📄 twolqr2.mdl
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BlockType Scope
Name "dteta1"
Ports [1]
Position [785, 319, 815, 351]
Location [194, 330, 684, 570]
Open off
NumInputPorts "1"
ZoomMode "xonly"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
YMin "-0.08"
YMax "0.12"
SaveToWorkspace on
SaveName "signals4"
DataFormat "Array"
MaxDataPoints "50000"
}
Block {
BlockType Scope
Name "dteta2"
Ports [1]
Position [605, 370, 635, 400]
Orientation "down"
NamePlacement "alternate"
ShowName off
Location [291, 164, 781, 404]
Open off
NumInputPorts "1"
ZoomMode "yonly"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
List {
ListType SelectedSignals
axes1 ""
}
TimeRange "10"
YMin "-1.5e+033"
YMax "5e+032"
SaveToWorkspace on
SaveName "signals7"
DataFormat "Array"
MaxDataPoints "50000"
}
Block {
BlockType Scope
Name "dteta21"
Ports [1]
Position [855, 314, 885, 346]
Location [194, 330, 684, 570]
Open off
NumInputPorts "1"
ZoomMode "xonly"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
YMin "-0.08"
YMax "0.12"
SaveToWorkspace on
SaveName "signals"
DataFormat "Array"
MaxDataPoints "50000"
}
Block {
BlockType Scope
Name "dx"
Ports [1]
Position [705, 319, 735, 351]
Location [194, 330, 684, 570]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
YMin "-0.08"
YMax "0.12"
SaveToWorkspace on
SaveName "signals1"
DataFormat "Array"
MaxDataPoints "50000"
}
Block {
BlockType Scope
Name "teta1"
Ports [1]
Position [760, 119, 790, 151]
Location [194, 330, 684, 570]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
YMin "-0.08"
YMax "0.12"
SaveToWorkspace on
SaveName "signals6"
DataFormat "Array"
MaxDataPoints "50000"
}
Block {
BlockType Scope
Name "teta21"
Ports [1]
Position [835, 119, 865, 151]
Location [194, 330, 684, 570]
Open off
NumInputPorts "1"
ZoomMode "xonly"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
List {
ListType SelectedSignals
axes1 ""
}
YMin "-0.08"
YMax "0.12"
SaveToWorkspace on
SaveName "signals3"
DataFormat "Array"
MaxDataPoints "50000"
}
Block {
BlockType Scope
Name "x"
Ports [1]
Position [555, 149, 585, 181]
Orientation "left"
Location [286, 320, 776, 560]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
List {
ListType SelectedSignals
axes1 ""
}
YMin "-0.08"
YMax "0.12"
SaveToWorkspace on
SaveName "signals9"
DataFormat "Array"
MaxDataPoints "50000"
}
Block {
BlockType Scope
Name "x-xc"
Ports [1]
Position [690, 124, 720, 156]
Location [6, 296, 496, 536]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
List {
ListType SelectedSignals
axes1 ""
}
YMin "-0.08"
YMax "0.12"
SaveToWorkspace on
SaveName "signals5"
DataFormat "Array"
MaxDataPoints "50000"
}
Block {
BlockType Scope
Name "给定信号"
Ports [1]
Position [335, 149, 365, 181]
Location [75, 120, 706, 497]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
List {
ListType SelectedSignals
axes1 ""
}
TimeRange "20"
YMin "-0.08"
YMax "0.12"
SaveToWorkspace on
SaveName "signals2"
DataFormat "Array"
}
Block {
BlockType Scope
Name "给定信号1"
Ports [1]
Position [445, 374, 475, 406]
Location [75, 120, 706, 497]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
TimeRange "20"
YMin "-0.08"
YMax "0.12"
SaveToWorkspace on
SaveName "signals8"
DataFormat "Array"
}
Line {
SrcBlock "Signal\nGenerator"
SrcPort 1
Points [0, 0; 20, 0]
Branch {
Points [0, 10]
DstBlock "Sum3"
DstPort 1
}
Branch {
Points [10, 0]
DstBlock "给定信号"
DstPort 1
}
}
Line {
SrcBlock "Reference"
SrcPort 1
Points [15, 0; 0, -35]
DstBlock "Sum3"
DstPort 2
}
Line {
SrcBlock "State-Space"
SrcPort 1
DstBlock "Demux"
DstPort 1
}
Line {
SrcBlock "Mux2"
SrcPort 1
DstBlock "dteta2"
DstPort 1
}
Line {
SrcBlock "Sum3"
SrcPort 1
Points [0, 0; 15, 0]
Branch {
Points [0, 80; 225, 0]
DstBlock "Mux2"
DstPort 1
}
Branch {
Points [0, -105]
Branch {
DstBlock "Sum"
DstPort 1
}
Branch {
Points [0, -105]
DstBlock "Mux1"
DstPort 1
}
}
}
Line {
SrcBlock "Demux"
SrcPort 1
Points [0, 0; 10, 0]
Branch {
DstBlock "Mux2"
DstPort 2
}
Branch {
Points [0, -20]
Branch {
DstBlock "x"
DstPort 1
}
Branch {
Points [0, -15]
Branch {
DstBlock "Sum"
DstPort 2
}
Branch {
Points [0, -105]
DstBlock "Mux1"
DstPort 2
}
}
}
}
Line {
SrcBlock "Demux"
SrcPort 2
Points [0, 0; 125, 0]
Branch {
DstBlock "Mux4"
DstPort 2
}
Branch {
Points [0, -70]
Branch {
DstBlock "teta1"
DstPort 1
}
Branch {
Points [0, -70; 60, 0]
Branch {
DstBlock "Mux1"
DstPort 3
}
Branch {
Points [0, 10]
DstBlock "Sum1"
DstPort 1
}
}
}
}
Line {
SrcBlock "Demux"
SrcPort 3
Points [0, 0; 190, 0]
Branch {
DstBlock "Mux4"
DstPort 3
}
Branch {
Points [0, -90; 10, 0]
Branch {
DstBlock "teta21"
DstPort 1
}
Branch {
Points [-10, 0; 0, -45]
DstBlock "Sum1"
DstPort 2
}
}
}
Line {
SrcBlock "Demux"
SrcPort 4
Points [0, 0; 55, 0]
Branch {
Points [0, 90]
DstBlock "dx"
DstPort 1
}
Branch {
DstBlock "Mux4"
DstPort 4
}
}
Line {
SrcBlock "Demux"
SrcPort 5
Points [0, 0; 135, 0]
Branch {
Points [0, 70]
DstBlock "dteta1"
DstPort 1
}
Branch {
DstBlock "Mux4"
DstPort 5
}
}
Line {
SrcBlock "Demux"
SrcPort 6
Points [0, 0; 210, 0]
Branch {
Points [0, 45]
DstBlock "dteta21"
DstPort 1
}
Branch {
DstBlock "Mux4"
DstPort 6
}
}
Line {
SrcBlock "Sum"
SrcPort 1
Points [-5, 0; 15, 0]
Branch {
DstBlock "x-xc"
DstPort 1
}
Branch {
Points [-10, 0; 0, 45]
DstBlock "Mux4"
DstPort 1
}
}
Line {
SrcBlock "Mux4"
SrcPort 1
Points [20, 0; 0, 230]
DstBlock "Matrix\nGain4"
DstPort 1
}
Line {
SrcBlock "Matrix\nGain4"
SrcPort 1
Points [-150, 0; 0, -75]
Branch {
DstBlock "给定信号1"
DstPort 1
}
Branch {
Points [0, -155]
DstBlock "State-Space"
DstPort 1
}
}
Line {
SrcBlock "Mux1"
SrcPort 1
DstBlock "Animation"
DstPort 1
}
Line {
SrcBlock "Sum1"
SrcPort 1
DstBlock "Mux1"
DstPort 4
}
Annotation {
Name "double inverted pendulum"
Position [526, 101]
}
Annotation {
Name "信号跟随情况"
Position [570, 385]
}
Annotation {
Name "e"
Position [636, 429]
}
Annotation {
Name "ec"
Position [637, 471]
}
}
}
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