📄 mimo_lib.mdl
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Library {
Name "MIMO_lib"
Version 3.00
BlockDataTips off
BlockParametersDataTip off
BlockAttributesDataTip off
BlockPortWidthsDataTip off
BlockDescriptionStringDataTip off
BlockMaskParametersDataTip off
ToolBar off
StatusBar off
BrowserShowLibraryLinks off
BrowserLookUnderMasks off
Created "Tue Jan 22 02:00:34 2002"
UpdateHistory "UpdateHistoryNever"
ModifiedByFormat "%<Auto>"
LastModifiedBy "tom1"
ModifiedDateFormat "%<Auto>"
LastModifiedDate "Mon Feb 10 17:55:05 2003"
ModelVersionFormat "1.%<AutoIncrement:87>"
ConfigurationManager "none"
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 "MIMO_lib"
Location [416, 324, 984, 825]
Open on
ModelBrowserVisibility off
ModelBrowserWidth 212
ScreenColor "automatic"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "100"
AutoZoom on
ReportName "simulink-default.rpt"
Block {
BlockType SubSystem
Name "1_input_state"
Ports [1, 1, 0, 0, 0]
Position [135, 119, 175, 151]
ShowPortLabels on
MaskType "SISO_MSF"
MaskDescription "The SISO_MSF block produce, from the input u, a"
" state vector of signal [ ... x''', x'' , x' , x ] to be used further by the"
" K(s) block."
MaskHelp "Put down the vector coef. of D(s)."
MaskPromptString "D(s) :"
MaskStyleString "edit"
MaskTunableValueString "on"
MaskEnableString "on"
MaskVisibilityString "on"
MaskVariables "Ds=@1;"
MaskDisplay "disp('1/D(s)')"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
System {
Name "1_input_state"
Location [214, 183, 1093, 580]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "automatic"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "100"
AutoZoom on
Block {
BlockType Inport
Name "In1"
Position [60, 63, 90, 77]
Port "1"
PortWidth "-1"
SampleTime "-1"
DataType "auto"
SignalType "auto"
Interpolate on
}
Block {
BlockType Gain
Name "Gain"
Position [185, 97, 210, 123]
Gain "1/Ds(1)"
SaturateOnIntegerOverflow on
}
Block {
BlockType Integrator
Name "Integrator10"
Ports [1, 1, 0, 0, 0]
Position [660, 100, 680, 120]
ExternalReset "none"
InitialConditionSource "internal"
InitialCondition "0"
LimitOutput off
UpperSaturationLimit "inf"
LowerSaturationLimit "-inf"
ShowSaturationPort off
ShowStatePort off
AbsoluteTolerance "auto"
}
Block {
BlockType Integrator
Name "Integrator11"
Ports [1, 1, 0, 0, 0]
Position [705, 100, 725, 120]
ExternalReset "none"
InitialConditionSource "internal"
InitialCondition "0"
LimitOutput off
UpperSaturationLimit "inf"
LowerSaturationLimit "-inf"
ShowSaturationPort off
ShowStatePort off
AbsoluteTolerance "auto"
}
Block {
BlockType Integrator
Name "Integrator12"
Ports [1, 1, 0, 0, 0]
Position [750, 100, 770, 120]
ExternalReset "none"
InitialConditionSource "internal"
InitialCondition "0"
LimitOutput off
UpperSaturationLimit "inf"
LowerSaturationLimit "-inf"
ShowSaturationPort off
ShowStatePort off
AbsoluteTolerance "auto"
}
Block {
BlockType Integrator
Name "Integrator3"
Ports [1, 1, 0, 0, 0]
Position [390, 100, 410, 120]
ExternalReset "none"
InitialConditionSource "internal"
InitialCondition "0"
LimitOutput off
UpperSaturationLimit "inf"
LowerSaturationLimit "-inf"
ShowSaturationPort off
ShowStatePort off
AbsoluteTolerance "auto"
}
Block {
BlockType Integrator
Name "Integrator4"
Ports [1, 1, 0, 0, 0]
Position [445, 100, 465, 120]
ExternalReset "none"
InitialConditionSource "internal"
InitialCondition "0"
LimitOutput off
UpperSaturationLimit "inf"
LowerSaturationLimit "-inf"
ShowSaturationPort off
ShowStatePort off
AbsoluteTolerance "auto"
}
Block {
BlockType Integrator
Name "Integrator5"
Ports [1, 1, 0, 0, 0]
Position [500, 100, 520, 120]
ExternalReset "none"
InitialConditionSource "internal"
InitialCondition "0"
LimitOutput off
UpperSaturationLimit "inf"
LowerSaturationLimit "-inf"
ShowSaturationPort off
ShowStatePort off
AbsoluteTolerance "auto"
}
Block {
BlockType Integrator
Name "Integrator6"
Ports [1, 1, 0, 0, 0]
Position [555, 100, 575, 120]
ExternalReset "none"
InitialConditionSource "internal"
InitialCondition "0"
LimitOutput off
UpperSaturationLimit "inf"
LowerSaturationLimit "-inf"
ShowSaturationPort off
ShowStatePort off
AbsoluteTolerance "auto"
}
Block {
BlockType Integrator
Name "Integrator7"
Ports [1, 1, 0, 0, 0]
Position [335, 100, 355, 120]
ExternalReset "none"
InitialConditionSource "internal"
InitialCondition "0"
LimitOutput off
UpperSaturationLimit "inf"
LowerSaturationLimit "-inf"
ShowSaturationPort off
ShowStatePort off
AbsoluteTolerance "auto"
}
Block {
BlockType Integrator
Name "Integrator8"
Ports [1, 1, 0, 0, 0]
Position [280, 100, 300, 120]
ExternalReset "none"
InitialConditionSource "internal"
InitialCondition "0"
LimitOutput off
UpperSaturationLimit "inf"
LowerSaturationLimit "-inf"
ShowSaturationPort off
ShowStatePort off
AbsoluteTolerance "auto"
}
Block {
BlockType Integrator
Name "Integrator9"
Ports [1, 1, 0, 0, 0]
Position [610, 100, 630, 120]
ExternalReset "none"
InitialConditionSource "internal"
InitialCondition "0"
LimitOutput off
UpperSaturationLimit "inf"
LowerSaturationLimit "-inf"
ShowSaturationPort off
ShowStatePort off
AbsoluteTolerance "auto"
}
Block {
BlockType Reference
Name "Matrix\nGain1"
Ports [1, 1, 0, 0, 0]
Position [75, 180, 105, 210]
Orientation "left"
SourceBlock "simulink3/Math/Matrix\nGain"
SourceType "Matrix Gain"
K "[0 Ds(2:end)]"
}
Block {
BlockType Mux
Name "Mux"
Ports [11, 1, 0, 0, 0]
Position [205, 145, 210, 245]
Orientation "left"
ShowName off
Inputs "11"
DisplayOption "bar"
}
Block {
BlockType Selector
Name "Selector"
Position [140, 175, 190, 215]
Orientation "left"
Elements "[1 :length(Ds)]"
InputPortWidth "11"
}
Block {
BlockType Sum
Name "Sum3"
Ports [2, 1, 0, 0, 0]
Position [115, 100, 135, 120]
IconShape "rectangular"
Inputs "+-"
SaturateOnIntegerOverflow on
}
Block {
BlockType Outport
Name "Out1"
Position [200, 278, 230, 292]
Port "1"
OutputWhenDisabled "held"
InitialOutput "[]"
}
Line {
SrcBlock "Sum3"
SrcPort 1
DstBlock "Gain"
DstPort 1
}
Line {
SrcBlock "In1"
SrcPort 1
Points [5, 0]
DstBlock "Sum3"
DstPort 1
}
Line {
SrcBlock "Matrix\nGain1"
SrcPort 1
Points [0, -80]
DstBlock "Sum3"
DstPort 2
}
Line {
SrcBlock "Gain"
SrcPort 1
Points [35, 0]
Branch {
DstBlock "Integrator8"
DstPort 1
}
Branch {
Points [0, 35]
DstBlock "Mux"
DstPort 1
}
}
Line {
SrcBlock "Integrator8"
SrcPort 1
Points [5, 0]
Branch {
DstBlock "Integrator7"
DstPort 1
}
Branch {
Points [0, 45]
DstBlock "Mux"
DstPort 2
}
}
Line {
SrcBlock "Integrator7"
SrcPort 1
Points [10, 0]
Branch {
DstBlock "Integrator3"
DstPort 1
}
Branch {
Points [0, 55]
DstBlock "Mux"
DstPort 3
}
}
Line {
SrcBlock "Integrator3"
SrcPort 1
Points [10, 0]
Branch {
DstBlock "Integrator4"
DstPort 1
}
Branch {
Points [0, 65]
DstBlock "Mux"
DstPort 4
}
}
Line {
SrcBlock "Integrator4"
SrcPort 1
Points [5, 0]
Branch {
DstBlock "Integrator5"
DstPort 1
}
Branch {
Points [0, 75]
DstBlock "Mux"
DstPort 5
}
}
Line {
SrcBlock "Integrator5"
SrcPort 1
Points [10, 0]
Branch {
DstBlock "Integrator6"
DstPort 1
}
Branch {
Points [0, 85]
DstBlock "Mux"
DstPort 6
}
}
Line {
SrcBlock "Integrator6"
SrcPort 1
Points [5, 0]
Branch {
DstBlock "Integrator9"
DstPort 1
}
Branch {
Points [0, 95]
DstBlock "Mux"
DstPort 7
}
}
Line {
SrcBlock "Integrator9"
SrcPort 1
Points [5, 0]
Branch {
DstBlock "Integrator10"
DstPort 1
}
Branch {
Points [0, 105]
DstBlock "Mux"
DstPort 8
}
}
Line {
SrcBlock "Integrator10"
SrcPort 1
Points [0, 0]
Branch {
DstBlock "Integrator11"
DstPort 1
}
Branch {
Points [0, 115]
DstBlock "Mux"
DstPort 9
}
}
Line {
SrcBlock "Integrator11"
SrcPort 1
Points [5, 0]
Branch {
DstBlock "Integrator12"
DstPort 1
}
Branch {
Points [0, 125]
DstBlock "Mux"
DstPort 10
}
}
Line {
SrcBlock "Integrator12"
SrcPort 1
Points [0, 135]
DstBlock "Mux"
DstPort 11
}
Line {
SrcBlock "Mux"
SrcPort 1
DstBlock "Selector"
DstPort 1
}
Line {
SrcBlock "Selector"
SrcPort 1
Points [-10, 0]
Branch {
DstBlock "Matrix\nGain1"
DstPort 1
}
Branch {
Points [0, 90]
DstBlock "Out1"
DstPort 1
}
}
}
}
Block {
BlockType SubSystem
Name "2 dt terms "
Ports [1, 1, 0, 0, 0]
Position [60, 275, 95, 305]
Orientation "left"
ShowPortLabels on
MaskType "K(i,j) with two dead-time terms"
MaskPromptString "Kdelay(i,j,:)|K{i,j,:}|Length of input D(s)"
MaskStyleString "edit,edit,edit"
MaskTunableValueString "on,on,on"
MaskCallbackString "||"
MaskEnableString "on,on,on"
MaskVisibilityString "on,on,on"
MaskVariables "Kdelay=@1;K=@2;lengthDs=@3;"
MaskDisplay "disp('K{i,j,:}')"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
MaskValueString "||"
System {
Name "2 dt terms "
Location [383, 642, 756, 781]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "automatic"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "100"
AutoZoom on
Block {
BlockType Inport
Name "In1"
Position [270, 68, 300, 82]
Orientation "left"
Port "1"
PortWidth "-1"
SampleTime "-1"
DataType "auto"
SignalType "auto"
Interpolate on
}
Block {
BlockType Reference
Name "Kdelay(1,1,1)\n"
Ports [1, 1, 0, 0, 0]
Position [125, 29, 160, 61]
Orientation "left"
SourceBlock "MIMO_lib/Mdelay"
SourceType "Mdelay"
Mdelay "Kdelay(1)"
}
Block {
BlockType Reference
Name "Kdelay(1,1,2)"
Ports [1, 1, 0, 0, 0]
Position [125, 84, 160, 116]
Orientation "left"
SourceBlock "MIMO_lib/Mdelay"
SourceType "Mdelay"
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