📄 dlqr004.mdl
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}
BlockParameterDefaults {
Block {
BlockType Demux
Outputs "4"
DisplayOption "none"
BusSelectionMode off
}
Block {
BlockType DiscreteStateSpace
A "1"
B "1"
C "1"
D "1"
X0 "0"
SampleTime "1"
StateMustResolveToSignalObject off
RTWStateStorageClass "Auto"
Realization "auto"
}
Block {
BlockType Gain
Gain "1"
Multiplication "Element-wise(K.*u)"
ParameterDataTypeMode "Same as input"
ParameterDataType "sfix(16)"
ParameterScalingMode "Best Precision: Matrix-wise"
ParameterScaling "2^0"
OutDataTypeMode "Same as input"
OutDataType "sfix(16)"
OutScaling "2^0"
LockScale off
RndMeth "Floor"
SaturateOnIntegerOverflow on
SampleTime "-1"
}
Block {
BlockType Mux
Inputs "4"
DisplayOption "none"
UseBusObject off
BusObject "BusObject"
NonVirtualBus off
}
Block {
BlockType Scope
ModelBased off
TickLabels "OneTimeTick"
ZoomMode "on"
Grid "on"
TimeRange "auto"
YMin "-5"
YMax "5"
SaveToWorkspace off
SaveName "ScopeData"
LimitDataPoints on
MaxDataPoints "5000"
Decimation "1"
SampleInput off
SampleTime "-1"
}
Block {
BlockType Step
Time "1"
Before "0"
After "1"
SampleTime "-1"
VectorParams1D on
ZeroCross on
}
Block {
BlockType Sum
IconShape "rectangular"
Inputs "++"
InputSameDT on
OutDataTypeMode "Same as first input"
OutDataType "sfix(16)"
OutScaling "2^0"
LockScale off
RndMeth "Floor"
SaturateOnIntegerOverflow on
SampleTime "-1"
}
Block {
BlockType ToWorkspace
VariableName "simulink_output"
MaxDataPoints "1000"
Decimation "1"
SampleTime "0"
FixptAsFi off
}
}
AnnotationDefaults {
HorizontalAlignment "center"
VerticalAlignment "middle"
ForegroundColor "black"
BackgroundColor "white"
DropShadow off
FontName "Arial"
FontSize 10
FontWeight "normal"
FontAngle "normal"
}
LineDefaults {
FontName "Arial"
FontSize 9
FontWeight "normal"
FontAngle "normal"
}
System {
Name "dlqr004"
Location [2, 74, 1014, 724]
Open on
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "A4"
PaperUnits "centimeters"
TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
TiledPageScale 1
ShowPageBoundaries off
ZoomFactor "100"
ReportName "simulink-default.rpt"
Block {
BlockType Demux
Name "Demux"
Ports [1, 4]
Position [525, 176, 530, 279]
BackgroundColor "black"
ShowName off
DisplayOption "bar"
}
Block {
BlockType DiscreteStateSpace
Name "Discrete State-Space"
Position [375, 195, 490, 265]
A "A"
B "B"
C "C"
D "D"
SampleTime "0.005"
}
Block {
BlockType Gain
Name "Gain1"
Position [460, 355, 490, 385]
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 "0.005"
}
Block {
BlockType Mux
Name "Mux"
Ports [4, 1]
Position [555, 336, 560, 399]
Orientation "left"
NamePlacement "alternate"
ShowName off
DisplayOption "bar"
}
Block {
BlockType Scope
Name "Scope"
Ports [1]
Position [425, 144, 455, 176]
Floating off
Location [209, 423, 533, 662]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
DataFormat "StructureWithTime"
SampleTime "0"
}
Block {
BlockType Scope
Name "Scope1"
Ports [2]
Position [700, 191, 745, 289]
Floating off
Location [5, 49, 1029, 743]
Open off
NumInputPorts "2"
ZoomMode "xonly"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
axes2 "%<SignalLabel>"
}
YMin "-5~-5"
YMax "5~5"
SaveName "ScopeData2"
DataFormat "StructureWithTime"
SampleTime "0"
}
Block {
BlockType Scope
Name "Scope2"
Tag "P"
Ports [2]
Position [581, 85, 639, 130]
Orientation "up"
NamePlacement "alternate"
Floating off
Location [5, 49, 1029, 743]
Open off
NumInputPorts "2"
ZoomMode "yonly"
List {
ListType AxesTitles
axes1 "position"
axes2 "angle"
}
TimeRange "20"
YMin "-0.002~-0.5"
YMax "0.002~0.5"
SaveName "ScopeData3"
DataFormat "StructureWithTime"
SampleTime "0"
}
Block {
BlockType Scope
Name "Scope3"
Ports [1]
Position [189, 295, 221, 325]
Orientation "down"
NamePlacement "alternate"
Floating off
Location [188, 390, 512, 629]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
YMin "-0.1"
YMax "0.1"
SaveName "ScopeData4"
DataFormat "StructureWithTime"
SampleTime "0"
}
Block {
BlockType Step
Name "Step"
Position [135, 215, 165, 245]
SampleTime "0"
}
Block {
BlockType Sum
Name "Sum"
Ports [2, 1]
Position [315, 220, 335, 240]
ShowName off
IconShape "round"
Inputs "|+-"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType ToWorkspace
Name "To Workspace"
Position [235, 145, 295, 175]
Orientation "left"
VariableName "force"
MaxDataPoints "inf"
SampleTime "-1"
SaveFormat "Array"
}
Block {
BlockType Scope
Name "feedbackforce"
Ports [1]
Position [255, 374, 285, 406]
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 [15, 0]
Branch {
Points [0, -70]
Branch {
DstBlock "Scope"
DstPort 1
}
Branch {
DstBlock "To Workspace"
DstPort 1
}
}
Branch {
Labels [0, 0]
DstBlock "Discrete State-Space"
DstPort 1
}
}
Line {
SrcBlock "Step"
SrcPort 1
Points [-5, 0]
Branch {
Points [40, 0]
DstBlock "Scope3"
DstPort 1
}
Branch {
Labels [1, 0]
DstBlock "Sum"
DstPort 1
}
}
Line {
SrcBlock "Gain1"
SrcPort 1
Points [-125, 0]
Branch {
Points [0, 20]
DstBlock "feedbackforce"
DstPort 1
}
Branch {
Points [0, -115]
DstBlock "Sum"
DstPort 2
}
}
Line {
SrcBlock "Demux"
SrcPort 2
Points [75, 0]
Branch {
Points [0, 145]
DstBlock "Mux"
DstPort 2
}
Branch {
DstBlock "Scope1"
DstPort 1
}
}
Line {
SrcBlock "Demux"
SrcPort 1
Points [60, 0]
Branch {
Points [0, 155]
DstBlock "Mux"
DstPort 1
}
Branch {
Labels [-1, 1]
DstBlock "Scope2"
DstPort 1
}
}
Line {
SrcBlock "Demux"
SrcPort 4
Points [105, 0]
Branch {
Points [0, 125]
DstBlock "Mux"
DstPort 4
}
Branch {
DstBlock "Scope1"
DstPort 2
}
}
Line {
SrcBlock "Demux"
SrcPort 3
Points [90, 0]
Branch {
Points [0, 135]
DstBlock "Mux"
DstPort 3
}
Branch {
DstBlock "Scope2"
DstPort 2
}
}
Line {
SrcBlock "Mux"
SrcPort 1
DstBlock "Gain1"
DstPort 1
}
Line {
SrcBlock "Discrete State-Space"
SrcPort 1
DstBlock "Demux"
DstPort 1
}
}
}
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