📄 b747cl.mdl
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DstBlock "Discrete State-Space"
DstPort 1
}
}
}
Block {
BlockType SubSystem
Name "IIR2"
Ports [1, 1, 0, 0, 0]
Position [185, 237, 245, 273]
ShowPortLabels on
MaskType "Discrete Time First Order IIR"
MaskDescription " Each channel has the transfer function \n"
" (1-exp(-aT))/(1-exp(-aT)(z^-1)) which is a good\n (pz-matched) approximati"
"on of a/(s+a) if 10*a*T<pi"
MaskHelp "<p>\n Each channel has the transfer functi"
"on \n (1-exp(-aT))/(1-exp(-aT)(z^-1)) which is a good\n (pz-matched) approx"
"imation of a/(s+a) if 10*a*T<pi\n</p>\n"
MaskPromptString "Number of Channels|Cutoff Frequency (a)|Ini"
"tial Condition|Sample Time"
MaskStyleString "edit,edit,edit,edit"
MaskTunableValueString "on,on,on,on"
MaskCallbackString "|||"
MaskEnableString "on,on,on,on"
MaskVisibilityString "on,on,on,on"
MaskVariables "ni=@1;a=@2;x0=@3;T=@4;"
MaskInitialization "A=[];B=[];C=[];D=[];\nfor i=1:ni,\nA=[A,zer"
"os(size(A,1),1);zeros(1,size(A,2)),exp(-a*T)];\nB=[B,zeros(size(B,1),1);zeros"
"(1,size(B,2)),1-exp(-a*T)];\nC=[C,zeros(size(C,1),1);zeros(1,size(C,2)),exp(-"
"a*T)];\nD=[D,zeros(size(D,1),1);zeros(1,size(D,2)),1-exp(-a*T)];\nend"
MaskDisplay "dpoly(a,[1 a],'s')"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
MaskValueString "1|15|-1.71374e-004|0.05"
System {
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ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "100"
AutoZoom on
Block {
BlockType Inport
Name "In"
Position [80, 43, 110, 57]
Port "1"
PortWidth "-1"
SampleTime "-1"
DataType "auto"
SignalType "auto"
Interpolate on
}
Block {
BlockType DiscreteStateSpace
Name "Discrete State-Space"
Position [135, 32, 255, 68]
A "A"
B "B"
C "C"
D "D"
X0 "x0"
SampleTime "T"
}
Block {
BlockType Outport
Name "Out"
Position [275, 43, 305, 57]
Port "1"
OutputWhenDisabled "held"
InitialOutput "[]"
}
Line {
SrcBlock "Discrete State-Space"
SrcPort 1
DstBlock "Out"
DstPort 1
}
Line {
SrcBlock "In"
SrcPort 1
DstBlock "Discrete State-Space"
DstPort 1
}
}
}
Block {
BlockType SubSystem
Name "IIR3"
Ports [1, 1, 0, 0, 0]
Position [185, 287, 245, 323]
ShowPortLabels on
MaskType "Discrete Time First Order IIR"
MaskDescription " Each channel has the transfer function \n"
" (1-exp(-aT))/(1-exp(-aT)(z^-1)) which is a good\n (pz-matched) approximati"
"on of a/(s+a) if 10*a*T<pi"
MaskHelp "<p>\n Each channel has the transfer functi"
"on \n (1-exp(-aT))/(1-exp(-aT)(z^-1)) which is a good\n (pz-matched) approx"
"imation of a/(s+a) if 10*a*T<pi\n</p>\n"
MaskPromptString "Number of Channels|Cutoff Frequency (a)|Ini"
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MaskStyleString "edit,edit,edit,edit"
MaskTunableValueString "on,on,on,on"
MaskCallbackString "|||"
MaskEnableString "on,on,on,on"
MaskVisibilityString "on,on,on,on"
MaskVariables "ni=@1;a=@2;x0=@3;T=@4;"
MaskInitialization "A=[];B=[];C=[];D=[];\nfor i=1:ni,\nA=[A,zer"
"os(size(A,1),1);zeros(1,size(A,2)),exp(-a*T)];\nB=[B,zeros(size(B,1),1);zeros"
"(1,size(B,2)),1-exp(-a*T)];\nC=[C,zeros(size(C,1),1);zeros(1,size(C,2)),exp(-"
"a*T)];\nD=[D,zeros(size(D,1),1);zeros(1,size(D,2)),1-exp(-a*T)];\nend"
MaskDisplay "dpoly(a,[1 a],'s')"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
MaskValueString "1|40|0|0.05"
System {
Name "IIR3"
Location [350, 143, 766, 250]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "100"
AutoZoom on
Block {
BlockType Inport
Name "In"
Position [80, 43, 110, 57]
Port "1"
PortWidth "-1"
SampleTime "-1"
DataType "auto"
SignalType "auto"
Interpolate on
}
Block {
BlockType DiscreteStateSpace
Name "Discrete State-Space"
Position [135, 32, 255, 68]
A "A"
B "B"
C "C"
D "D"
X0 "x0"
SampleTime "T"
}
Block {
BlockType Outport
Name "Out"
Position [275, 43, 305, 57]
Port "1"
OutputWhenDisabled "held"
InitialOutput "[]"
}
Line {
SrcBlock "Discrete State-Space"
SrcPort 1
DstBlock "Out"
DstPort 1
}
Line {
SrcBlock "In"
SrcPort 1
DstBlock "Discrete State-Space"
DstPort 1
}
}
}
Block {
BlockType SubSystem
Name "IIR4"
Ports [1, 1, 0, 0, 0]
Position [185, 337, 245, 373]
ShowPortLabels on
MaskType "Discrete Time First Order IIR"
MaskDescription " Each channel has the transfer function \n"
" (1-exp(-aT))/(1-exp(-aT)(z^-1)) which is a good\n (pz-matched) approximati"
"on of a/(s+a) if 10*a*T<pi"
MaskHelp "<p>\n Each channel has the transfer functi"
"on \n (1-exp(-aT))/(1-exp(-aT)(z^-1)) which is a good\n (pz-matched) approx"
"imation of a/(s+a) if 10*a*T<pi\n</p>\n"
MaskPromptString "Number of Channels|Cutoff Frequency (a)|Ini"
"tial Condition|Sample Time"
MaskStyleString "edit,edit,edit,edit"
MaskTunableValueString "on,on,on,on"
MaskCallbackString "|||"
MaskEnableString "on,on,on,on"
MaskVisibilityString "on,on,on,on"
MaskVariables "ni=@1;a=@2;x0=@3;T=@4;"
MaskInitialization "A=[];B=[];C=[];D=[];\nfor i=1:ni,\nA=[A,zer"
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"(1,size(B,2)),1-exp(-a*T)];\nC=[C,zeros(size(C,1),1);zeros(1,size(C,2)),exp(-"
"a*T)];\nD=[D,zeros(size(D,1),1);zeros(1,size(D,2)),1-exp(-a*T)];\nend"
MaskDisplay "dpoly(a,[1 a],'s')"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
MaskValueString "1|15|0|0.05"
System {
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Location [350, 143, 766, 250]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "100"
AutoZoom on
Block {
BlockType Inport
Name "In"
Position [80, 43, 110, 57]
Port "1"
PortWidth "-1"
SampleTime "-1"
DataType "auto"
SignalType "auto"
Interpolate on
}
Block {
BlockType DiscreteStateSpace
Name "Discrete State-Space"
Position [135, 32, 255, 68]
A "A"
B "B"
C "C"
D "D"
X0 "x0"
SampleTime "T"
}
Block {
BlockType Outport
Name "Out"
Position [275, 43, 305, 57]
Port "1"
OutputWhenDisabled "held"
InitialOutput "[]"
}
Line {
SrcBlock "Discrete State-Space"
SrcPort 1
DstBlock "Out"
DstPort 1
}
Line {
SrcBlock "In"
SrcPort 1
DstBlock "Discrete State-Space"
DstPort 1
}
}
}
Block {
BlockType Mux
Name "Mux1"
Ports [2, 1, 0, 0, 0]
Position [450, 156, 455, 194]
BackgroundColor "black"
ShowName off
FontName "Arial"
Inputs "[1 5]"
DisplayOption "none"
}
Block {
BlockType RateLimiter
Name "Rate Limiter1"
Position [285, 240, 315, 270]
ShowName off
RisingSlewLimit "100*pi/180"
FallingSlewLimit "-100*pi/180"
}
Block {
BlockType RateLimiter
Name "Rate Limiter2"
Position [285, 290, 315, 320]
ShowName off
RisingSlewLimit "100*pi/180"
FallingSlewLimit "-100*pi/180"
}
Block {
BlockType RateLimiter
Name "Rate Limiter3"
Position [285, 340, 315, 370]
ShowName off
RisingSlewLimit "100*pi/180"
FallingSlewLimit "-100*pi/180"
}
Block {
BlockType Saturate
Name "Saturation1"
Position [340, 287, 375, 323]
ShowName off
UpperLimit "20*pi/180"
LowerLimit "-20*pi/180"
}
Block {
BlockType Saturate
Name "Saturation2"
Position [340, 337, 375, 373]
ShowName off
UpperLimit "20*pi/180"
LowerLimit "-20*pi/180"
}
Block {
BlockType Saturate
Name "Saturation3"
Position [340, 147, 375, 183]
ShowName off
UpperLimit "245440"
LowerLimit "0"
}
Block {
BlockType Saturate
Name "Saturation4"
Position [340, 237, 375, 273]
ShowName off
UpperLimit "20*pi/180"
LowerLimit "-20*pi/180"
}
Block {
BlockType TransportDelay
Name "delay"
Position [100, 290, 145, 320]
FontName "Arial"
DelayTime "0.03"
InitialInput "0"
BufferSize "1024"
}
Block {
BlockType TransportDelay
Name "delay "
Position [100, 340, 145, 370]
FontName "Arial"
DelayTime "0.03"
InitialInput "0"
BufferSize "1024"
}
Block {
BlockType SubSystem
Name "t"
Ports [0, 0, 0, 0, 0]
Position [20, 15, 175, 50]
ForegroundColor "blue"
DropShadow on
ShowName off
OpenFcn "fdchelp actuatr"
FontName "Arial"
ShowPortLabels off
MaskDisplay "disp('Actuator & cable dynamics\\nMarc Rauw"
", October 1997')"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
System {
Name "t"
Location [199, 54, 314, 154]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "100"
AutoZoom on
}
}
Block {
BlockType Outport
Name "throttle"
Position [485, 165, 505, 185]
DropShadow on
FontName "Arial"
Port "1"
OutputWhenDisabled "held"
InitialOutput "[]"
}
Block {
BlockType Outport
Name "deltae"
Position [490, 245, 510, 265]
DropShadow on
FontName "Arial"
Port "2"
OutputWhenDisabled "held"
InitialOutput "[]"
}
Block {
BlockType Outport
Name "deltaa"
Position [490, 295, 510, 315]
DropShadow on
FontName "Arial"
Port "3"
OutputWhenDisabled "held"
InitialOutput "[]"
}
Block {
BlockType Outport
Name "deltar"
Position [490, 345, 510, 365]
DropShadow on
FontName "Arial"
Port "4"
OutputWhenDisabled "held"
InitialOutput "[]"
}
Line {
SrcBlock "D_ail"
SrcPort 1
DstBlock "delay"
DstPort 1
}
Line {
SrcBlock "D_elv"
SrcPort 1
DstBlock " delay"
DstPort 1
}
Line {
SrcBlock "D_rud"
SrcPort 1
DstBlock "delay "
DstPort 1
}
Line {
SrcBlock "IIR2"
SrcPort 1
DstBlock "Rate Limiter1"
DstPort 1
}
Line {
SrcBlock "Saturation4"
SrcPort 1
DstBlock "deltae"
DstPort 1
}
Line {
SrcBlock "IIR3"
SrcPort 1
DstBlock "Rate Limiter2"
DstPort 1
}
Line {
SrcBlock "Saturation1"
SrcPort 1
DstBlock "deltaa"
DstPort 1
}
Line {
SrcBlock "IIR4"
SrcPort 1
DstBlock "Rate Limiter3"
DstPort 1
}
Line {
SrcBlock "Saturation2"
SrcPort 1
DstBlock "deltar"
DstPort 1
}
Line {
SrcBlock "Rate Limiter1"
SrcPort 1
DstBlock "Saturation4"
DstPort 1
}
Line {
SrcBlock "Rate Limiter2"
SrcPort 1
DstBlock "Saturation1"
DstPort 1
}
Line {
SrcBlock "Rate Limiter3"
SrcPort 1
DstBlock "Saturation2"
DstPort 1
}
Line {
SrcBlock "Mux1"
SrcPort 1
DstBlock "throttle"
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