📄 pd_sin.mdl
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Line {
SrcBlock "factor"
SrcPort 1
Points [0, 0; 0, -60]
Branch {
Points [-10, 0; 0, -50]
Branch {
Points [0, -45]
DstBlock "Mux1"
DstPort 2
}
Branch {
DstBlock "Mux2"
DstPort 2
}
}
Branch {
DstBlock "Mux3"
DstPort 2
}
}
Line {
SrcBlock "Mux1"
SrcPort 1
DstBlock "mi11"
DstPort 1
}
Line {
SrcBlock "Mux2"
SrcPort 1
DstBlock "mi12=mi21"
DstPort 1
}
Line {
SrcBlock "Mux3"
SrcPort 1
DstBlock "mi22"
DstPort 1
}
Line {
SrcBlock "mi11"
SrcPort 1
Points [10, 0]
DstBlock "Mux4"
DstPort 1
}
Line {
SrcBlock "mi12=mi21"
SrcPort 1
Points [0, 0; 10, 0]
Branch {
DstBlock "Mux4"
DstPort 3
}
Branch {
DstBlock "Mux4"
DstPort 2
}
}
Line {
SrcBlock "mi22"
SrcPort 1
Points [5, 0]
DstBlock "Mux4"
DstPort 4
}
Line {
SrcBlock "Mux5"
SrcPort 1
Points [30, 0; 0, -25]
DstBlock "cor11"
DstPort 1
}
Line {
SrcBlock "Mux6"
SrcPort 1
Points [5, 0; 0, -20]
DstBlock "cor12"
DstPort 1
}
Line {
SrcBlock "Mux7"
SrcPort 1
Points [35, 0; 0, -25]
DstBlock "cor21"
DstPort 1
}
Line {
SrcBlock "qdot[2]"
SrcPort 1
Points [195, 0; 0, -50]
Branch {
Points [0, -50]
DstBlock "Mux5"
DstPort 2
}
Branch {
DstBlock "Mux6"
DstPort 2
}
}
Line {
SrcBlock "s2"
SrcPort 1
Points [15, 0; 0, 50; 125, 0]
Branch {
DstBlock "Mux5"
DstPort 1
}
Branch {
Points [0, 50]
Branch {
DstBlock "Mux6"
DstPort 1
}
Branch {
Points [0, 60]
DstBlock "Mux7"
DstPort 1
}
}
}
Line {
SrcBlock "qdot[1]"
SrcPort 1
Points [100, 0; 0, 80]
DstBlock "Mux7"
DstPort 2
}
Line {
SrcBlock "cor11"
SrcPort 1
DstBlock "Mux8"
DstPort 1
}
Line {
SrcBlock "cor12"
SrcPort 1
DstBlock "Mux8"
DstPort 2
}
Line {
SrcBlock "cor21"
SrcPort 1
DstBlock "Mux8"
DstPort 3
}
Line {
SrcBlock "cor22"
SrcPort 1
DstBlock "Mux8"
DstPort 4
}
Line {
SrcBlock "Mux4"
SrcPort 1
DstBlock "Mass Inverse Matrix\n"
DstPort 1
}
Line {
SrcBlock "q"
SrcPort 1
DstBlock "q[2]"
DstPort 1
}
Line {
SrcBlock "Mux8"
SrcPort 1
DstBlock "Coriolis/Centrifugal Matrix\n\n"
DstPort 1
}
}
}
Block {
BlockType Outport
Name "q"
Position [710, 63, 740, 77]
IconDisplay "Port number"
BusOutputAsStruct off
}
Block {
BlockType Outport
Name "qd"
Position [605, 13, 635, 27]
Port "2"
IconDisplay "Port number"
BusOutputAsStruct off
}
Line {
SrcBlock "Integrator"
SrcPort 1
Points [0, 0; 40, 0]
Branch {
Points [15, 0]
Branch {
Points [0, 110]
DstBlock "Gravity"
DstPort 1
}
Branch {
DstBlock "q"
DstPort 1
}
}
Branch {
Points [0, 150; -645, 0; 0, -165]
DstBlock "robotdynamicSubsystem"
DstPort 1
}
}
Line {
SrcBlock "Integrator1"
SrcPort 1
Points [0, -5; 15, 0]
Branch {
Points [25, 0]
Branch {
DstBlock "Integrator"
DstPort 1
}
Branch {
Points [0, 130; -355, 0; 0, -35]
Branch {
Points [0, -25]
DstBlock "multiplication"
DstPort 2
}
Branch {
Points [-180, 0; 0, -55]
DstBlock "robotdynamicSubsystem"
DstPort 2
}
}
}
Branch {
Points [0, -50]
DstBlock "qd"
DstPort 1
}
}
Line {
SrcBlock "Gravity"
SrcPort 1
Points [15, 0; 0, 80; -402, 0]
DstBlock "Sum"
DstPort 3
}
Line {
SrcBlock "multiplication1\n"
SrcPort 1
DstBlock "Integrator1"
DstPort 1
}
Line {
SrcBlock "Sum"
SrcPort 1
Points [0, -5]
DstBlock "multiplication1\n"
DstPort 2
}
Line {
SrcBlock "multiplication"
SrcPort 1
Points [0, -35]
DstBlock "Sum"
DstPort 2
}
Line {
SrcBlock "robotdynamicSubsystem"
SrcPort 1
DstBlock "multiplication1\n"
DstPort 1
}
Line {
SrcBlock "robotdynamicSubsystem"
SrcPort 2
DstBlock "multiplication"
DstPort 1
}
Line {
SrcBlock "torque"
SrcPort 1
Points [23, 0]
DstBlock "Sum"
DstPort 1
}
Line {
SrcBlock "Subsystem"
SrcPort 1
Points [5, 0; 0, -35]
DstBlock "Sum"
DstPort 4
}
}
}
Block {
BlockType SubSystem
Name "Robot manipulator with \nrandom disturbance"
Ports [1, 2]
Position [370, 343, 440, 447]
ForegroundColor "red"
BackgroundColor "orange"
MinAlgLoopOccurrences off
RTWSystemCode "Auto"
FunctionWithSeparateData off
MaskHideContents off
System {
Name "Robot manipulator with \nrandom disturbance"
Location [2, 82, 1014, 722]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
TiledPageScale 1
ShowPageBoundaries off
ZoomFactor "100"
Block {
BlockType Inport
Name "torque"
Position [310, 13, 340, 27]
IconDisplay "Port number"
}
Block {
BlockType SubSystem
Name "Gravity"
Ports [1, 1]
Position [710, 150, 750, 210]
MinAlgLoopOccurrences off
RTWSystemCode "Auto"
FunctionWithSeparateData off
MaskHideContents off
System {
Name "Gravity"
Location [408, 246, 753, 417]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
TiledPageScale 1
ShowPageBoundaries off
ZoomFactor "100"
Block {
BlockType Inport
Name "q"
Position [15, 25, 45, 40]
Orientation "down"
IconDisplay "Port number"
}
Block {
BlockType Mux
Name "Mux"
Ports [2, 1]
Position [260, 31, 265, 144]
ShowName off
Inputs "2"
DisplayOption "bar"
}
Block {
BlockType Fcn
Name "gload1"
Position [165, 45, 225, 75]
Expr "30.38*cos(u(1))+2.3*cos(u(1)+u(2))"
}
Block {
BlockType Fcn
Name "gload2"
Position [170, 100, 230, 130]
Expr "22.54*cos(u(1)+u(2))"
}
Block {
BlockType Outport
Name "G"
Position [310, 83, 340, 97]
IconDisplay "Port number"
BusOutputAsStruct off
}
Line {
SrcBlock "gload1"
SrcPort 1
DstBlock "Mux"
DstPort 1
}
Line {
SrcBlock "gload2"
SrcPort 1
DstBlock "Mux"
DstPort 2
}
Line {
SrcBlock "q"
SrcPort 1
Points [10, 0; 0, 15; 90, 0]
Branch {
Points [0, 55]
DstBlock "gload2"
DstPort 1
}
Branch {
DstBlock "gload1"
DstPort 1
}
}
Line {
SrcBlock "Mux"
SrcPort 1
DstBlock "G"
DstPort 1
}
}
}
Block {
BlockType Integrator
Name "Integrator"
Ports [1, 1]
Position [600, 55, 630, 85]
IgnoreLimit on
ZeroCross off
}
Block {
BlockType Integrator
Name "Integrator1"
Ports [1, 1]
Position [510, 59, 540, 91]
IgnoreLimit off
}
Block {
BlockType SubSystem
Name "Subsystem"
Ports [0, 1]
Position [395, 160, 435, 220]
MinAlgLoopOccurrences off
RTWSystemCode "Auto"
FunctionWithSeparateData off
MaskHideContents off
System {
Name "Subsystem"
Location [556, 298, 781, 416]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
TiledPageScale 1
ShowPageBoundaries off
ZoomFactor "100"
Block {
BlockType Mux
Name "Mux"
Ports [2, 1]
Position [140, 26, 145, 64]
ShowName off
Inputs "2"
DisplayOption "bar"
}
Block {
BlockType SignalGenerator
Name "Signal\nGenerator"
Ports [0, 1]
Position [30, 35, 60, 65]
WaveForm "random"
Amplitude "2"
Frequency "pi"
Units "rad/sec"
}
Block {
BlockType SignalGenerator
Name "Signal\nGenerator1"
Ports [0, 1]
Position [80, 50, 110, 80]
WaveForm "random"
Amplitude "2"
Frequency "pi"
Units "rad/sec"
}
Block {
BlockType Outport
Name "Out1"
Position [170, 38, 200, 52]
IconDisplay "Port number"
BusOutputAsStruct off
}
Line {
SrcBlock "Signal\nGenerator"
SrcPort 1
Points [10, 0; 0, -15]
DstBlock "Mux"
DstPort 1
}
Line {
SrcBlock "Signal\nGenerator1"
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