📄 feedback_est3.mdl
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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 Integrator
ExternalReset "none"
InitialConditionSource "internal"
InitialCondition "0"
LimitOutput off
UpperSaturationLimit "inf"
LowerSaturationLimit "-inf"
ShowSaturationPort off
ShowStatePort off
AbsoluteTolerance "auto"
ZeroCross on
}
Block {
BlockType Scope
Floating off
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 "0"
}
Block {
BlockType StateSpace
A "1"
B "1"
C "1"
D "1"
X0 "0"
AbsoluteTolerance "auto"
Realization "auto"
}
Block {
BlockType Step
Time "1"
Before "0"
After "1"
SampleTime "-1"
VectorParams1D on
ZeroCross on
}
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"
}
}
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 "feedback_est3"
Location [2, 78, 1022, 717]
Open on
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "A4"
PaperUnits "centimeters"
ZoomFactor "100"
ReportName "simulink-default.rpt"
Block {
BlockType Sum
Name "Add"
Ports [3, 1]
Position [265, 310, 310, 360]
Orientation "left"
NamePlacement "alternate"
Inputs "+++"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
OutScaling "2^-10"
SaturateOnIntegerOverflow off
}
Block {
BlockType Sum
Name "Add1"
Ports [2, 1]
Position [115, 127, 145, 158]
Inputs "-+"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
OutScaling "2^-10"
SaturateOnIntegerOverflow off
}
Block {
BlockType Sum
Name "Add2"
Ports [2, 1]
Position [415, 275, 455, 305]
Orientation "down"
NamePlacement "alternate"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
OutScaling "2^-10"
SaturateOnIntegerOverflow off
}
Block {
BlockType Demux
Name "Demux"
Ports [1, 3]
Position [416, 235, 454, 240]
Orientation "down"
BackgroundColor "black"
NamePlacement "alternate"
ShowName off
Outputs "3"
DisplayOption "bar"
}
Block {
BlockType Gain
Name "F"
Position [190, 356, 230, 394]
Gain "inv(T)*F*T-b*k"
Multiplication "Matrix(K*u) (u vector)"
ParameterDataTypeMode "Inherit via internal rule"
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Integrator
Name "Integrator"
Ports [1, 1]
Position [190, 320, 220, 350]
Orientation "left"
NamePlacement "alternate"
}
Block {
BlockType Scope
Name "Scope"
Ports [1]
Position [475, 129, 505, 161]
Location [5, 54, 1029, 741]
Open off
NumInputPorts "1"
ZoomMode "xonly"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
DataFormat "StructureWithTime"
LimitDataPoints off
}
Block {
BlockType Scope
Name "Scope1"
Ports [1]
Position [115, 444, 145, 476]
Location [5, 54, 1029, 741]
Open off
NumInputPorts "1"
ZoomMode "xonly"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
SaveName "ScopeData1"
DataFormat "StructureWithTime"
LimitDataPoints off
}
Block {
BlockType Scope
Name "Scope2"
Ports [1]
Position [520, 239, 550, 271]
Location [5, 54, 1029, 741]
Open off
NumInputPorts "1"
ZoomMode "xonly"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
SaveName "ScopeData2"
DataFormat "StructureWithTime"
LimitDataPoints off
}
Block {
BlockType Scope
Name "Scope3"
Ports [1]
Position [520, 334, 550, 366]
Location [5, 54, 1029, 741]
Open off
NumInputPorts "1"
ZoomMode "xonly"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
SaveName "ScopeData3"
DataFormat "StructureWithTime"
LimitDataPoints off
}
Block {
BlockType StateSpace
Name "State-Space"
Position [195, 128, 255, 162]
A "A"
B "b"
C "[1 0 0; 0 1 0; 0 0 1]"
D "[0;0;0]"
Port {
PortNumber 1
Name "y"
RTWStorageClass "Auto"
DataLoggingNameMode "SignalName"
ShowSigGenPortName on
}
}
Block {
BlockType Step
Name "Step r"
Position [15, 135, 45, 165]
SampleTime "0"
}
Block {
BlockType Gain
Name "br"
Position [185, 201, 225, 239]
Gain "b"
Multiplication "Matrix(K*u)"
ParameterDataTypeMode "Inherit via internal rule"
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Gain
Name "k*x_est"
Position [185, 66, 225, 104]
Orientation "left"
NamePlacement "alternate"
Gain "k"
Multiplication "Matrix(K*u)"
ParameterDataTypeMode "Inherit via internal rule"
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Gain
Name "ly"
Position [360, 316, 400, 354]
Orientation "left"
NamePlacement "alternate"
Gain "inv(T)*l"
Multiplication "Matrix(K*u)"
ParameterDataTypeMode "Inherit via internal rule"
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Line {
Name "y"
Labels [0, 0]
SrcBlock "State-Space"
SrcPort 1
Points [35, 0]
Branch {
Points [0, -60]
DstBlock "k*x_est"
DstPort 1
}
Branch {
Labels [1, 0]
Points [140, 0]
Branch {
DstBlock "Scope"
DstPort 1
}
Branch {
DstBlock "Demux"
DstPort 1
}
}
}
Line {
SrcBlock "Integrator"
SrcPort 1
Points [-55, 0; 0, 40]
Branch {
DstBlock "F"
DstPort 1
}
Branch {
Points [-30, 0]
DstBlock "Scope1"
DstPort 1
}
}
Line {
SrcBlock "Add"
SrcPort 1
DstBlock "Integrator"
DstPort 1
}
Line {
SrcBlock "F"
SrcPort 1
Points [100, 0; 0, -25]
DstBlock "Add"
DstPort 3
}
Line {
SrcBlock "br"
SrcPort 1
Points [105, 0; 0, 100]
DstBlock "Add"
DstPort 1
}
Line {
SrcBlock "ly"
SrcPort 1
DstBlock "Add"
DstPort 2
}
Line {
SrcBlock "Add1"
SrcPort 1
DstBlock "State-Space"
DstPort 1
}
Line {
SrcBlock "Step r"
SrcPort 1
Points [20, 0]
Branch {
Points [0, 70]
DstBlock "br"
DstPort 1
}
Branch {
Points [0, 0]
DstBlock "Add1"
DstPort 2
}
}
Line {
SrcBlock "k*x_est"
SrcPort 1
Points [-90, 0; 0, 50]
DstBlock "Add1"
DstPort 1
}
Line {
SrcBlock "Demux"
SrcPort 1
Points [0, 10]
Branch {
DstBlock "Add2"
DstPort 1
}
Branch {
DstBlock "Scope2"
DstPort 1
}
}
Line {
SrcBlock "Demux"
SrcPort 3
DstBlock "Add2"
DstPort 2
}
Line {
SrcBlock "Add2"
SrcPort 1
Points [0, 25]
Branch {
DstBlock "ly"
DstPort 1
}
Branch {
Points [0, 15]
DstBlock "Scope3"
DstPort 1
}
}
Annotation {
Name "r-kx_est"
Position [167, 121]
}
}
}
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