrcBlock "Integrator4"
SrcPort 1
Points [0, 0; 15, 0]
Branch {
DstBlock "Integrator1"
DstPort 1
}
Branch {
Points [0, -75]
Branch {
DstBlock "x2"
DstPort 1
}
Branch {
Points [-660, 0]
DstBlock "b"
DstPort 1
}
}
}
Line {
SrcBlock "Integrator1"
SrcPort 1
Points [0, 0; 15, 0]
Branch {
DstBlock "x1"
DstPort 1
}
Branch {
DstBlock "Scope"
DstPort 1
}
}
Line {
SrcBlock "Product14"
SrcPort 1
DstBlock "Product4"
DstPort 2
}
Line {
SrcBlock "Product12"
SrcPort 1
Points [10, 0; 0, 105]
DstBlock "Sum6"
DstPort 2
}
Line {
SrcBlock "Product7"
SrcPort 1
Points [20, 0; 0, -55]
DstBlock "Sum4"
DstPort 2
}
Line {
SrcBlock "F"
SrcPort 1
DstBlock "Subsystem"
DstPort 2
}
Line {
SrcBlock "Sum5"
SrcPort 1
Points [10, 0; 0, -15]
DstBlock "Product10"
DstPort 1
}
Line {
SrcBlock "Sum2"
SrcPort 1
Points [0, 0; 25, 0]
Branch {
Points [0, -30]
DstBlock "Product5"
DstPort 2
}
Branch {
Points [295, 0; 0, -190]
DstBlock "Product12"
DstPort 2
}
}
Line {
SrcBlock "Product5"
SrcPort 1
Points [70, 0]
DstBlock "Sum1"
DstPort 2
}
Line {
SrcBlock "Product11"
SrcPort 1
DstBlock "Sum6"
DstPort 1
}
}
}
Block {
BlockType Outport
Name "x1"
Position [570, 138, 600, 152]
}
Block {
BlockType Outport
Name "x2"
Position [575, 178, 605, 192]
Port "2"
}
Block {
BlockType Outport
Name "x3"
Position [575, 218, 605, 232]
Port "3"
}
Block {
BlockType Outport
Name "x4"
Position [575, 258, 605, 272]
Port "4"
}
Line {
SrcBlock "pendulum"
SrcPort 1
Points [0, 0; 35, 0]
Branch {
Points [120, 0]
Branch {
DstBlock "x1"
DstPort 1
}
Branch {
Points [0, 20]
Branch {
Points [0, 350]
DstBlock "k1"
DstPort 1
}
Branch {
Points [120, 0]
Branch {
Points [0, 60]
DstBlock "To Workspace"
DstPort 1
}
Branch {
DstBlock "Scope2"
DstPort 1
}
}
}
}
Branch {
Points [0, -120]
DstBlock "Scope1"
DstPort 1
}
}
Line {
SrcBlock "k2"
SrcPort 1
Points [-355, 0; 0, -385]
DstBlock "Sum"
DstPort 1
}
Line {
SrcBlock "kd"
SrcPort 1
Points [-245, 0; 0, -200]
DstBlock "Sum"
DstPort 3
}
Line {
SrcBlock "pendulum"
SrcPort 3
Points [0, 0; 15, 0]
Branch {
Points [50, 0]
Branch {
Points [0, -160]
DstBlock "Scope1"
DstPort 3
}
Branch {
Points [125, 0]
Branch {
DstBlock "x3"
DstPort 1
}
Branch {
Points [0, 155]
Branch {
Points [0, 105]
DstBlock "Scope4"
DstPort 1
}
Branch {
DstBlock "To Workspace1"
DstPort 1
}
}
}
}
Branch {
DstBlock "kp"
DstPort 1
}
}
Line {
SrcBlock "pendulum"
SrcPort 2
Points [0, 0; 50, 0]
Branch {
Points [55, 0]
Branch {
DstBlock "k2"
DstPort 1
}
Branch {
Points [65, 0]
Branch {
DstBlock "x2"
DstPort 1
}
Branch {
Points [0, 115]
DstBlock "Scope3"
DstPort 1
}
}
}
Branch {
Points [0, -140]
DstBlock "Scope1"
DstPort 2
}
}
Line {
SrcBlock "pendulum"
SrcPort 4
Points [0, 0; 30, 0]
Branch {
Points [0, 155]
DstBlock "kd"
DstPort 1
}
Branch {
Points [50, 0]
Branch {
DstBlock "x4"
DstPort 1
}
Branch {
Points [0, -180]
DstBlock "Scope1"
DstPort 4
}
}
}
Line {
SrcBlock "R"
SrcPort 1
DstBlock "Nbar"
DstPort 1
}
Line {
SrcBlock "Nbar"
SrcPort 1
Points [30, 0]
DstBlock "Sum1"
DstPort 1
}
Line {
SrcBlock "Sum"
SrcPort 1
DstBlock "Sum1"
DstPort 2
}
Line {
SrcBlock "Sum1"
SrcPort 1
Points [10, 0; 0, 25]
DstBlock "pendulum"
DstPort 1
}
Line {
SrcBlock "k1"
SrcPort 1
Points [-285, 0; 0, -310]
DstBlock "Sum"
DstPort 2
}
Line {
SrcBlock "kp"
SrcPort 1
Points [-235, 0]
DstBlock "Sum"
DstPort 4
}
}
}
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