📄 imccascade.mdl
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}
Block {
BlockType Constant
Name "Constant2"
Position [155, 50, 185, 70]
Value "0"
}
Block {
BlockType Switch
Name "Switch"
Position [230, 70, 260, 100]
Threshold "1"
}
Block {
BlockType Switch
Name "Switch1"
Position [190, 165, 220, 195]
Threshold "1"
}
Block {
BlockType Outport
Name "Out2"
Position [285, 78, 315, 92]
Port "1"
OutputWhenDisabled "held"
InitialOutput "0"
}
Block {
BlockType Outport
Name "Out1"
Position [245, 173, 275, 187]
Port "2"
OutputWhenDisabled "held"
InitialOutput "0"
}
Line {
SrcBlock "In"
SrcPort 1
Points [-15, 0]
Branch {
DstBlock "Switch"
DstPort 3
}
Branch {
Points [-40, 0]
DstBlock "Switch1"
DstPort 1
}
}
Line {
SrcBlock "Condition"
SrcPort 1
Points [20, 0]
Branch {
Points [0, 80]
DstBlock "Switch1"
DstPort 2
}
Branch {
Points [0, -15]
DstBlock "Switch"
DstPort 2
}
}
Line {
SrcBlock "Constant1"
SrcPort 1
DstBlock "Switch1"
DstPort 3
}
Line {
SrcBlock "Constant2"
SrcPort 1
Points [25, 0]
DstBlock "Switch"
DstPort 1
}
Line {
SrcBlock "Switch"
SrcPort 1
DstBlock "Out2"
DstPort 1
}
Line {
SrcBlock "Switch1"
SrcPort 1
DstBlock "Out1"
DstPort 1
}
}
}
Block {
BlockType Sum
Name "Sum6"
Ports [2, 1, 0, 0, 0]
Position [240, 75, 260, 95]
IconShape "rectangular"
Inputs "++"
SaturateOnIntegerOverflow on
}
Block {
BlockType Outport
Name "Out1"
Position [285, 78, 315, 92]
Port "1"
OutputWhenDisabled "held"
InitialOutput "[]"
}
Line {
SrcBlock "Mdelay = 0"
SrcPort 1
Points [15, 0]
DstBlock "Mdelay\n> 0"
DstPort 1
}
Line {
SrcBlock "Mdelay\n> 0"
SrcPort 1
Points [15, 0]
DstBlock "Sum6"
DstPort 1
}
Line {
SrcBlock "Mdelay = 0"
SrcPort 2
DstBlock "Sum6"
DstPort 2
}
Line {
SrcBlock "In1"
SrcPort 1
DstBlock "Mdelay = 0"
DstPort 1
}
Line {
SrcBlock "Sum6"
SrcPort 1
DstBlock "Out1"
DstPort 1
}
}
}
Block {
BlockType Sum
Name "Sum5"
Ports [2, 1, 0, 0, 0]
Position [270, 75, 290, 95]
IconShape "rectangular"
Inputs "++"
SaturateOnIntegerOverflow on
}
Block {
BlockType TransferFcn
Name "Transfer Fcn"
Position [105, 102, 180, 138]
Numerator "XnumPs{2,2}"
Denominator "XdenPs{2,2}"
}
Block {
BlockType TransferFcn
Name "Transfer Fcn1"
Position [105, 25, 180, 65]
Numerator "XnumPs{2,1}"
Denominator "XdenPs{2,1}"
}
Block {
BlockType Outport
Name "Out1"
Position [315, 78, 345, 92]
Port "1"
OutputWhenDisabled "held"
InitialOutput "0"
}
Line {
SrcBlock "Transfer Fcn1"
SrcPort 1
DstBlock "Pdelay"
DstPort 1
}
Line {
SrcBlock "Transfer Fcn"
SrcPort 1
DstBlock "Pdelay1"
DstPort 1
}
Line {
SrcBlock "Pdelay"
SrcPort 1
DstBlock "Sum5"
DstPort 1
}
Line {
SrcBlock "Pdelay1"
SrcPort 1
DstBlock "Sum5"
DstPort 2
}
Line {
SrcBlock "In1"
SrcPort 1
Points [15, 0]
Branch {
DstBlock "Transfer Fcn1"
DstPort 1
}
Branch {
DstBlock "Transfer Fcn"
DstPort 1
}
}
Line {
SrcBlock "Sum5"
SrcPort 1
DstBlock "Out1"
DstPort 1
}
}
}
Block {
BlockType Saturate
Name "Saturation"
Position [215, 153, 245, 177]
UpperLimit "Satub"
LowerLimit "Satlb"
}
Block {
BlockType Scope
Name "Scope"
Ports [1, 0, 0, 0, 0]
Position [690, 155, 720, 185]
Floating off
Location [374, 171, 1007, 589]
Open on
NumInputPorts "1"
TickLabels "on"
ZoomMode "on"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
Grid "on"
TimeRange "auto"
YMin "-5"
YMax "5"
SaveToWorkspace off
SaveName "ScopeData"
DataFormat "Matrix"
LimitMaxRows on
MaxRows "5000"
Decimation "1"
SampleInput off
SampleTime "0"
}
Block {
BlockType Scope
Name "Scope1"
Ports [1, 0, 0, 0, 0]
Position [200, 210, 230, 240]
Orientation "left"
Floating off
Location [188, 365, 512, 604]
Open off
NumInputPorts "1"
TickLabels "on"
ZoomMode "on"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
Grid "on"
TimeRange "auto"
YMin "-5"
YMax "5"
SaveToWorkspace off
SaveName "ScopeData"
DataFormat "Matrix"
LimitMaxRows on
MaxRows "5000"
Decimation "1"
SampleInput off
SampleTime "0"
}
Block {
BlockType Step
Name "Step Input"
Position [40, 70, 60, 90]
Orientation "left"
Time "0"
Before "0"
After "Setpoint"
SampleTime "0"
}
Block {
BlockType Step
Name "Step Input1"
Position [335, 60, 355, 80]
Time "0"
Before "0"
After "Disturb"
SampleTime "0"
}
Block {
BlockType Sum
Name "Sum1"
Ports [2, 1, 0, 0, 0]
Position [170, 155, 190, 175]
IconShape "rectangular"
Inputs "+-"
SaturateOnIntegerOverflow on
}
Block {
BlockType Sum
Name "Sum2"
Ports [2, 1, 0, 0, 0]
Position [405, 150, 425, 170]
IconShape "rectangular"
Inputs "++"
SaturateOnIntegerOverflow on
}
Block {
BlockType Sum
Name "Sum3"
Ports [2, 1, 0, 0, 0]
Position [460, 200, 480, 220]
IconShape "rectangular"
Inputs "+-"
SaturateOnIntegerOverflow on
}
Block {
BlockType Sum
Name "Sum4"
Ports [2, 1, 0, 0, 0]
Position [650, 195, 670, 215]
IconShape "rectangular"
Inputs "+-"
SaturateOnIntegerOverflow on
}
Block {
BlockType Sum
Name "Sum5"
Ports [2, 1, 0, 0, 0]
Position [25, 150, 45, 170]
IconShape "rectangular"
Inputs "+-"
SaturateOnIntegerOverflow on
}
Block {
BlockType ToWorkspace
Name "To Workspace"
Position [680, 95, 740, 125]
VariableName "simout"
Buffer "inf"
Decimation "1"
SampleTime "-1"
SaveFormat "Matrix"
}
Block {
BlockType ToWorkspace
Name "To Workspace1"
Position [165, 100, 225, 130]
Orientation "left"
VariableName "effort"
Buffer "inf"
Decimation "1"
SampleTime "-1"
SaveFormat "Matrix"
}
Block {
BlockType TransferFcn
Name "qd\n\n"
Position [335, 263, 390, 307]
Orientation "left"
Numerator "Qdnum"
Denominator "Qdden"
}
Block {
BlockType TransferFcn
Name "qf"
Position [240, 263, 295, 307]
Orientation "left"
Numerator "numCs2"
Denominator "denCs2"
}
Block {
BlockType TransferFcn
Name "qr"
Position [70, 139, 145, 181]
Numerator "numCs"
Denominator "denCs"
}
Line {
SrcBlock "qr"
SrcPort 1
DstBlock "Sum1"
DstPort 1
}
Line {
SrcBlock "Sum3"
SrcPort 1
Points [0, 75]
DstBlock "qd\n\n"
DstPort 1
}
Line {
SrcBlock "qd\n\n"
SrcPort 1
DstBlock "qf"
DstPort 1
}
Line {
SrcBlock "qf"
SrcPort 1
Points [-80, 0]
DstBlock "Sum1"
DstPort 2
}
Line {
SrcBlock "Sum1"
SrcPort 1
DstBlock "Saturation"
DstPort 1
}
Line {
SrcBlock "Multi_tf Model2"
SrcPort 1
Points [65, 0]
DstBlock "Sum3"
DstPort 2
}
Line {
SrcBlock "Saturation"
SrcPort 1
Points [15, 0]
Branch {
DstBlock "Multi_tf Process2"
DstPort 1
}
Branch {
Points [0, 60]
DstBlock "Multi_tf Model2"
DstPort 1
}
Branch {
DstBlock "Scope1"
DstPort 1
}
Branch {
DstBlock "To Workspace1"
DstPort 1
}
}
Line {
SrcBlock "Multi_tf Process2"
SrcPort 1
DstBlock "Sum2"
DstPort 2
}
Line {
SrcBlock "Step Input1"
SrcPort 1
Points [30, 0]
DstBlock "Sum2"
DstPort 1
}
Line {
SrcBlock "Sum2"
SrcPort 1
Points [15, 0]
Branch {
DstBlock "Sum3"
DstPort 1
}
Branch {
Points [55, 0]
Branch {
DstBlock "Multi_tf Process1"
DstPort 1
}
Branch {
Points [0, 65]
DstBlock "Multi_tf Model1"
DstPort 1
}
}
}
Line {
SrcBlock "Multi_tf Model1"
SrcPort 1
Points [20, 0]
DstBlock "Sum4"
DstPort 2
}
Line {
SrcBlock "Multi_tf Process1"
SrcPort 1
Points [20, 0]
Branch {
DstBlock "To Workspace"
DstPort 1
}
Branch {
Points [0, 0]
Branch {
DstBlock "Sum4"
DstPort 1
}
Branch {
DstBlock "Scope"
DstPort 1
}
}
}
Line {
SrcBlock "Sum4"
SrcPort 1
Points [0, 130; -665, 0]
DstBlock "Sum5"
DstPort 2
}
Line {
SrcBlock "Sum5"
SrcPort 1
DstBlock "qr"
DstPort 1
}
Line {
SrcBlock "Step Input"
SrcPort 1
Points [-25, 0]
DstBlock "Sum5"
DstPort 1
}
}
}
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