slcp1.mdl

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      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		      If
      NumInputs		      "1"
      IfExpression	      "u1 > 0"
      ShowElse		      on
      ZeroCross		      on
      SampleTime	      "-1"
    }
    Block {
      BlockType		      Inport
      UseBusObject	      off
      BusObject		      "BusObject"
      BusOutputAsStruct	      off
      PortDimensions	      "-1"
      SampleTime	      "-1"
      DataType		      "auto"
      OutDataType	      "sfix(16)"
      OutScaling	      "2^0"
      SignalType	      "auto"
      SamplingMode	      "auto"
      Interpolate	      on
    }
    Block {
      BlockType		      Integrator
      ExternalReset	      "none"
      InitialConditionSource  "internal"
      InitialCondition	      "0"
      LimitOutput	      off
      UpperSaturationLimit    "inf"
      LowerSaturationLimit    "-inf"
      ShowSaturationPort      off
      ShowStatePort	      off
      AbsoluteTolerance	      "auto"
      IgnoreLimit	      off
      ZeroCross		      on
    }
    Block {
      BlockType		      Math
      Operator		      "exp"
      OutputSignalType	      "auto"
      SampleTime	      "-1"
      OutDataTypeMode	      "Same as first input"
      OutDataType	      "sfix(16)"
      OutScaling	      "2^0"
      LockScale		      off
      RndMeth		      "Floor"
      SaturateOnIntegerOverflow	on
    }
    Block {
      BlockType		      Merge
      Inputs		      "2"
      InitialOutput	      "[]"
      AllowUnequalInputPortWidths off
      InputPortOffsets	      "[]"
    }
    Block {
      BlockType		      Mux
      Inputs		      "4"
      DisplayOption	      "none"
      UseBusObject	      off
      BusObject		      "BusObject"
      NonVirtualBus	      off
    }
    Block {
      BlockType		      Outport
      Port		      "1"
      UseBusObject	      off
      BusObject		      "BusObject"
      BusOutputAsStruct	      off
      PortDimensions	      "-1"
      SampleTime	      "-1"
      DataType		      "auto"
      OutDataType	      "sfix(16)"
      OutScaling	      "2^0"
      SignalType	      "auto"
      SamplingMode	      "auto"
      OutputWhenDisabled      "held"
      InitialOutput	      "[]"
    }
    Block {
      BlockType		      Product
      Inputs		      "2"
      Multiplication	      "Element-wise(.*)"
      InputSameDT	      on
      OutDataTypeMode	      "Same as first input"
      OutDataType	      "sfix(16)"
      OutScaling	      "2^0"
      LockScale		      off
      RndMeth		      "Zero"
      SaturateOnIntegerOverflow	on
      SampleTime	      "-1"
    }
    Block {
      BlockType		      Reference
    }
    Block {
      BlockType		      RelationalOperator
      Operator		      ">="
      InputSameDT	      on
      LogicOutDataTypeMode    "Logical (see Configuration Parameters: Optimiza"
"tion)"
      LogicDataType	      "uint(8)"
      ZeroCross		      on
      SampleTime	      "-1"
    }
    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		      "S-Function"
      FunctionName	      "system"
      SFunctionModules	      "''"
      PortCounts	      "[]"
    }
    Block {
      BlockType		      SignalGenerator
      WaveForm		      "sine"
      TimeSource	      "Use simulation time"
      Amplitude		      "1"
      Frequency		      "1"
      Units		      "Hertz"
      VectorParams1D	      on
    }
    Block {
      BlockType		      SubSystem
      ShowPortLabels	      on
      Permissions	      "ReadWrite"
      PermitHierarchicalResolution "All"
      SystemSampleTime	      "-1"
      RTWFcnNameOpts	      "Auto"
      RTWFileNameOpts	      "Auto"
      SimViewingDevice	      off
      DataTypeOverride	      "UseLocalSettings"
      MinMaxOverflowLogging   "UseLocalSettings"
    }
    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		      Switch
      Criteria		      "u2 >= Threshold"
      Threshold		      "0"
      InputSameDT	      on
      OutDataTypeMode	      "Inherit via internal rule"
      RndMeth		      "Floor"
      SaturateOnIntegerOverflow	on
      ZeroCross		      on
      SampleTime	      "-1"
    }
    Block {
      BlockType		      Terminator
    }
  }
  AnnotationDefaults {
    HorizontalAlignment	    "center"
    VerticalAlignment	    "middle"
    ForegroundColor	    "black"
    BackgroundColor	    "white"
    DropShadow		    off
    FontName		    "Helvetica"
    FontSize		    10
    FontWeight		    "normal"
    FontAngle		    "normal"
  }
  LineDefaults {
    FontName		    "Helvetica"
    FontSize		    9
    FontWeight		    "normal"
    FontAngle		    "normal"
  }
  System {
    Name		    "slcp1"
    Location		    [363, 127, 894, 577]
    Open		    on
    ModelBrowserVisibility  off
    ModelBrowserWidth	    200
    ScreenColor		    "white"
    PaperOrientation	    "landscape"
    PaperPositionMode	    "auto"
    PaperType		    "usletter"
    PaperUnits		    "inches"
    ZoomFactor		    "100"
    ReportName		    "simulink-default.rpt"
    Block {
      BlockType		      "S-Function"
      Name		      "Animation"
      Ports		      [1]
      Position		      [410, 34, 465, 66]
      FunctionName	      "animcp1"
    }
    Block {
      BlockType		      SubSystem
      Name		      "Cart & Pole\nDynamics"
      Ports		      [2, 4]
      Position		      [265, 185, 315, 240]
      ShowPortLabels	      off
      TreatAsAtomicUnit	      off
      MinAlgLoopOccurrences   off
      RTWSystemCode	      "Auto"
      MaskHideContents	      off
      MaskType		      "Cart & Pole"
      MaskDescription	      "Inverted Pendulum (cart & pole)"
      MaskHelp		      "Inverted Pendulum"
      MaskPromptString	      "Initial Conditions (angle, angular velocity, ca"
"rt position and cart velocity):|Physical Specifications (cart mass and g):"
      MaskStyleString	      "edit,edit"
      MaskTunableValueString  "on,on"
      MaskCallbackString      "|"
      MaskEnableString	      "on,on"
      MaskVisibilityString    "on,on"
      MaskToolTipString	      "on,on"
      MaskVarAliasString      ","
      MaskInitialization      "init_cond = @1; spec = @2;mc=spec(1);g=spec(2);"
      MaskDisplay	      "plot(-4,-1,4,6,[0 3 2.8 -0.2 0],[1 5 5.15 1.15 "
"1],[-1 -1 1 1 -1],[1 0 0 1 1],[-3.5 3.5],[0 0])"
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "autoscale"
      MaskValueString	      "[0, 0, 0, 0]|[1.0, 9.8]"
      MaskTabNameString	      ","
      System {
	Name			"Cart & Pole\nDynamics"
	Location		[261, 554, 1061, 859]
	Open			off
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"white"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"usletter"
	PaperUnits		"inches"
	ZoomFactor		"100"
	Block {
	  BlockType		  Inport
	  Name			  "in_1"
	  Position		  [60, 50, 80, 70]
	  Port			  "1"
	  IconDisplay		  "Port number"
	  LatchInput		  off
	  HoldInput		  off
	}
	Block {
	  BlockType		  Inport
	  Name			  "in_2"
	  Position		  [55, 210, 75, 230]
	  Port			  "2"
	  IconDisplay		  "Port number"
	  LatchInput		  off
	  HoldInput		  off
	}
	Block {
	  BlockType		  Fcn
	  Name			  "Fcn2"
	  Position		  [515, 220, 555, 240]
	  ShowName		  off
	  Expr			  "(u(1)+u(7)*u(6)*(u(4)*u(4)*u(2)-u(5)*u(3)))"
"/(mc+u(7))"
	}
	Block {
	  BlockType		  Fcn
	  Name			  "Fcn3"
	  Position		  [425, 85, 465, 105]
	  ShowName		  off
	  Expr			  "(g*u(2)+u(3)*((-u(1)-u(6)*u(5)*u(4)*u(4)*u("
"2))/(mc+u(6))))/(u(5)*(4/3-(u(6)*u(3)*u(3))/(mc+u(6))))"
	}
	Block {
	  BlockType		  Fcn
	  Name			  "Fcn4"
	  Position		  [145, 69, 200, 91]
	  ShowName		  off
	}
	Block {
	  BlockType		  Fcn
	  Name			  "Fcn5"
	  Position		  [145, 98, 200, 122]
	  ShowName		  off
	  Expr			  "cos(u[1])"
	}
	Block {
	  BlockType		  Gain
	  Name			  "Gain"
	  Position		  [110, 230, 145, 260]
	  Gain			  "0.1"
	}
	Block {
	  BlockType		  Gain
	  Name			  "Gain1"
	  Position		  [155, 205, 190, 235]
	  Gain			  "0.5"
	}
	Block {
	  BlockType		  Mux
	  Name			  "Mux1"
	  Ports			  [4, 1]
	  Position		  [280, 54, 315, 111]
	  ShowName		  off
	}
	Block {
	  BlockType		  Mux
	  Name			  "Mux2"
	  Ports			  [3, 1]
	  Position		  [465, 208, 495, 252]
	  ShowName		  off
	  Inputs		  "[4,1,2]"
	}
	Block {
	  BlockType		  Mux
	  Name			  "Mux3"
	  Ports			  [2, 1]
	  Position		  [375, 73, 405, 117]
	  ShowName		  off
	  Inputs		  "[4,2]"
	}
	Block {
	  BlockType		  Mux
	  Name			  "Mux5"
	  Ports			  [2, 1]
	  Position		  [270, 207, 300, 258]
	  ShowName		  off
	  Inputs		  "2"
	}
	Block {
	  BlockType		  Integrator
	  Name			  "theta"
	  Ports			  [1, 1]
	  Position		  [570, 85, 590, 105]
	  InitialCondition	  "init_cond(1)"
	}
	Block {
	  BlockType		  Integrator
	  Name			  "theta dot"
	  Ports			  [1, 1]
	  Position		  [500, 85, 520, 105]
	  InitialCondition	  "init_cond(2)"
	}
	Block {
	  BlockType		  Integrator
	  Name			  "x"
	  Ports			  [1, 1]
	  Position		  [635, 220, 655, 240]
	  InitialCondition	  "init_cond(3)"
	}
	Block {
	  BlockType		  Integrator
	  Name			  "x dot"
	  Ports			  [1, 1]
	  Position		  [575, 220, 595, 240]
	  InitialCondition	  "init_cond(4)"
	}
	Block {
	  BlockType		  Outport
	  Name			  "out_1"
	  Position		  [735, 85, 755, 105]
	  IconDisplay		  "Port number"
	  InitialOutput		  "0"
	}
	Block {
	  BlockType		  Outport
	  Name			  "out_2"
	  Position		  [740, 125, 760, 145]
	  Port			  "2"
	  IconDisplay		  "Port number"
	  InitialOutput		  "0"
	}
	Block {
	  BlockType		  Outport
	  Name			  "out_3"
	  Position		  [740, 165, 760, 185]
	  Port			  "3"
	  IconDisplay		  "Port number"
	  InitialOutput		  "0"
	}
	Block {
	  BlockType		  Outport
	  Name			  "out_4"
	  Position		  [740, 205, 760, 225]
	  Port			  "4"
	  IconDisplay		  "Port number"
	  InitialOutput		  "0"
	}
	Line {
	  SrcBlock		  "theta"
	  SrcPort		  1
	  Points		  [0, 0]
	  Branch {
	    DstBlock		    "out_1"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [-25, 0; 0, -65; -445, 0; 0, 70]
	    Branch {
	      Points		      [0, 10]
	      DstBlock		      "Fcn5"
	      DstPort		      1
	    }
	    Branch {
	      DstBlock		      "Fcn4"
	      DstPort		      1
	    }
	  }
	}
	Line {
	  SrcBlock		  "Fcn5"
	  SrcPort		  1
	  Points		  [20, 0; 0, -20]
	  DstBlock		  "Mux1"
	  DstPort		  3
	}
	Line {
	  SrcBlock		  "Fcn4"
	  SrcPort		  1
	  Points		  [10, 0; 0, -5]
	  DstBlock		  "Mux1"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "theta dot"
	  SrcPort		  1
	  Points		  [15, 0]
	  Branch {
	    DstBlock		    "theta"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, 40]
	    Branch {
	      DstBlock		      "out_2"
	      DstPort		      1
	    }
	    Branch {
	      Points		      [-305, 0; 0, -30]
	      DstBlock		      "Mux1"
	      DstPort		      4
	    }
	  }