📄 dlqr002.mdl
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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 "dlqr002"
Location [1, 74, 1013, 744]
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 Clock
Name "Clock"
Position [25, 85, 45, 105]
Decimation "10"
}
Block {
BlockType Demux
Name "Demux"
Ports [1, 2]
Position [565, 151, 570, 309]
BackgroundColor "black"
ShowName off
Outputs "2"
}
Block {
BlockType DiscreteStateSpace
Name "Discrete State-Space"
Position [405, 211, 515, 249]
A "A"
B "B"
C "C"
D "D"
}
Block {
BlockType Gain
Name "Gain"
Position [730, 290, 760, 320]
Gain "1/T*180/pi"
ParameterDataTypeMode "Inherit via internal rule"
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Gain
Name "Gain1"
Position [315, 425, 345, 455]
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 [730, 255, 760, 285]
Gain "180/pi"
ParameterDataTypeMode "Inherit via internal rule"
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Gain
Name "Gain3"
Position [775, 145, 805, 175]
Gain "1/T"
ParameterDataTypeMode "Inherit via internal rule"
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Mux
Name "Mux"
Ports [4, 1]
Position [565, 351, 570, 524]
Orientation "left"
NamePlacement "alternate"
ShowName off
DisplayOption "bar"
}
Block {
BlockType Scope
Name "POSITION AND DOT"
Ports [2]
Position [895, 136, 925, 169]
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 "POSITION AND ANGLE"
Ports [2]
Position [895, 261, 925, 294]
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 "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 "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 Step
Name "Step"
Position [85, 215, 115, 245]
SampleTime "0"
}
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 [730, 150, 750, 170]
ShowName off
IconShape "round"
Inputs "|+-"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Sum
Name "Sum2"
Ports [2, 1]
Position [695, 295, 715, 315]
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 Workspace3"
Position [125, 80, 185, 110]
VariableName "time "
MaxDataPoints "inf"
SampleTime "-1"
SaveFormat "Array"
}
Block {
BlockType UnitDelay
Name "Unit Delay"
Position [700, 173, 735, 207]
SampleTime "T"
}
Block {
BlockType UnitDelay
Name "Unit Delay1"
Position [660, 318, 695, 352]
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 "Step"
SrcPort 1
Points [45, 0]
Branch {
DstBlock "Sum"
DstPort 1
}
Branch {
Points [0, -50]
DstBlock "Scope3"
DstPort 1
}
}
Line {
SrcBlock "Clock"
SrcPort 1
DstBlock "To Workspace3"
DstPort 1
}
Line {
SrcBlock "Unit Delay1"
SrcPort 1
Points [5, 0]
DstBlock "Sum2"
DstPort 2
}
Line {
SrcBlock "Sum2"
SrcPort 1
DstBlock "Gain"
DstPort 1
}
Line {
SrcBlock "Unit Delay"
SrcPort 1
DstBlock "Sum1"
DstPort 2
}
Line {
SrcBlock "Sum1"
SrcPort 1
DstBlock "Gain3"
DstPort 1
}
Line {
SrcBlock "Gain1"
SrcPort 1
Points [-30, 0; 0, -65]
Branch {
DstBlock "Sum"
DstPort 2
}
Branch {
DstBlock "feedbackforce"
DstPort 1
}
}
Line {
SrcBlock "Mux"
SrcPort 1
DstBlock "Gain1"
DstPort 1
}
Line {
SrcBlock "Demux"
SrcPort 1
Points [5, 0]
Branch {
Points [75, 0]
Branch {
DstBlock "Unit Delay"
DstPort 1
}
Branch {
Points [0, -30]
Branch {
DstBlock "Sum1"
DstPort 1
}
Branch {
Points [0, -15]
DstBlock "POSITION AND DOT"
DstPort 1
}
}
}
Branch {
Points [5, 0]
DstBlock "Mux"
DstPort 1
}
}
Line {
SrcBlock "Demux"
SrcPort 2
Points [25, 0]
Branch {
Points [50, 0]
Branch {
DstBlock "Gain2"
DstPort 1
}
Branch {
Points [0, 30]
Branch {
Points [0, 35]
DstBlock "Unit Delay1"
DstPort 1
}
Branch {
Points [0, 5]
DstBlock "Sum2"
DstPort 1
}
}
}
Branch {
Points [0, 190]
DstBlock "Mux"
DstPort 3
}
}
Line {
SrcBlock "Gain3"
SrcPort 1
Points [10, 0]
Branch {
DstBlock "POSITION AND DOT"
DstPort 2
}
Branch {
Points [-10, 0; 0, 255]
DstBlock "Mux"
DstPort 2
}
}
Line {
SrcBlock "Gain2"
SrcPort 1
DstBlock "POSITION AND ANGLE"
DstPort 1
}
Line {
SrcBlock "Gain"
SrcPort 1
Points [55, 0]
Branch {
Points [0, -20]
DstBlock "POSITION AND ANGLE"
DstPort 2
}
Branch {
Points [0, 200]
DstBlock "Mux"
DstPort 4
}
}
Annotation {
Name "position"
Position [596, 179]
UseDisplayTextAsClickCallback off
}
Annotation {
Name "angle"
Position [605, 264]
UseDisplayTextAsClickCallback off
}
}
}
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