📄 oloop3.mdl
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Model {
Name "oloop3"
Version 2.09
SimParamPage Solver
SampleTimeColors off
InvariantConstants off
WideVectorLines off
ShowLineWidths off
PaperOrientation landscape
PaperType usletter
PaperUnits inches
StartTime "0.0"
StopTime "120"
Solver ode45
RelTol "1e-3"
AbsTol "1e-3"
Refine "1"
MaxStep "2"
InitialStep "auto"
FixedStep "auto"
MaxOrder 5
OutputOption RefineOutputTimes
OutputTimes "[]"
LoadExternalInput off
ExternalInput "[t, u]"
SaveTime off
TimeSaveName "tout"
SaveState off
StateSaveName "xout"
SaveOutput off
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
RTWRetainRTWFile off
RTWTemplateMakefile "grt_vc.tmf"
RTWMakeCommand "make_rtw"
RTWGenerateCodeOnly off
ExtModeMexFile "ext_comm"
ExtModeBatchMode off
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 "oloop3"
Location [6, 42, 585, 429]
Open on
ScreenColor white
Block {
BlockType RateLimiter
Name " Rate Limiter"
Position [100, 340, 125, 360]
FontName "Arial"
RisingSlewLimit "1.0"
FallingSlewLimit "-1.0"
}
Block {
BlockType ToWorkspace
Name " To Workspace "
Position [500, 191, 550, 209]
BackgroundColor yellow
FontName "Arial"
VariableName "yin"
Buffer "1000"
Decimation "1"
SampleTime "0"
}
Block {
BlockType SubSystem
Name "Block delta a"
Ports [0, 1, 0, 0, 0]
Position [35, 136, 65, 164]
FontName "Arial"
ShowPortLabels off
MaskType "Block Fcn"
MaskDescription "Block Function"
MaskHelp "This block implements a block signal.\\nDefine "
"the initial (=final) value, the\\namplitude "
"of the block (positive\\n= upwards, negative=dow"
"nwards),\\nthe start time, and the stop time "
"(must\\nbe smaller than the start time)."
MaskPromptString "Initial value (=final value):|Amplitude of "
"block (+ = step up, - = step down):|Start "
"time of block:|Stop time of block:"
MaskStyleString "edit,edit,edit,edit"
MaskInitialization "yinit=@1; yblock=@2; tstart=@3; tstop=@4;"
MaskDisplay "plot(0,0,100,100,[100,60,60,20,20,0],[50,50,89,8"
"9,50,50])"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate none
MaskIconUnits autoscale
MaskValueString "0|3*pi/180|0|2"
System {
Name "Block delta a"
Location [4, 60, 241, 187]
Open off
ScreenColor white
Block {
BlockType Step
Name "End block"
Position [40, 45, 60, 65]
FontName "Arial"
FontSize 9
Time "tstop"
Before "0"
After "-yblock"
}
Block {
BlockType Constant
Name "Initial value"
Position [40, 85, 80, 105]
FontName "Arial"
FontSize 9
Value "yinit"
}
Block {
BlockType Step
Name "Start block"
Position [40, 5, 60, 25]
FontName "Arial"
FontSize 9
Time "tstart"
Before "0"
After "yblock"
}
Block {
BlockType Sum
Name "Sum"
Ports [3, 1, 0, 0, 0]
Position [115, 36, 130, 74]
FontName "Arial"
FontSize 9
ShowName off
Inputs "+++"
}
Block {
BlockType Outport
Name "block"
Position [165, 45, 185, 65]
DropShadow on
FontName "Arial"
FontSize 9
Port "1"
OutputWhenDisabled held
InitialOutput "0"
}
Line {
SrcBlock "End block"
SrcPort 1
DstBlock "Sum"
DstPort 2
}
Line {
SrcBlock "Start block"
SrcPort 1
Points [30, 0; 0, 30]
DstBlock "Sum"
DstPort 1
}
Line {
SrcBlock "Initial value"
SrcPort 1
Points [10, 0; 0, -30]
DstBlock "Sum"
DstPort 3
}
Line {
SrcBlock "Sum"
SrcPort 1
DstBlock "block"
DstPort 1
}
}
}
Block {
BlockType SubSystem
Name "Block delta e"
Ports [0, 1, 0, 0, 0]
Position [35, 91, 65, 119]
FontName "Arial"
ShowPortLabels off
MaskType "Block Fcn"
MaskDescription "Block Function"
MaskHelp "This block implements a block signal.\\nDefine "
"the initial (=final) value, the\\namplitude "
"of the block (positive\\n= upwards, negative=dow"
"nwards),\\nthe start time, and the stop time "
"(must\\nbe smaller than the start time)."
MaskPromptString "Initial value (=final value):|Amplitude of "
"block (+ = step up, - = step down):|Start "
"time of block:|Stop time of block:"
MaskStyleString "edit,edit,edit,edit"
MaskInitialization "yinit=@1; yblock=@2; tstart=@3; tstop=@4;"
MaskDisplay "plot(0,0,100,100,[100,60,60,20,20,0],[50,50,89,8"
"9,50,50])"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate none
MaskIconUnits autoscale
MaskValueString "0|3*pi/180|0|2"
System {
Name "Block delta e"
Location [4, 60, 241, 187]
Open off
ScreenColor white
Block {
BlockType Step
Name "End block"
Position [40, 45, 60, 65]
FontName "Arial"
FontSize 9
Time "tstop"
Before "0"
After "-yblock"
}
Block {
BlockType Constant
Name "Initial value"
Position [40, 85, 80, 105]
FontName "Arial"
FontSize 9
Value "yinit"
}
Block {
BlockType Step
Name "Start block"
Position [40, 5, 60, 25]
FontName "Arial"
FontSize 9
Time "tstart"
Before "0"
After "yblock"
}
Block {
BlockType Sum
Name "Sum"
Ports [3, 1, 0, 0, 0]
Position [115, 36, 130, 74]
FontName "Arial"
FontSize 9
ShowName off
Inputs "+++"
}
Block {
BlockType Outport
Name "block"
Position [165, 45, 185, 65]
DropShadow on
FontName "Arial"
FontSize 9
Port "1"
OutputWhenDisabled held
InitialOutput "0"
}
Line {
SrcBlock "Sum"
SrcPort 1
DstBlock "block"
DstPort 1
}
Line {
SrcBlock "Initial value"
SrcPort 1
Points [10, 0; 0, -30]
DstBlock "Sum"
DstPort 3
}
Line {
SrcBlock "Start block"
SrcPort 1
Points [30, 0; 0, 30]
DstBlock "Sum"
DstPort 1
}
Line {
SrcBlock "End block"
SrcPort 1
DstBlock "Sum"
DstPort 2
}
}
}
Block {
BlockType SubSystem
Name "Block delta r"
Ports [0, 1, 0, 0, 0]
Position [35, 181, 65, 209]
FontName "Arial"
ShowPortLabels off
MaskType "Block Fcn"
MaskDescription "Block Function"
MaskHelp "This block implements a block signal.\\nDefine "
"the initial (=final) value, the\\namplitude "
"of the block (positive\\n= upwards, negative=dow"
"nwards),\\nthe start time, and the stop time "
"(must\\nbe smaller than the start time)."
MaskPromptString "Initial value (=final value):|Amplitude of "
"block (+ = step up, - = step down):|Start "
"time of block:|Stop time of block:"
MaskStyleString "edit,edit,edit,edit"
MaskInitialization "yinit=@1; yblock=@2; tstart=@3; tstop=@4;"
MaskDisplay "plot(0,0,100,100,[100,60,60,20,20,0],[50,50,89,8"
"9,50,50])"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate none
MaskIconUnits autoscale
MaskValueString "0|3*pi/180|0|2"
System {
Name "Block delta r"
Location [4, 60, 241, 187]
Open off
ScreenColor white
Block {
BlockType Step
Name "End block"
Position [40, 45, 60, 65]
FontName "Arial"
FontSize 9
Time "tstop"
Before "0"
After "-yblock"
}
Block {
BlockType Constant
Name "Initial value"
Position [40, 85, 80, 105]
FontName "Arial"
FontSize 9
Value "yinit"
}
Block {
BlockType Step
Name "Start block"
Position [40, 5, 60, 25]
FontName "Arial"
FontSize 9
Time "tstart"
Before "0"
After "yblock"
}
Block {
BlockType Sum
Name "Sum"
Ports [3, 1, 0, 0, 0]
Position [115, 36, 130, 74]
FontName "Arial"
FontSize 9
ShowName off
Inputs "+++"
}
Block {
BlockType Outport
Name "block"
Position [165, 45, 185, 65]
DropShadow on
FontName "Arial"
FontSize 9
Port "1"
OutputWhenDisabled held
InitialOutput "0"
}
Line {
SrcBlock "Sum"
SrcPort 1
DstBlock "block"
DstPort 1
}
Line {
SrcBlock "Initial value"
SrcPort 1
Points [10, 0; 0, -30]
DstBlock "Sum"
DstPort 3
}
Line {
SrcBlock "Start block"
SrcPort 1
Points [30, 0; 0, 30]
DstBlock "Sum"
DstPort 1
}
Line {
SrcBlock "End block"
SrcPort 1
DstBlock "Sum"
DstPort 2
}
}
}
Block {
BlockType Clock
Name "Clock"
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