📄 imc2df2.mdl
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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 "Pdelay = 0"
SrcPort 1
Points [15, 0]
DstBlock "Pdelay\n> 0"
DstPort 1
}
Line {
SrcBlock "Pdelay\n> 0"
SrcPort 1
Points [15, 0]
DstBlock "Sum6"
DstPort 1
}
Line {
SrcBlock "Pdelay = 0"
SrcPort 2
DstBlock "Sum6"
DstPort 2
}
Line {
SrcBlock "In1"
SrcPort 1
DstBlock "Pdelay = 0"
DstPort 1
}
Line {
SrcBlock "Sum6"
SrcPort 1
DstBlock "Out1"
DstPort 1
}
}
}
Block {
BlockType Sum
Name "Sum5"
Ports [2, 1, 0, 0, 0]
Position [275, 75, 295, 95]
IconShape "rectangular"
Inputs "++"
SaturateOnIntegerOverflow on
}
Block {
BlockType TransferFcn
Name "Transfer Fcn"
Position [105, 102, 180, 138]
Numerator "XnumPs{2}"
Denominator "XdenPs{2}"
}
Block {
BlockType TransferFcn
Name "Transfer Fcn1"
Position [105, 25, 180, 65]
Numerator "XnumPs{1}"
Denominator "XdenPs{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 "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
}
Line {
SrcBlock "Pdelay"
SrcPort 1
DstBlock "Sum5"
DstPort 1
}
Line {
SrcBlock "Pdelay1"
SrcPort 1
DstBlock "Sum5"
DstPort 2
}
}
}
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 [520, 155, 550, 185]
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 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 [100, 35, 120, 55]
Orientation "left"
Time "0"
Before "0"
After "Setpoint"
SampleTime "0"
}
Block {
BlockType Step
Name "Step Input1"
Position [160, 30, 180, 50]
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 [435, 145, 455, 165]
IconShape "rectangular"
Inputs "++"
SaturateOnIntegerOverflow on
}
Block {
BlockType Sum
Name "Sum3"
Ports [2, 1, 0, 0, 0]
Position [485, 205, 505, 225]
IconShape "rectangular"
Inputs "+-"
SaturateOnIntegerOverflow on
}
Block {
BlockType Sum
Name "Sum6"
Ports [2, 1, 0, 0, 0]
Position [290, 150, 310, 170]
IconShape "rectangular"
Inputs "++"
SaturateOnIntegerOverflow on
}
Block {
BlockType ToWorkspace
Name "To Workspace"
Position [505, 100, 565, 130]
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 "Transfer Fcn3"
Position [345, 70, 395, 110]
Numerator "numPd"
Denominator "denPd"
}
Block {
BlockType SubSystem
Name "conditinal switch"
Description "pass input signal through out1 if condition is "
"true."
Ports [1, 2, 0, 0, 0]
Position [205, 20, 255, 60]
ShowPortLabels on
System {
Name "conditinal switch"
Location [397, 221, 811, 514]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "100"
AutoZoom on
Block {
BlockType Inport
Name "In"
Position [235, 133, 265, 147]
Orientation "left"
Port "1"
PortWidth "-1"
SampleTime "-1"
DataType "auto"
SignalType "auto"
Interpolate on
}
Block {
BlockType Constant
Name "Condition"
Position [60, 80, 130, 120]
Value "d_through_p"
}
Block {
BlockType Constant
Name "Constant1"
Position [115, 180, 145, 200]
Value "0"
}
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 TransferFcn
Name "qd\n\n"
Position [335, 288, 390, 332]
Orientation "left"
Numerator "qdnum"
Denominator "qdden"
}
Block {
BlockType TransferFcn
Name "qf"
Position [240, 288, 295, 332]
Orientation "left"
Numerator "numCs2"
Denominator "denCs2"
}
Block {
BlockType TransferFcn
Name "qr"
Position [60, 139, 135, 181]
Numerator "numCs"
Denominator "denCs"
}
Line {
SrcBlock "Step Input"
SrcPort 1
Points [-50, 0]
DstBlock "qr"
DstPort 1
}
Line {
SrcBlock "qr"
SrcPort 1
DstBlock "Sum1"
DstPort 1
}
Line {
SrcBlock "Sum3"
SrcPort 1
Points [0, 95]
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 Model"
SrcPort 1
Points [55, 0]
DstBlock "Sum3"
DstPort 2
}
Line {
SrcBlock "Saturation"
SrcPort 1
Points [15, 0]
Branch {
DstBlock "Sum6"
DstPort 2
}
Branch {
Points [0, 65]
DstBlock "Multi_tf Model"
DstPort 1
}
Branch {
DstBlock "Scope1"
DstPort 1
}
Branch {
DstBlock "To Workspace1"
DstPort 1
}
}
Line {
SrcBlock "conditinal switch"
SrcPort 2
Points [15, 0]
DstBlock "Sum6"
DstPort 1
}
Line {
SrcBlock "conditinal switch"
SrcPort 1
Points [70, 0]
DstBlock "Transfer Fcn3"
DstPort 1
}
Line {
SrcBlock "Step Input1"
SrcPort 1
DstBlock "conditinal switch"
DstPort 1
}
Line {
SrcBlock "Sum6"
SrcPort 1
DstBlock "Multi_tf Process"
DstPort 1
}
Line {
SrcBlock "Multi_tf Process"
SrcPort 1
DstBlock "Sum2"
DstPort 2
}
Line {
SrcBlock "Transfer Fcn3"
SrcPort 1
Points [20, 0]
DstBlock "Sum2"
DstPort 1
}
Line {
SrcBlock "Sum2"
SrcPort 1
Points [10, 0]
Branch {
DstBlock "Sum3"
DstPort 1
}
Branch {
DstBlock "To Workspace"
DstPort 1
}
Branch {
DstBlock "Scope"
DstPort 1
}
}
}
}
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