📄 nlksf.mdl
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A "A"
B "B"
C "C"
D "D"
X0 "x0"
SampleTime "T"
}
Block {
BlockType Outport
Name "Out"
Position [275, 43, 305, 57]
Port "1"
OutputWhenDisabled "held"
InitialOutput "[]"
}
Line {
SrcBlock "In"
SrcPort 1
DstBlock "Discrete State-Space"
DstPort 1
}
Line {
SrcBlock "Discrete State-Space"
SrcPort 1
DstBlock "Out"
DstPort 1
}
}
}
Block {
BlockType Mux
Name "Input"
Ports [4, 1, 0, 0, 0]
Position [165, 98, 170, 197]
Inputs "[8 6 6 6]"
DisplayOption "bar"
}
Block {
BlockType Integrator
Name "Integrator"
Ports [1, 1, 0, 0, 0]
Position [295, 133, 320, 157]
ShowName off
ExternalReset "none"
InitialConditionSource "internal"
InitialCondition "[zeros(6,1);3;zeros(5,1)]"
LimitOutput off
UpperSaturationLimit "inf"
LowerSaturationLimit "-inf"
ShowSaturationPort off
ShowStatePort off
AbsoluteTolerance "auto"
}
Block {
BlockType Integrator
Name "Lint1"
Ports [1, 1, 0, 0, 0]
Position [510, 242, 540, 258]
Orientation "left"
ForegroundColor "red"
ExternalReset "none"
InitialConditionSource "internal"
InitialCondition "0"
LimitOutput on
UpperSaturationLimit "h"
LowerSaturationLimit "-h"
ShowSaturationPort off
ShowStatePort off
AbsoluteTolerance "auto"
}
Block {
BlockType Integrator
Name "Lint2"
Ports [1, 1, 0, 0, 0]
Position [510, 272, 540, 288]
Orientation "left"
ForegroundColor "red"
ExternalReset "none"
InitialConditionSource "internal"
InitialCondition "0"
LimitOutput on
UpperSaturationLimit "h"
LowerSaturationLimit "-h"
ShowSaturationPort off
ShowStatePort off
AbsoluteTolerance "auto"
}
Block {
BlockType Integrator
Name "Lint3"
Ports [1, 1, 0, 0, 0]
Position [510, 302, 540, 318]
Orientation "left"
ForegroundColor "red"
ExternalReset "none"
InitialConditionSource "internal"
InitialCondition "0"
LimitOutput on
UpperSaturationLimit "h"
LowerSaturationLimit "-h"
ShowSaturationPort off
ShowStatePort off
AbsoluteTolerance "auto"
}
Block {
BlockType StateSpace
Name "Output"
Position [445, 86, 470, 114]
ForegroundColor "blue"
ShowName off
A "[]"
B "[]"
C "[]"
D "K"
X0 "0"
MaskType "Matrix Gain"
MaskDescription "Matrix Gain."
MaskHelp "Multiplies input vector by entered matrix to pr"
"oduce output vector (y=Au)."
MaskPromptString "Gain matrix:"
MaskStyleString "edit"
MaskTunableValueString "on"
MaskEnableString "on"
MaskVisibilityString "on"
MaskInitialization "K = @1;"
MaskDisplay "disp('C')"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
MaskValueString "c"
}
Block {
BlockType StateSpace
Name "Output1"
Position [75, 306, 100, 334]
Orientation "left"
ForegroundColor "darkGreen"
ShowName off
A "[]"
B "[]"
C "[]"
D "K"
X0 "0"
MaskType "Matrix Gain"
MaskDescription "Matrix Gain."
MaskHelp "Multiplies input vector by entered matrix to pr"
"oduce output vector (y=Au)."
MaskPromptString "Gain matrix:"
MaskStyleString "edit"
MaskTunableValueString "on"
MaskEnableString "on"
MaskVisibilityString "on"
MaskInitialization "K = @1;"
MaskDisplay "disp('Kf2')"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
MaskValueString "pinv(d-c*pinv(a)*b)"
}
Block {
BlockType StateSpace
Name "Output2"
Position [445, 56, 470, 84]
ForegroundColor "blue"
ShowName off
A "[]"
B "[]"
C "[]"
D "K"
X0 "0"
MaskType "Matrix Gain"
MaskDescription "Matrix Gain."
MaskHelp "Multiplies input vector by entered matrix to pr"
"oduce output vector (y=Au)."
MaskPromptString "Gain matrix:"
MaskStyleString "edit"
MaskTunableValueString "on"
MaskEnableString "on"
MaskVisibilityString "on"
MaskInitialization "K = @1;"
MaskDisplay "disp('D')"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
MaskValueString "d"
}
Block {
BlockType StateSpace
Name "Output3"
Position [430, 266, 455, 294]
Orientation "left"
ForegroundColor "darkGreen"
ShowName off
A "[]"
B "[]"
C "[]"
D "K"
X0 "0"
MaskType "Matrix Gain"
MaskDescription "Matrix Gain."
MaskHelp "Multiplies input vector by entered matrix to pr"
"oduce output vector (y=Au)."
MaskPromptString "Gain matrix:"
MaskStyleString "edit"
MaskTunableValueString "on"
MaskEnableString "on"
MaskVisibilityString "on"
MaskInitialization "K = @1;"
MaskDisplay "disp('Kf1')"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
MaskValueString "eye(9,3)"
}
Block {
BlockType StateSpace
Name "Output4"
Position [145, 266, 170, 294]
Orientation "left"
ForegroundColor "darkGreen"
ShowName off
A "[]"
B "[]"
C "[]"
D "K"
X0 "0"
MaskType "Matrix Gain"
MaskDescription "Matrix Gain."
MaskHelp "Multiplies input vector by entered matrix to pr"
"oduce output vector (y=Au)."
MaskPromptString "Gain matrix:"
MaskStyleString "edit"
MaskTunableValueString "on"
MaskEnableString "on"
MaskVisibilityString "on"
MaskInitialization "K = @1;"
MaskDisplay "disp('K')"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
MaskValueString "K"
}
Block {
BlockType Scope
Name "Scope"
Ports [1, 0, 0, 0, 0]
Position [535, 74, 585, 96]
ForegroundColor "blue"
Floating off
Location [499, 58, 729, 205]
Open on
NumInputPorts "1"
TickLabels "off"
ZoomMode "on"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
Grid "on"
TimeRange "40"
YMin "-1"
YMax "1"
SaveToWorkspace on
SaveName "y"
DataFormat "Structure"
LimitMaxRows on
MaxRows "5000"
Decimation "1"
SampleInput off
SampleTime "0"
}
Block {
BlockType Scope
Name "Scope1"
Ports [1, 0, 0, 0, 0]
Position [535, 134, 585, 156]
ForegroundColor "blue"
Floating off
Location [260, 58, 489, 205]
Open on
NumInputPorts "1"
TickLabels "off"
ZoomMode "on"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
Grid "on"
TimeRange "40"
YMin "-1"
YMax "1"
SaveToWorkspace on
SaveName "x"
DataFormat "Structure"
LimitMaxRows on
MaxRows "5000"
Decimation "1"
SampleInput off
SampleTime "0"
}
Block {
BlockType Scope
Name "Scope2"
Ports [1, 0, 0, 0, 0]
Position [35, 24, 85, 46]
ForegroundColor "blue"
Floating off
Location [19, 58, 248, 204]
Open on
NumInputPorts "1"
TickLabels "off"
ZoomMode "on"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
Grid "on"
TimeRange "40"
YMin "-1"
YMax "1"
SaveToWorkspace on
SaveName "u"
DataFormat "Structure"
LimitMaxRows on
MaxRows "5000"
Decimation "1"
SampleInput off
SampleTime "0"
}
Block {
BlockType SubSystem
Name "Sensors"
Ports [1, 1, 0, 0, 0]
Position [360, 175, 440, 195]
Orientation "down"
ForegroundColor "darkGreen"
ShowPortLabels on
System {
Name "Sensors"
Location [398, 131, 675, 276]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "automatic"
PaperOrientation "portrait"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "100"
AutoZoom on
Block {
BlockType Inport
Name "x"
Position [20, 58, 50, 72]
Port "1"
PortWidth "-1"
SampleTime "-1"
DataType "auto"
SignalType "auto"
Interpolate on
}
Block {
BlockType Reference
Name "Noise"
Ports [0, 1, 0, 0, 0]
Position [20, 26, 50, 44]
NamePlacement "alternate"
SourceBlock "simulink3/Sources/Band-Limited\nWhite Noise"
SourceType "Continuous White Noise."
Cov "1e-6*ones(1,9)"
Ts "0.025"
seed "1:9"
}
Block {
BlockType Quantizer
Name "Quantizer"
Position [110, 50, 140, 80]
NamePlacement "alternate"
QuantizationInterval "0.01"
}
Block {
BlockType Sum
Name "Sum2"
Ports [2, 1, 0, 0, 0]
Position [70, 55, 90, 75]
ShowName off
IconShape "round"
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