📄 slcp1.mdl
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}
Line {
SrcBlock "Fcn3"
SrcPort 1
Points [10, 0]
Branch {
DstBlock "theta dot"
DstPort 1
}
Branch {
Points [0, 30; -45, 0; 0, 105]
DstBlock "Mux2"
DstPort 2
}
}
Line {
SrcBlock "Fcn2"
SrcPort 1
DstBlock "x dot"
DstPort 1
}
Line {
SrcBlock "Mux2"
SrcPort 1
DstBlock "Fcn2"
DstPort 1
}
Line {
SrcBlock "x dot"
SrcPort 1
Points [0, 0]
Branch {
DstBlock "x"
DstPort 1
}
Branch {
Points [15, 0; 0, -15]
DstBlock "out_4"
DstPort 1
}
}
Line {
SrcBlock "x"
SrcPort 1
Points [25, 0; 0, -55]
DstBlock "out_3"
DstPort 1
}
Line {
SrcBlock "in_1"
SrcPort 1
DstBlock "Mux1"
DstPort 1
}
Line {
SrcBlock "Mux3"
SrcPort 1
DstBlock "Fcn3"
DstPort 1
}
Line {
SrcBlock "Mux1"
SrcPort 1
Points [10, 0]
Branch {
Points [0, 130]
DstBlock "Mux2"
DstPort 1
}
Branch {
DstBlock "Mux3"
DstPort 1
}
}
Line {
SrcBlock "Gain"
SrcPort 1
DstBlock "Mux5"
DstPort 2
}
Line {
SrcBlock "Mux5"
SrcPort 1
Points [15, 0]
Branch {
Points [0, -130]
DstBlock "Mux3"
DstPort 2
}
Branch {
Points [130, 0]
DstBlock "Mux2"
DstPort 3
}
}
Line {
SrcBlock "in_2"
SrcPort 1
Points [15, 0]
Branch {
DstBlock "Gain"
DstPort 1
}
Branch {
DstBlock "Gain1"
DstPort 1
}
}
Line {
SrcBlock "Gain1"
SrcPort 1
DstBlock "Mux5"
DstPort 1
}
Annotation {
Name "half pole length"
Position [224, 199]
VerticalAlignment "top"
UseDisplayTextAsClickCallback off
}
Annotation {
Name "pole mass"
Position [222, 257]
VerticalAlignment "top"
UseDisplayTextAsClickCallback off
}
}
}
Block {
BlockType Constant
Name "Constant"
Position [121, 155, 139, 175]
Orientation "up"
NamePlacement "alternate"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
}
Block {
BlockType Constant
Name "Constant1"
Position [80, 70, 100, 90]
NamePlacement "alternate"
ShowName off
}
Block {
BlockType SubSystem
Name "Double click\non this for demo.5"
Ports []
Position [30, 362, 171, 395]
DropShadow on
ShowName off
OpenFcn "initcp"
ShowPortLabels off
TreatAsAtomicUnit off
MinAlgLoopOccurrences off
RTWSystemCode "Auto"
MaskHideContents off
MaskDisplay "disp('Variable Initialization')"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
System {
Name "Double click\non this for demo.5"
Location [-10, 380, 117, 533]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "100"
}
}
Block {
BlockType Reference
Name "Fuzzy Logic\nController"
Ports [1, 1]
Position [230, 345, 290, 395]
Orientation "left"
FontName "Arial"
SourceBlock "fuzblock/Fuzzy Logic \nController"
SourceType "FIS"
ShowPortLabels on
fis "fismat"
}
Block {
BlockType Mux
Name "Mux"
Ports [5, 1]
Position [335, 70, 375, 105]
Orientation "up"
ShowName off
Inputs "5"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
}
Block {
BlockType Mux
Name "Mux1"
Ports [5, 1]
Position [320, 342, 360, 398]
Orientation "left"
ShowName off
Inputs "5"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
}
Block {
BlockType Mux
Name "Mux2"
Ports [2, 1]
Position [450, 124, 480, 151]
ShowName off
Inputs "2"
}
Block {
BlockType Scope
Name "Scope"
Ports [1]
Position [500, 127, 520, 153]
ShowName off
Floating off
Location [229, 513, 509, 733]
Open off
NumInputPorts "1"
TickLabels "on"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
TimeRange "10.000000"
YMin "-2.000000"
YMax "2.000000"
DataFormat "Array"
SampleTime "0"
}
Block {
BlockType Sum
Name "Sum"
Ports [2, 1]
Position [405, 255, 425, 275]
Orientation "down"
ShowName off
Inputs "+-"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
}
Block {
BlockType Sum
Name "Sum1"
Ports [2, 1]
Position [160, 65, 180, 85]
ShowName off
}
Block {
BlockType Switch
Name "Switch"
Position [175, 114, 200, 146]
}
Block {
BlockType SignalGenerator
Name "Target Position"
Ports [0, 1]
Position [55, 103, 100, 137]
WaveForm "sawtooth"
Amplitude "1.500000"
Frequency "0.628320"
Units "rad/sec"
}
Block {
BlockType Constant
Name "Target Position\n(Mouse-Driven)"
Position [137, 185, 163, 205]
Orientation "up"
NamePlacement "alternate"
Value "-1.3651"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
}
Block {
BlockType SignalGenerator
Name "Target Position1"
Ports [0, 1]
Position [65, 28, 110, 62]
ShowName off
Amplitude "0.500000"
Frequency "6.000000"
Units "rad/sec"
}
Line {
SrcBlock "Mux1"
SrcPort 1
DstBlock "Fuzzy Logic\nController"
DstPort 1
}
Line {
SrcBlock "Sum"
SrcPort 1
Points [0, 90]
DstBlock "Mux1"
DstPort 3
}
Line {
SrcBlock "Cart & Pole\nDynamics"
SrcPort 2
Points [110, 0; 0, 155]
DstBlock "Mux1"
DstPort 2
}
Line {
SrcBlock "Cart & Pole\nDynamics"
SrcPort 1
Points [15, 0]
Branch {
Points [105, 0; 0, 160]
DstBlock "Mux1"
DstPort 1
}
Branch {
DstBlock "Mux"
DstPort 1
}
}
Line {
SrcBlock "Cart & Pole\nDynamics"
SrcPort 3
Points [25, 0]
Branch {
DstBlock "Mux"
DstPort 2
}
Branch {
Points [65, 0]
Branch {
DstBlock "Sum"
DstPort 1
}
Branch {
Points [0, -75]
DstBlock "Mux2"
DstPort 2
}
}
}
Line {
SrcBlock "Fuzzy Logic\nController"
SrcPort 1
Points [-15, 0; 0, -170; 25, 0]
Branch {
DstBlock "Cart & Pole\nDynamics"
DstPort 1
}
Branch {
Points [0, -80]
DstBlock "Mux"
DstPort 3
}
}
Line {
SrcBlock "Switch"
SrcPort 1
Points [160, 0]
Branch {
DstBlock "Mux"
DstPort 4
}
Branch {
Points [55, 0]
Branch {
DstBlock "Sum"
DstPort 2
}
Branch {
DstBlock "Mux2"
DstPort 1
}
}
}
Line {
SrcBlock "Cart & Pole\nDynamics"
SrcPort 4
Points [80, 0; 0, 145]
DstBlock "Mux1"
DstPort 4
}
Line {
SrcBlock "Mux"
SrcPort 1
Points [0, -15]
DstBlock "Animation"
DstPort 1
}
Line {
SrcBlock "Mux2"
SrcPort 1
DstBlock "Scope"
DstPort 1
}
Line {
SrcBlock "Target Position\n(Mouse-Driven)"
SrcPort 1
Points [0, -40]
DstBlock "Switch"
DstPort 3
}
Line {
SrcBlock "Constant"
SrcPort 1
Points [0, -20]
DstBlock "Switch"
DstPort 2
}
Line {
SrcBlock "Target Position"
SrcPort 1
DstBlock "Switch"
DstPort 1
}
Line {
SrcBlock "Sum1"
SrcPort 1
Points [60, 0; 0, 65]
Branch {
Points [0, 85]
DstBlock "Cart & Pole\nDynamics"
DstPort 2
}
Branch {
Points [130, 0]
Branch {
DstBlock "Mux"
DstPort 5
}
Branch {
Points [15, 0; 0, 250]
DstBlock "Mux1"
DstPort 5
}
}
}
Line {
SrcBlock "Target Position1"
SrcPort 1
Points [10, 0; 0, 25]
DstBlock "Sum1"
DstPort 1
}
Line {
SrcBlock "Constant1"
SrcPort 1
DstBlock "Sum1"
DstPort 2
}
Annotation {
Name "pole\nlength"
Position [202, 52]
VerticalAlignment "top"
UseDisplayTextAsClickCallback off
}
}
}
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