motor.mdl

this the matlab tuning of pid with root locus

	      ExtMode		      off
	      ExtModeStaticAlloc      off
	      ExtModeTesting	      off
	      ExtModeStaticAllocSize  1000000
	      ExtModeTransport	      0
	      ExtModeMexFile	      "ext_comm"
	      RTWCAPISignals	      off
	      RTWCAPIParams	      off
	      RTWCAPIStates	      off
	      GenerateASAP2	      off
	    }
	    PropName		    "Components"
	  }
	}
	PropName		"Components"
      }
      Name		      "Configuration"
      SimulationMode	      "normal"
      CurrentDlgPage	      "Solver"
    }
    PropName		    "ConfigurationSets"
  }
  Simulink.ConfigSet {
    $PropName		    "ActiveConfigurationSet"
    $ObjectID		    1
  }
  BlockDefaults {
    Orientation		    "right"
    ForegroundColor	    "black"
    BackgroundColor	    "white"
    DropShadow		    off
    NamePlacement	    "normal"
    FontName		    "Helvetica"
    FontSize		    10
    FontWeight		    "normal"
    FontAngle		    "normal"
    ShowName		    on
  }
  BlockParameterDefaults {
    Block {
      BlockType		      Gain
      Gain		      "1"
      Multiplication	      "Element-wise(K.*u)"
      ParameterDataTypeMode   "Same as input"
      ParameterDataType	      "sfix(16)"
      ParameterScalingMode    "Best Precision: Matrix-wise"
      ParameterScaling	      "2^0"
      OutDataTypeMode	      "Same as input"
      OutDataType	      "sfix(16)"
      OutScaling	      "2^0"
      LockScale		      off
      RndMeth		      "Floor"
      SaturateOnIntegerOverflow	on
      SampleTime	      "-1"
    }
    Block {
      BlockType		      Integrator
      ExternalReset	      "none"
      InitialConditionSource  "internal"
      InitialCondition	      "0"
      LimitOutput	      off
      UpperSaturationLimit    "inf"
      LowerSaturationLimit    "-inf"
      ShowSaturationPort      off
      ShowStatePort	      off
      AbsoluteTolerance	      "auto"
      IgnoreLimit	      off
      ZeroCross		      on
    }
    Block {
      BlockType		      Mux
      Inputs		      "4"
      DisplayOption	      "none"
      BusObject		      "BusObject"
      NonVirtualBus	      off
    }
    Block {
      BlockType		      Scope
      Floating		      off
      ModelBased	      off
      TickLabels	      "OneTimeTick"
      ZoomMode		      "on"
      Grid		      "on"
      TimeRange		      "auto"
      YMin		      "-5"
      YMax		      "5"
      SaveToWorkspace	      off
      SaveName		      "ScopeData"
      LimitDataPoints	      on
      MaxDataPoints	      "5000"
      Decimation	      "1"
      SampleInput	      off
      SampleTime	      "0"
    }
    Block {
      BlockType		      Step
      Time		      "1"
      Before		      "0"
      After		      "1"
      SampleTime	      "-1"
      VectorParams1D	      on
      ZeroCross		      on
    }
    Block {
      BlockType		      Sum
      IconShape		      "rectangular"
      Inputs		      "++"
      InputSameDT	      on
      OutDataTypeMode	      "Same as first input"
      OutDataType	      "sfix(16)"
      OutScaling	      "2^0"
      LockScale		      off
      RndMeth		      "Floor"
      SaturateOnIntegerOverflow	on
      SampleTime	      "-1"
    }
  }
  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		    "motor"
    Location		    [25, 70, 660, 498]
    Open		    on
    ModelBrowserVisibility  off
    ModelBrowserWidth	    200
    ScreenColor		    "white"
    PaperOrientation	    "landscape"
    PaperPositionMode	    "auto"
    PaperType		    "usletter"
    PaperUnits		    "inches"
    ZoomFactor		    "100"
    ReportName		    "simulink-default.rpt"
    Block {
      BlockType		      Sum
      Name		      "Add"
      Ports		      [3, 1]
      Position		      [165, 104, 195, 136]
      Inputs		      "-+-"
      InputSameDT	      off
      OutDataTypeMode	      "Inherit via internal rule"
      OutScaling	      "2^-10"
      SaturateOnIntegerOverflow	off
    }
    Block {
      BlockType		      Gain
      Name		      "Gain1"
      Position		      [255, 105, 285, 135]
      Gain		      "1/L"
      ParameterDataTypeMode   "Inherit via internal rule"
      OutDataTypeMode	      "Inherit via internal rule"
      SaturateOnIntegerOverflow	off
    }
    Block {
      BlockType		      Gain
      Name		      "Gain2"
      Position		      [260, 50, 290, 80]
      Orientation	      "left"
      NamePlacement	      "alternate"
      Gain		      "R"
      ParameterDataTypeMode   "Inherit via internal rule"
      OutDataTypeMode	      "Inherit via internal rule"
      SaturateOnIntegerOverflow	off
    }
    Block {
      BlockType		      Integrator
      Name		      "Integrator"
      Ports		      [1, 1]
      Position		      [375, 105, 405, 135]
    }
    Block {
      BlockType		      Integrator
      Name		      "Integrator1"
      Ports		      [1, 1]
      Position		      [385, 270, 415, 300]
    }
    Block {
      BlockType		      Mux
      Name		      "Mux"
      Ports		      [2, 1]
      Position		      [515, 146, 520, 184]
      ShowName		      off
      Inputs		      "2"
      DisplayOption	      "bar"
    }
    Block {
      BlockType		      Scope
      Name		      "Scope"
      Ports		      [1]
      Position		      [575, 254, 605, 286]
      Location		      [685, 332, 1009, 571]
      Open		      on
      NumInputPorts	      "1"
      List {
	ListType		AxesTitles
	axes1			"%<SignalLabel>"
      }
      YMin		      "0"
      YMax		      "160"
      DataFormat	      "StructureWithTime"
    }
    Block {
      BlockType		      Step
      Name		      "Step"
      Position		      [75, 75, 105, 105]
      After		      "160"
      SampleTime	      "0"
    }
    Block {
      BlockType		      Gain
      Name		      "damping"
      Position		      [260, 360, 290, 390]
      Orientation	      "left"
      NamePlacement	      "alternate"
      Gain		      "D"
      ParameterDataTypeMode   "Inherit via internal rule"
      OutDataTypeMode	      "Inherit via internal rule"
      SaturateOnIntegerOverflow	off
    }
    Block {
      BlockType		      Gain
      Name		      "inertia"
      Position		      [275, 250, 305, 280]
      Gain		      "1/J"
      ParameterDataTypeMode   "Inherit via internal rule"
      OutDataTypeMode	      "Inherit via internal rule"
      SaturateOnIntegerOverflow	off
    }
    Block {
      BlockType		      Gain
      Name		      "ke"
      Position		      [95, 155, 125, 185]
      Gain		      "K1"
      ParameterDataTypeMode   "Inherit via internal rule"
      OutDataTypeMode	      "Inherit via internal rule"
      SaturateOnIntegerOverflow	off
    }
    Block {
      BlockType		      Gain
      Name		      "kt"
      Position		      [95, 240, 125, 270]
      Gain		      "K"
      ParameterDataTypeMode   "Inherit via internal rule"
      OutDataTypeMode	      "Inherit via internal rule"
      SaturateOnIntegerOverflow	off
    }
    Block {
      BlockType		      Sum
      Name		      "sum"
      Ports		      [2, 1]
      Position		      [180, 251, 210, 284]
      Inputs		      "+-"
      InputSameDT	      off
      OutDataTypeMode	      "Inherit via internal rule"
      OutScaling	      "2^-10"
      SaturateOnIntegerOverflow	off
    }
    Line {
      SrcBlock		      "damping"
      SrcPort		      1
      Points		      [-95, 0; 0, -100]
      DstBlock		      "sum"
      DstPort		      2
    }
    Line {
      SrcBlock		      "kt"
      SrcPort		      1
      Points		      [15, 0; 0, 5]
      DstBlock		      "sum"
      DstPort		      1
    }
    Line {
      SrcBlock		      "sum"
      SrcPort		      1
      Points		      [20, 0; 0, -5]
      DstBlock		      "inertia"
      DstPort		      1
    }
    Line {
      SrcBlock		      "inertia"
      SrcPort		      1
      Points		      [25, 0; 0, 20]
      DstBlock		      "Integrator1"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Gain2"
      SrcPort		      1
      Points		      [-105, 0]
      DstBlock		      "Add"
      DstPort		      1
    }
    Line {
      SrcBlock		      "ke"
      SrcPort		      1
      Points		      [10, 0; 0, -40]
      DstBlock		      "Add"
      DstPort		      3
    }
    Line {
      SrcBlock		      "Add"
      SrcPort		      1
      DstBlock		      "Gain1"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Gain1"
      SrcPort		      1
      DstBlock		      "Integrator"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Integrator"
      SrcPort		      1
      Points		      [15, 0]
      Branch {
	Points			[0, -55]
	DstBlock		"Gain2"
	DstPort			1
      }
      Branch {
	Points			[20, 0; 0, 115; -365, 0]
	DstBlock		"kt"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Step"
      SrcPort		      1
      Points		      [0, 30; 10, 0]
      Branch {
	DstBlock		"Add"
	DstPort			2
      }
      Branch {
	Points			[0, -95; 365, 0; 0, 130]
	DstBlock		"Mux"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Integrator1"
      SrcPort		      1
      Points		      [55, 0; 0, -20]
      Branch {
	Points			[0, -40; -415, 0; 0, -55]
	DstBlock		"ke"
	DstPort			1
      }
      Branch {
	Points			[0, 5; 10, 0]
	Branch {
	  Points		  [10, 0; 0, 105]
	  DstBlock		  "damping"
	  DstPort		  1
	}
	Branch {
	  Points		  [0, -95]
	  DstBlock		  "Mux"
	  DstPort		  2
	}
      }
    }
    Line {
      SrcBlock		      "Mux"
      SrcPort		      1
      Points		      [35, 0]
      DstBlock		      "Scope"
      DstPort		      1
    }
  }
}