📄 fdclib5.mdl
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Block {
BlockType Inport
Name "upqr"
Position [20, 135, 40, 155]
DropShadow on
FontName "Arial"
Port "1"
PortWidth "-1"
SampleTime "-1"
}
Block {
BlockType SubSystem
Name "0"
Ports [0, 0, 0, 0, 0]
Position [15, 15, 160, 45]
ForegroundColor blue
DropShadow on
FontName "Arial"
ShowName off
OpenFcn "fdchelp pqrdot"
ShowPortLabels off
MaskDisplay "disp('PQRDOT\\nM.O. Rauw, October 1997')"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate none
MaskIconUnits autoscale
System {
Name "0"
Location [99, 72, 274, 227]
Open off
ScreenColor white
}
}
Block {
BlockType Demux
Name "Demux"
Ports [1, 5, 0, 0, 0]
Position [70, 107, 75, 183]
BackgroundColor black
FontName "Arial"
ShowName off
Outputs "[3 3 9 3 11]"
}
Block {
BlockType Fcn
Name "Fcn"
Position [240, 60, 300, 80]
FontName "Arial"
ShowName off
Expr "u[1]^2"
}
Block {
BlockType Fcn
Name "Fcn1"
Position [240, 80, 300, 100]
FontName "Arial"
ShowName off
Expr "u[1]*u[2]"
}
Block {
BlockType Fcn
Name "Fcn2"
Position [240, 100, 300, 120]
FontName "Arial"
ShowName off
Expr "u[1]*u[3]"
}
Block {
BlockType Fcn
Name "Fcn3"
Position [240, 120, 300, 140]
FontName "Arial"
ShowName off
Expr "u[2]^2"
}
Block {
BlockType Fcn
Name "Fcn4"
Position [240, 140, 300, 160]
FontName "Arial"
ShowName off
Expr "u[2]*u[3]"
}
Block {
BlockType Fcn
Name "Fcn5"
Position [240, 160, 300, 180]
FontName "Arial"
ShowName off
Expr "u[3]^2"
}
Block {
BlockType StateSpace
Name "Matrix Gain"
Position [415, 95, 475, 125]
FontName "Arial"
A "A"
B "B"
C "C"
D "D"
X0 "0"
MaskType "Matrix Gain"
MaskDescription "Matrix Gain"
MaskHelp "This block implements an matrix gain.\\n"
"The matrix dimensions must be in "
"accordance\\nwith the dimension of "
"the inputvector."
MaskPromptString "Gain matrix:"
MaskStyleString "edit"
MaskInitialization "A = []; B = []; C = []; D = @1;"
MaskDisplay "disp('y = A*u')"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate none
MaskIconUnits autoscale
MaskValueString "GM2"
}
Block {
BlockType Mux
Name "Mux"
Ports [7, 1, 0, 0, 0]
Position [335, 32, 340, 188]
BackgroundColor black
FontName "Arial"
ShowName off
Inputs "[3 1 1 1 1 1 1]"
}
Block {
BlockType Terminator
Name "Terminator1"
Position [90, 138, 105, 152]
ShowName off
}
Block {
BlockType Terminator
Name "Terminator2"
Position [90, 168, 105, 182]
ShowName off
}
Block {
BlockType Terminator
Name "Terminator3"
Position [90, 108, 105, 122]
ShowName off
}
Block {
BlockType Outport
Name "ypqr"
Position [525, 100, 545, 120]
DropShadow on
FontName "Arial"
Port "1"
OutputWhenDisabled held
InitialOutput "0"
}
Line {
SrcBlock "upqr"
SrcPort 1
DstBlock "Demux"
DstPort 1
}
Line {
SrcBlock "Demux"
SrcPort 1
DstBlock "Terminator3"
DstPort 1
}
Line {
SrcBlock "Demux"
SrcPort 5
DstBlock "Terminator2"
DstPort 1
}
Line {
SrcBlock "Demux"
SrcPort 3
DstBlock "Terminator1"
DstPort 1
}
Line {
SrcBlock "Demux"
SrcPort 2
Points [125, 0]
Branch {
Points [0, -20]
Branch {
Points [0, -20]
Branch {
DstBlock "Fcn1"
DstPort 1
}
Branch {
Points [0, -20]
DstBlock "Fcn"
DstPort 1
}
}
Branch {
DstBlock "Fcn2"
DstPort 1
}
}
Branch {
Points [0, 20]
Branch {
DstBlock "Fcn4"
DstPort 1
}
Branch {
Points [0, 20]
DstBlock "Fcn5"
DstPort 1
}
}
Branch {
DstBlock "Fcn3"
DstPort 1
}
}
Line {
SrcBlock "Demux"
SrcPort 4
Points [110, 0; 0, -110]
DstBlock "Mux"
DstPort 1
}
Line {
SrcBlock "Fcn"
SrcPort 1
DstBlock "Mux"
DstPort 2
}
Line {
SrcBlock "Fcn1"
SrcPort 1
DstBlock "Mux"
DstPort 3
}
Line {
SrcBlock "Fcn2"
SrcPort 1
DstBlock "Mux"
DstPort 4
}
Line {
SrcBlock "Fcn3"
SrcPort 1
DstBlock "Mux"
DstPort 5
}
Line {
SrcBlock "Fcn4"
SrcPort 1
DstBlock "Mux"
DstPort 6
}
Line {
SrcBlock "Fcn5"
SrcPort 1
DstBlock "Mux"
DstPort 7
}
Line {
SrcBlock "Matrix Gain"
SrcPort 1
DstBlock "ypqr"
DstPort 1
}
Line {
SrcBlock "Mux"
SrcPort 1
DstBlock "Matrix Gain"
DstPort 1
}
Annotation {
Position [149, 117]
VerticalAlignment top
FontName "Arial"
Text "[p q r]'"
}
Annotation {
Position [148, 147]
VerticalAlignment top
FontName "Arial"
Text "[L M N]'"
}
Annotation {
Position [444, 142]
VerticalAlignment top
ForegroundColor red
FontName "Arial"
Text "Here: ypqr = GM2*ytmp"
}
Annotation {
Position [371, 97]
VerticalAlignment top
FontName "Arial"
Text "ytmp"
}
Annotation {
Position [492, 197]
VerticalAlignment top
ForegroundColor red
FontName "Arial"
Text "ypqr=[p dot;q dot;r dot]"
}
Annotation {
Position [72, 197]
VerticalAlignment top
ForegroundColor red
FontName "Arial"
Text "upqr=[x;Ftot;Mtot;yhlp]"
}
Annotation {
Position [449, 7]
VerticalAlignment top
ForegroundColor red
FontName "Arial"
Text "ytmp = [L; M; N; p^2; pq; pr; q^2; "
"qr; r^2]"
}
}
}
Block {
BlockType SubSystem
Name "xyHdot"
Ports [2, 1, 0, 0, 0]
Position [150, 248, 210, 292]
FontName "Arial"
ShowPortLabels off
MaskType "xyHdot"
MaskDescription "Calculation of d(xe)/dt, d(ye)/dt, and dH/dt"
MaskHelp "eval('fdchelp xyhdot')"
MaskDisplay "disp('xe dot\\nye dot\\nH dot')"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate none
MaskIconUnits autoscale
System {
Name "xyHdot"
Location [4, 42, 577, 324]
Open off
ScreenColor white
Block {
BlockType Inport
Name "ybvel*"
Position [15, 105, 35, 125]
DropShadow on
FontName "Arial"
Port "1"
PortWidth "-1"
SampleTime "-1"
}
Block {
BlockType Inport
Name "uxYH"
Position [15, 60, 35, 80]
DropShadow on
FontName "Arial"
Port "2"
PortWidth "-1"
SampleTime "-1"
}
Block {
BlockType SubSystem
Name "0"
Ports [0, 0, 0, 0, 0]
Position [5, 5, 150, 35]
ForegroundColor blue
DropShadow on
FontName "Arial"
ShowName off
OpenFcn "fdchelp xyhdot"
ShowPortLabels off
MaskDisplay "disp('XYHDOT\\nM.O. Rauw, October 1997')"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate none
MaskIconUnits autoscale
System {
Name "0"
Location [99, 72, 274, 227]
Open off
ScreenColor white
}
}
Block {
BlockType Fcn
Name "H dot"
Position [160, 220, 460, 240]
FontName "Arial"
Expr "u[30]*u[26] - (u[31]*u[28]+u[32]*u[29])*"
"u[27]"
}
Block {
BlockType Mux
Name "Mux2"
Ports [2, 1, 0, 0, 0]
Position [95, 62, 100, 93]
BackgroundColor black
FontName "Arial"
ShowName off
Inputs "[29 3]"
}
Block {
BlockType Mux
Name "Mux3"
Ports [2, 1, 0, 0, 0]
Position [495, 69, 500, 116]
BackgroundColor black
FontName "Arial"
ShowName off
Inputs "2"
}
Block {
BlockType Mux
Name "Mux4"
Ports [2, 1, 0, 0, 0]
Position [95, 141, 100, 174]
BackgroundColor black
FontName "Arial"
ShowName off
Inputs "[29 2]"
}
Block {
BlockType Mux
Name "Mux5"
Ports [3, 1, 0, 0, 0]
Position [495, 172, 500, 218]
BackgroundColor black
FontName "Arial"
ShowName off
Inputs "3"
}
Block {
BlockType Fcn
Name "tmp1"
Position [160, 70, 460, 90]
FontName "Arial"
ShowName off
Expr "u[30]*u[27] + (u[31]*u[28]+u[32]*u[29])*"
"u[26]"
}
Block {
BlockType Fcn
Name "tmp2"
Position [160, 95, 460, 115]
FontName "Arial"
ShowName off
Expr "u[31]*u[29] - u[32]*u[28]"
}
Block {
BlockType Fcn
Name "xe dot"
Position [160, 150, 460, 170]
FontName "Arial"
Expr "u[30]*u[25] - u[31]*u[24]"
}
Block {
BlockType Fcn
Name "ye dot"
Position [160, 185, 460, 205]
FontName "Arial"
Expr "u[30]*u[24] + u[31]*u[25]"
}
Block {
BlockType Outport
Name "yxyH"
Position [525, 185, 545, 205]
DropShadow on
FontName "Arial"
Port "1"
OutputWhenDisabled held
InitialOutput "0"
}
Line {
SrcBlock "tmp1"
SrcPort 1
DstBlock "Mux3"
DstPort 1
}
Line {
SrcBlock "H dot"
SrcPort 1
Points [10, 0; 0, -20]
DstBlock "Mux5"
DstPort 3
}
Line {
SrcBlock "xe dot"
SrcPort 1
Points [10, 0; 0, 20]
DstBlock "Mux5"
DstPort 1
}
Line {
SrcBlock "tmp2"
SrcPort 1
DstBlock "Mux3"
DstPort 2
}
Line {
SrcBlock "ye dot"
SrcPort 1
DstBlock "Mux5"
DstPort 2
}
Line {
SrcBlock "Mux5"
SrcPort 1
DstBlock "yxyH"
DstPort 1
}
Line {
SrcBlock "Mux4"
SrcPort 1
Points [40, 0]
Branch {
DstBlock "ye dot"
DstPort 1
}
Branch {
DstBlock "xe dot"
DstPort 1
}
}
Line {
SrcBlock "Mux2"
SrcPort 1
Points [25, 0]
Branch {
Points [0, 25]
Branch {
Points [0, 125]
DstBlock "H dot"
DstPort 1
}
Branch {
DstBlock "tmp2"
DstPort 1
}
}
Branch {
DstBlock "tmp1"
DstPort 1
}
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