exakt_mimo.mdl

NelinSys_app xiang guan neirong,da jia ke yi can kao yi xia .

Model {
  Name			  "exakt_mimo"
  Version		  2.20
  SimParamPage		  Solver
  SampleTimeColors	  off
  InvariantConstants	  off
  WideVectorLines	  off
  ShowLineWidths	  off
  StartTime		  "0.0"
  StopTime		  "5.0"
  Solver		  ode45
  RelTol		  "1e-3"
  AbsTol		  "1e-6"
  Refine		  "1"
  MaxStep		  "0.1"
  InitialStep		  "auto"
  FixedStep		  "auto"
  MaxOrder		  5
  OutputOption		  RefineOutputTimes
  OutputTimes		  "[]"
  LoadExternalInput	  off
  ExternalInput		  "[t, u]"
  SaveTime		  on
  TimeSaveName		  "tout"
  SaveState		  off
  StateSaveName		  "xout"
  SaveOutput		  on
  OutputSaveName	  "yout"
  LoadInitialState	  off
  InitialState		  "xInitial"
  SaveFinalState	  off
  FinalStateName	  "xFinal"
  LimitMaxRows		  off
  MaxRows		  "1000"
  Decimation		  "1"
  AlgebraicLoopMsg	  warning
  MinStepSizeMsg	  warning
  UnconnectedInputMsg	  warning
  UnconnectedOutputMsg	  warning
  UnconnectedLineMsg	  warning
  ConsistencyChecking	  off
  ZeroCross		  on
  SimulationMode	  normal
  RTWSystemTargetFile	  "grt.tlc"
  RTWInlineParameters	  off
  RTWPlaceOutputsASAP	  off
  RTWRetainRTWFile	  off
  RTWTemplateMakefile	  "grt_default_tmf"
  RTWMakeCommand	  "make_rtw"
  RTWGenerateCodeOnly	  off
  ExtModeMexFile	  "ext_comm"
  ExtModeBatchMode	  off
  CloseFcn		  ";slview('closediagram',bdroot);"
  BlockDefaults {
    Orientation		    right
    ForegroundColor	    black
    BackgroundColor	    white
    DropShadow		    off
    NamePlacement	    normal
    FontName		    "Helvetica"
    FontSize		    10
    FontWeight		    normal
    FontAngle		    normal
    ShowName		    on
  }
  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		    "exakt_mimo"
    Location		    [104, 74, 726, 514]
    Open		    on
    ToolBar		    on
    StatusBar		    on
    ScreenColor		    white
    PaperOrientation	    landscape
    PaperPositionMode	    auto
    PaperType		    usletter
    PaperUnits		    inches
    Block {
      BlockType		      Step
      Name		      " Desired values"
      Position		      [20, 55, 50, 85]
      Orientation	      down
      Time		      "[1 0]"
      Before		      "[0 0]"
      After		      "[2800/9.55 0.26]"
    }
    Block {
      BlockType		      Reference
      Name		      "Controlled system"
      Ports		      [1, 2, 0, 0, 0]
      Position		      [360, 90, 490, 165]
      DropShadow	      on
      SourceBlock	      "NelinSys/Nonlinear Systems Synthesis/Nonlinear "
"MIMO system\n(State-Space model)"
      SourceType	      "Nonlinear MIMO system - state-space model"
      n			      "n"
      F			      ""
      Fp		      "F"
      G			      ""
      Gp		      "G"
      H			      ""
      Hp		      "H"
      pp		      "[0; 0; 1e-9]"
    }
    Block {
      BlockType		      Reference
      Name		      "Linear state-space\ncontroller"
      Ports		      [2, 1, 0, 0, 0]
      Position		      [65, 94, 150, 141]
      DropShadow	      on
      SourceBlock	      "NelinSys/Nonlinear Systems Synthesis/Exact Line"
"arization Blocks/Linear controller\nfor MIMO systems"
      SourceType	      "State-space controller for an integrator-type M"
"IMO system"
      r			      "r"
      nout		      "nout"
      kor		      "[-20 -20 -20]"
      integ		      off
    }
    Block {
      BlockType		      Reference
      Name		      "Nonlinearity\ncompensation"
      Ports		      [2, 1, 0, 0, 0]
      Position		      [210, 109, 285, 151]
      DropShadow	      on
      SourceBlock	      "NelinSys/Nonlinear Systems Synthesis/Exact Line"
"arization Blocks/Linearizing control law\nfor MIMO systems"
      SourceType	      "Linearizing control law for MIMO systems"
      n			      "n"
      nout		      "nout"
      vzorec		      ""
      vzorecP		      "u"
    }
    Block {
      BlockType		      Reference
      Name		      "States transformation"
      Ports		      [1, 1, 0, 0, 0]
      Position		      [400, 295, 460, 325]
      Orientation	      left
      DropShadow	      on
      SourceBlock	      "NelinSys/Nonlinear Systems Synthesis/Exact Line"
"arization Blocks/Coordinates transformation\nfor MIMO systems"
      SourceType	      "Coordinates transformation for MIMO systems"
      n			      "n"
      r			      "r"
      Z			      ""
      Zp		      "qx"
    }
    Block {
      BlockType		      Scope
      Name		      "System\noutput"
      Ports		      [1, 0, 0, 0, 0]
      Position		      [565, 95, 595, 125]
      Floating		      off
      Location		      [5, 30, 805, 583]
      Open		      off
      Grid		      on
      TickLabels	      on
      ZoomMode		      on
      TimeRange		      "auto"
      YMin		      "-5"
      YMax		      "5"
      SaveToWorkspace	      off
      SaveName		      "ScopeData"
      LimitMaxRows	      on
      MaxRows		      "5000"
      Decimation	      "1"
      SampleInput	      off
      SampleTime	      "0"
    }
    Block {
      BlockType		      Scope
      Name		      "System\nstates"
      Ports		      [1, 0, 0, 0, 0]
      Position		      [565, 235, 595, 265]
      Floating		      off
      Location		      [5, 30, 805, 583]
      Open		      off
      Grid		      on
      TickLabels	      on
      ZoomMode		      on
      TimeRange		      "auto"
      YMin		      "-5"
      YMax		      "5"
      SaveToWorkspace	      off
      SaveName		      "ScopeData"
      LimitMaxRows	      on
      MaxRows		      "5000"
      Decimation	      "1"
      SampleInput	      off
      SampleTime	      "0"
    }
    Line {
      SrcBlock		      "Linear state-space\ncontroller"
      SrcPort		      1
      DstBlock		      "Nonlinearity\ncompensation"
      DstPort		      1
    }
    Line {
      SrcBlock		      "States transformation"
      SrcPort		      1
      Points		      [-360, 0; 0, -180]
      DstBlock		      "Linear state-space\ncontroller"
      DstPort		      2
    }
    Line {
      SrcBlock		      " Desired values"
      SrcPort		      1
      Points		      [0, 15]
      DstBlock		      "Linear state-space\ncontroller"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Controlled system"
      SrcPort		      2
      Points		      [40, 0; 0, 105]
      Branch {
	Points			[0, 60]
	DstBlock		"States transformation"
	DstPort			1
      }
      Branch {
	Points			[-370, 0; 0, -110]
	DstBlock		"Nonlinearity\ncompensation"
	DstPort			2
      }
      Branch {
	DstBlock		"System\nstates"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Controlled system"
      SrcPort		      1
      DstBlock		      "System\noutput"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Nonlinearity\ncompensation"
      SrcPort		      1
      DstBlock		      "Controlled system"
      DstPort		      1
    }
    Annotation {
      Position		      [231, 237]
      Text		      "LINEARIZATION LOOP"
    }
    Annotation {
      Position		      [86, 297]
      Text		      "CONTROL LOOP"
    }
    Annotation {
      Position		      [306, 22]
      Text		      "Exact linearization for MIMO systems"
      FontSize		      18
      FontWeight	      bold
      FontAngle		      italic
    }
    Annotation {
      Position		      [311, 42]
      Text		      "Simulation of a control loop designed by ExaktM"
"imo.m application"
      FontSize		      12
    }
    Annotation {
      Position		      [311, 382]
      Text		      "Before running the simulation, it is necessary "
"to check the parameters of all blocks, especially those\nof the linear contro"
"ller, desired values and initial values of state variables of the controlled "
"system."
      FontSize		      12
    }
    Annotation {
      Position		      [316, 417]
      Text		      "It is not recommended to change parameters conn"
"ected with exact linearization or state-space equations."
      FontSize		      12
    }
  }
}