nlksf.mdl

一个simulink中调用m函数的例子

	  Inputs		  "++|"
	  SaturateOnIntegerOverflow on
	}
	Block {
	  BlockType		  Sum
	  Name			  "Sum7"
	  Ports			  [2, 1, 0, 0, 0]
	  Position		  [160, 47, 175, 118]
	  ShowName		  off
	  IconShape		  "rectangular"
	  Inputs		  "+-"
	  SaturateOnIntegerOverflow on
	}
	Block {
	  BlockType		  Constant
	  Name			  "xm0"
	  Position		  [20, 90, 140, 110]
	  Value			  "[zeros(3,1);3;zeros(5,1)]'"
	}
	Block {
	  BlockType		  Outport
	  Name			  "z"
	  Position		  [200, 78, 230, 92]
	  Port			  "1"
	  OutputWhenDisabled	  "held"
	  InitialOutput		  "[]"
	}
	Line {
	  SrcBlock		  "x"
	  SrcPort		  1
	  DstBlock		  "Sum2"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Sum7"
	  SrcPort		  1
	  DstBlock		  "z"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "xm0"
	  SrcPort		  1
	  DstBlock		  "Sum7"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Sum2"
	  SrcPort		  1
	  DstBlock		  "Quantizer"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Quantizer"
	  SrcPort		  1
	  DstBlock		  "Sum7"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Noise"
	  SrcPort		  1
	  Points		  [25, 0]
	  DstBlock		  "Sum2"
	  DstPort		  1
	}
      }
    }
    Block {
      BlockType		      Sum
      Name		      "Sum1"
      Ports		      [2, 1, 0, 0, 0]
      Position		      [490, 54, 510, 116]
      ForegroundColor	      "blue"
      ShowName		      off
      IconShape		      "rectangular"
      Inputs		      "++"
      SaturateOnIntegerOverflow	on
    }
    Block {
      BlockType		      Sum
      Name		      "Sum4"
      Ports		      [2, 1, 0, 0, 0]
      Position		      [40, 270, 60, 290]
      Orientation	      "left"
      ForegroundColor	      "darkGreen"
      ShowName		      off
      IconShape		      "round"
      Inputs		      "|++"
      SaturateOnIntegerOverflow	on
      Port {
	PortNumber		1
	Name			"u"
	TestPoint		off
	RTWStorageClass		"Auto"
      }
    }
    Block {
      BlockType		      Sum
      Name		      "Sum5"
      Ports		      [2, 1, 0, 0, 0]
      Position		      [390, 270, 410, 290]
      Orientation	      "left"
      ForegroundColor	      "darkGreen"
      ShowName		      off
      IconShape		      "round"
      Inputs		      "-+|"
      SaturateOnIntegerOverflow	on
    }
    Block {
      BlockType		      Mux
      Name		      "Track"
      Ports		      [3, 1, 0, 0, 0]
      Position		      [485, 233, 490, 327]
      Orientation	      "left"
      ForegroundColor	      "darkGreen"
      BackgroundColor	      "darkGreen"
      Inputs		      "3"
      DisplayOption	      "bar"
    }
    Block {
      BlockType		      MATLABFcn
      Name		      "Vxdot"
      Position		      [215, 130, 275, 160]
      MATLABFcn		      "vxdot"
      OutputWidth	      "12"
      OutputSignalType	      "real"
    }
    Block {
      BlockType		      Step
      Name		      "pitch"
      Position		      [560, 272, 585, 288]
      Orientation	      "left"
      ForegroundColor	      "red"
      Time		      "10"
      Before		      "0"
      After		      "0.1"
      SampleTime	      ".1"
    }
    Block {
      BlockType		      Step
      Name		      "roll"
      Position		      [560, 242, 585, 258]
      Orientation	      "left"
      ForegroundColor	      "red"
      Time		      "15"
      Before		      "0"
      After		      "0.1"
      SampleTime	      ".1"
    }
    Block {
      BlockType		      Selector
      Name		      "rpy & vel"
      Position		      [345, 131, 390, 159]
      NamePlacement	      "alternate"
      Elements		      "[4:12]"
      InputPortWidth	      "12"
    }
    Block {
      BlockType		      Mux
      Name		      "xu"
      Ports		      [2, 1, 0, 0, 0]
      Position		      [195, 126, 200, 159]
      Inputs		      "[12 26]"
      DisplayOption	      "bar"
    }
    Block {
      BlockType		      Step
      Name		      "yaw"
      Position		      [560, 302, 585, 318]
      Orientation	      "left"
      ForegroundColor	      "red"
      Time		      "5"
      Before		      "0"
      After		      "0.1"
      SampleTime	      ".1"
    }
    Line {
      SrcBlock		      "Current"
      SrcPort		      1
      DstBlock		      "Input"
      DstPort		      4
    }
    Line {
      SrcBlock		      "F_b"
      SrcPort		      1
      DstBlock		      "Input"
      DstPort		      2
    }
    Line {
      SrcBlock		      "F_e"
      SrcPort		      1
      DstBlock		      "Input"
      DstPort		      3
    }
    Line {
      SrcBlock		      "Actuators"
      SrcPort		      1
      DstBlock		      "Input"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Input"
      SrcPort		      1
      DstBlock		      "xu"
      DstPort		      2
    }
    Line {
      SrcBlock		      "xu"
      SrcPort		      1
      DstBlock		      "Vxdot"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Vxdot"
      SrcPort		      1
      DstBlock		      "Integrator"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Integrator"
      SrcPort		      1
      Points		      [5, 0]
      Branch {
	Points			[0, -35; -150, 0]
	DstBlock		"xu"
	DstPort			1
      }
      Branch {
	DstBlock		"rpy & vel"
	DstPort			1
      }
    }
    Line {
      Name		      "u"
      Labels		      [0, 0]
      SrcBlock		      "Sum4"
      SrcPort		      1
      Points		      [-25, 0; 0, -170]
      Branch {
	Points			[0, -40]
	Branch {
	  Labels		  [1, 0]
	  DstBlock		  "Output2"
	  DstPort		  1
	}
	Branch {
	  Points		  [0, -35]
	  DstBlock		  "Scope2"
	  DstPort		  1
	}
      }
      Branch {
	DstBlock		"Actuators"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Sensors"
      SrcPort		      1
      DstBlock		      "IIR2"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Lint1"
      SrcPort		      1
      DstBlock		      "Track"
      DstPort		      1
    }
    Line {
      SrcBlock		      "IIR2"
      SrcPort		      1
      DstBlock		      "Sum5"
      DstPort		      1
    }
    Line {
      SrcBlock		      "rpy & vel"
      SrcPort		      1
      Points		      [5, 0]
      Branch {
	DstBlock		"Sensors"
	DstPort			1
      }
      Branch {
	DstBlock		"Scope1"
	DstPort			1
      }
      Branch {
	Points			[0, -45]
	DstBlock		"Output"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Sum1"
      SrcPort		      1
      DstBlock		      "Scope"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Output2"
      SrcPort		      1
      DstBlock		      "Sum1"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Output"
      SrcPort		      1
      DstBlock		      "Sum1"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Output4"
      SrcPort		      1
      DstBlock		      "Sum4"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Output1"
      SrcPort		      1
      Points		      [-20, 0]
      DstBlock		      "Sum4"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Sum5"
      SrcPort		      1
      DstBlock		      "Output4"
      DstPort		      1
    }
    Line {
      Labels		      [1, 0]
      SrcBlock		      "pitch"
      SrcPort		      1
      DstBlock		      "Lint2"
      DstPort		      1
    }
    Line {
      SrcBlock		      "yaw"
      SrcPort		      1
      DstBlock		      "Lint3"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Lint2"
      SrcPort		      1
      DstBlock		      "Track"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Lint3"
      SrcPort		      1
      DstBlock		      "Track"
      DstPort		      3
    }
    Line {
      SrcBlock		      "Output3"
      SrcPort		      1
      DstBlock		      "Sum5"
      DstPort		      2
    }
    Line {
      SrcBlock		      "roll"
      SrcPort		      1
      DstBlock		      "Lint1"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Track"
      SrcPort		      1
      Points		      [-10, 0]
      Branch {
	DstBlock		"Output3"
	DstPort			1
      }
      Branch {
	Points			[0, 40]
	DstBlock		"Output1"
	DstPort			1
      }
    }
    Annotation {
      Position		      [28, 160]
      Text		      "F_e"
    }
    Annotation {
      Position		      [30, 136]
      Text		      "F_b"
    }
  }
}