📄 dlqr001.mdl
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ShowName off
}
Block {
BlockType DiscreteStateSpace
Name "Discrete State-Space"
Position [405, 211, 515, 249]
A "a"
B "b"
C "eye(4)"
D "d"
}
Block {
BlockType Gain
Name "Gain"
Position [565, 575, 595, 605]
Orientation "left"
NamePlacement "alternate"
Gain "1/T*180/pi"
ParameterDataTypeMode "Inherit via internal rule"
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Gain
Name "Gain1"
Position [285, 505, 315, 535]
Orientation "left"
NamePlacement "alternate"
Gain "K"
Multiplication "Matrix(K*u) (u vector)"
ParameterDataTypeMode "Inherit via internal rule"
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
SampleTime "1"
}
Block {
BlockType Gain
Name "Gain2"
Position [750, 230, 780, 260]
Gain "180/pi"
ParameterDataTypeMode "Inherit via internal rule"
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Gain
Name "Gain3"
Position [500, 455, 530, 485]
Orientation "left"
NamePlacement "alternate"
Gain "1/T"
ParameterDataTypeMode "Inherit via internal rule"
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Mux
Name "Mux"
Ports [4, 1]
Position [405, 436, 410, 609]
Orientation "left"
NamePlacement "alternate"
ShowName off
DisplayOption "bar"
}
Block {
BlockType Scope
Name "POSITION AND ANGLE"
Ports [2]
Position [860, 221, 890, 254]
Floating off
Location [188, 390, 512, 629]
Open off
NumInputPorts "2"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
axes2 "%<SignalLabel>"
}
TimeRange "20"
YMin "-5~-5"
YMax "5~5"
SaveName "ScopeData3"
DataFormat "StructureWithTime"
SampleTime "0"
}
Block {
BlockType Scope
Name "POSITION AND ANGLE DOT"
Ports [2]
Position [880, 426, 910, 459]
Floating off
Location [173, 130, 497, 369]
Open off
NumInputPorts "2"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
axes2 "%<SignalLabel>"
}
TimeRange "20"
YMin "-5~-5"
YMax "5~5"
SaveName "ScopeData2"
DataFormat "StructureWithTime"
MaxDataPoints "1000"
SampleTime "0"
}
Block {
BlockType Scope
Name "Scope"
Ports [1]
Position [410, 104, 440, 136]
Floating off
Location [188, 390, 512, 629]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
DataFormat "StructureWithTime"
SampleTime "0"
}
Block {
BlockType Scope
Name "Scope1"
Ports [2]
Position [530, 606, 560, 639]
Floating off
Location [188, 390, 512, 629]
Open off
NumInputPorts "2"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
axes2 "%<SignalLabel>"
}
TimeRange "20"
YMin "-5~-5"
YMax "5~5"
SaveName "ScopeData5"
DataFormat "StructureWithTime"
SampleTime "0"
}
Block {
BlockType Scope
Name "Scope3"
Ports [1]
Position [185, 164, 215, 196]
Floating off
Location [188, 390, 512, 629]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
SaveName "ScopeData4"
DataFormat "StructureWithTime"
SampleTime "0"
}
Block {
BlockType Sin
Name "Sine Wave"
Ports [0, 1]
Position [85, 215, 115, 245]
SineType "Sample based"
SampleTime "1"
}
Block {
BlockType Sum
Name "Sum"
Ports [2, 1]
Position [270, 220, 290, 240]
ShowName off
IconShape "round"
Inputs "|+-"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Sum
Name "Sum1"
Ports [2, 1]
Position [550, 460, 570, 480]
Orientation "left"
NamePlacement "alternate"
ShowName off
IconShape "round"
Inputs "|+-"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Sum
Name "Sum2"
Ports [2, 1]
Position [620, 580, 640, 600]
Orientation "left"
NamePlacement "alternate"
ShowName off
IconShape "round"
Inputs "|+-"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType ToWorkspace
Name "To Workspace"
Position [225, 105, 285, 135]
Orientation "left"
VariableName "force"
MaxDataPoints "inf"
SampleTime "-1"
SaveFormat "Array"
}
Block {
BlockType ToWorkspace
Name "To Workspace1"
Position [930, 170, 990, 200]
VariableName "position"
MaxDataPoints "inf"
SampleTime "-1"
SaveFormat "Structure"
}
Block {
BlockType ToWorkspace
Name "To Workspace2"
Position [850, 300, 910, 330]
VariableName "angle"
MaxDataPoints "inf"
SampleTime "-1"
SaveFormat "Structure"
}
Block {
BlockType ToWorkspace
Name "To Workspace3"
Position [700, 75, 760, 105]
VariableName "time "
MaxDataPoints "inf"
SampleTime "-1"
SaveFormat "Array"
}
Block {
BlockType UnitDelay
Name "Unit Delay"
Position [570, 493, 605, 527]
Orientation "left"
SampleTime "T"
}
Block {
BlockType UnitDelay
Name "Unit Delay1"
Position [645, 603, 680, 637]
Orientation "left"
SampleTime "T"
}
Block {
BlockType Scope
Name "feedbackforce"
Ports [1]
Position [105, 359, 135, 391]
Orientation "left"
NamePlacement "alternate"
Floating off
Location [188, 390, 512, 629]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
TimeRange "20"
YMin "-100"
YMax "100"
SaveName "ScopeData1"
DataFormat "StructureWithTime"
SampleTime "0"
}
Line {
SrcBlock "Sum"
SrcPort 1
Points [60, 0]
Branch {
Points [0, -110]
Branch {
DstBlock "Scope"
DstPort 1
}
Branch {
DstBlock "To Workspace"
DstPort 1
}
}
Branch {
DstBlock "Discrete State-Space"
DstPort 1
}
}
Line {
SrcBlock "Discrete State-Space"
SrcPort 1
DstBlock "Demux"
DstPort 1
}
Line {
SrcBlock "Sine Wave"
SrcPort 1
Points [45, 0]
Branch {
DstBlock "Sum"
DstPort 1
}
Branch {
Points [0, -50]
DstBlock "Scope3"
DstPort 1
}
}
Line {
SrcBlock "Demux"
SrcPort 3
Points [60, 0]
Branch {
DstBlock "Gain2"
DstPort 1
}
Branch {
Points [0, 295]
Branch {
Points [0, 140; -270, 0]
DstBlock "Mux"
DstPort 3
}
Branch {
Points [0, 50]
Branch {
DstBlock "Unit Delay1"
DstPort 1
}
Branch {
DstBlock "Sum2"
DstPort 1
}
}
}
}
Line {
SrcBlock "Gain2"
SrcPort 1
Points [25, 0]
Branch {
Points [0, 70]
DstBlock "To Workspace2"
DstPort 1
}
Branch {
DstBlock "POSITION AND ANGLE"
DstPort 2
}
}
Line {
SrcBlock "Demux"
SrcPort 1
Points [5, 0]
Branch {
Points [165, 0]
Branch {
DstBlock "To Workspace1"
DstPort 1
}
Branch {
Points [0, 45]
DstBlock "POSITION AND ANGLE"
DstPort 1
}
}
Branch {
Points [0, 170]
Branch {
Points [-215, 0]
DstBlock "Mux"
DstPort 1
}
Branch {
Points [0, 115]
Branch {
Points [0, 40]
DstBlock "Unit Delay"
DstPort 1
}
Branch {
DstBlock "Sum1"
DstPort 1
}
}
}
}
Line {
SrcBlock "Clock"
SrcPort 1
DstBlock "To Workspace3"
DstPort 1
}
Line {
SrcBlock "Demux"
SrcPort 2
Points [95, 0; 0, 220]
DstBlock "POSITION AND ANGLE DOT"
DstPort 1
}
Line {
SrcBlock "Demux"
SrcPort 4
Points [85, 0; 0, 175]
DstBlock "POSITION AND ANGLE DOT"
DstPort 2
}
Line {
SrcBlock "Unit Delay1"
SrcPort 1
Points [-10, 0]
DstBlock "Sum2"
DstPort 2
}
Line {
SrcBlock "Sum2"
SrcPort 1
DstBlock "Gain"
DstPort 1
}
Line {
SrcBlock "Gain"
SrcPort 1
Points [-110, 0]
Branch {
DstBlock "Mux"
DstPort 4
}
Branch {
Points [0, 40]
DstBlock "Scope1"
DstPort 2
}
}
Line {
SrcBlock "Unit Delay"
SrcPort 1
Points [-5, 0]
DstBlock "Sum1"
DstPort 2
}
Line {
SrcBlock "Sum1"
SrcPort 1
DstBlock "Gain3"
DstPort 1
}
Line {
SrcBlock "Gain1"
SrcPort 1
Points [0, -145]
Branch {
DstBlock "Sum"
DstPort 2
}
Branch {
DstBlock "feedbackforce"
DstPort 1
}
}
Line {
SrcBlock "Mux"
SrcPort 1
DstBlock "Gain1"
DstPort 1
}
Line {
SrcBlock "Gain3"
SrcPort 1
Points [-15, 0; 0, 30]
Branch {
DstBlock "Mux"
DstPort 2
}
Branch {
Points [0, 115]
DstBlock "Scope1"
DstPort 1
}
}
}
}
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