basic_plant.mdl

this is the simulik models of servo drive using matlab 7.1

      Ports		      [2, 1]
      Position		      [580, 576, 585, 614]
      Orientation	      "left"
      NamePlacement	      "alternate"
      ShowName		      off
      Inputs		      "2"
      DisplayOption	      "bar"
    }
    Block {
      BlockType		      Scope
      Name		      "Output"
      Ports		      [1]
      Position		      [810, 539, 840, 571]
      Floating		      off
      Location		      [5, 52, 1021, 729]
      Open		      off
      NumInputPorts	      "1"
      List {
	ListType		AxesTitles
	axes1			"%<SignalLabel>"
      }
      TimeRange		      "0.1"
      YMin		      "0"
      YMax		      "12"
      DataFormat	      "StructureWithTime"
      SampleTime	      "0"
    }
    Block {
      BlockType		      Scope
      Name		      "Output1"
      Ports		      [1]
      Position		      [535, 579, 565, 611]
      Orientation	      "left"
      NamePlacement	      "alternate"
      Floating		      off
      Location		      [5, 52, 1021, 729]
      Open		      off
      NumInputPorts	      "1"
      List {
	ListType		AxesTitles
	axes1			"%<SignalLabel>"
      }
      TimeRange		      "0.1"
      YMin		      "0"
      YMax		      "12"
      SaveName		      "ScopeData1"
      DataFormat	      "StructureWithTime"
      SampleTime	      "0"
    }
    Block {
      BlockType		      Product
      Name		      "Product"
      Ports		      [2, 1]
      Position		      [215, 162, 245, 193]
      InputSameDT	      off
      OutDataTypeMode	      "Inherit via internal rule"
      SaturateOnIntegerOverflow	off
    }
    Block {
      BlockType		      Product
      Name		      "Product1"
      Ports		      [2, 1]
      Position		      [475, 62, 505, 93]
      InputSameDT	      off
      OutDataTypeMode	      "Inherit via internal rule"
      SaturateOnIntegerOverflow	off
    }
    Block {
      BlockType		      Constant
      Name		      "Ps"
      Position		      [80, 90, 110, 120]
      Value		      "2000"
    }
    Block {
      BlockType		      Signum
      Name		      "Sign"
      Position		      [80, 155, 110, 185]
    }
    Block {
      BlockType		      Step
      Name		      "Step"
      Position		      [625, 575, 655, 605]
      Time		      "0"
      After		      "10"
      SampleTime	      "0"
    }
    Block {
      BlockType		      TransferFcn
      Name		      "Transfer Fcn"
      Position		      [75, 478, 190, 522]
      Orientation	      "left"
      NamePlacement	      "alternate"
      Numerator		      "[1710.936]"
      Denominator	      "[1 1068 1140624]"
    }
    Line {
      SrcBlock		      "Ps"
      SrcPort		      1
      Points		      [160, 0]
      DstBlock		      "Add"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Sign"
      SrcPort		      1
      Points		      [85, 0]
      DstBlock		      "Product"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Add"
      SrcPort		      1
      DstBlock		      "Math\nFunction"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Math\nFunction"
      SrcPort		      1
      Points		      [25, 0; 0, -85]
      DstBlock		      "Product1"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Gain"
      SrcPort		      1
      Points		      [10, 0; 0, 30]
      DstBlock		      "Product1"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Product1"
      SrcPort		      1
      Points		      [10, 0; 0, 75]
      DstBlock		      "Add1"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Current Amplifier"
      SrcPort		      1
      Points		      [0, -5]
      DstBlock		      "Transfer Fcn"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Gain4"
      SrcPort		      1
      Points		      [-285, 0; 0, -70]
      Branch {
	DstBlock		"Derivative1"
	DstPort			1
      }
      Branch {
	Points			[0, -45]
	Branch {
	  DstBlock		  "Product"
	  DstPort		  2
	}
	Branch {
	  DstBlock		  "Gain9"
	  DstPort		  1
	}
      }
    }
    Line {
      SrcBlock		      "Add5"
      SrcPort		      1
      DstBlock		      "Gain4"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Add1"
      SrcPort		      1
      DstBlock		      "Gain5"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Gain5"
      SrcPort		      1
      Points		      [0, 0; 100, 0]
      Branch {
	DstBlock		"Integrator"
	DstPort			1
      }
      Branch {
	Points			[0, 150]
	Branch {
	  Points		  [0, 45]
	  DstBlock		  "Derivative"
	  DstPort		  1
	}
	Branch {
	  DstBlock		  "Gain7"
	  DstPort		  1
	}
      }
    }
    Line {
      SrcBlock		      "Derivative"
      SrcPort		      1
      DstBlock		      "Gain8"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Gain7"
      SrcPort		      1
      Points		      [-30, 0]
      DstBlock		      "Add5"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Gain8"
      SrcPort		      1
      Points		      [-30, 0]
      DstBlock		      "Add5"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Integrator"
      SrcPort		      1
      Points		      [30, 0; 0, 290]
      DstBlock		      "Gain6"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Add4"
      SrcPort		      1
      Points		      [35, 0; 0, -100]
      DstBlock		      "Add1"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Gain9"
      SrcPort		      1
      Points		      [35, 0]
      DstBlock		      "Add4"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Gain10"
      SrcPort		      1
      Points		      [35, 0]
      DstBlock		      "Add4"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Derivative1"
      SrcPort		      1
      DstBlock		      "Gain10"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Product"
      SrcPort		      1
      Points		      [25, 0]
      DstBlock		      "Add"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Transfer Fcn"
      SrcPort		      1
      Points		      [-35, 0; 0, -330]
      Branch {
	DstBlock		"Sign"
	DstPort			1
      }
      Branch {
	Points			[0, -130]
	DstBlock		"Gain"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Gain6"
      SrcPort		      1
      Points		      [-40, 0]
      Branch {
	Points			[-40, 0]
	Branch {
	  Points		  [0, -50]
	  DstBlock		  "Add5"
	  DstPort		  3
	}
	Branch {
	  Points		  [0, 25; -110, 0]
	  Branch {
	    DstBlock		    "Add2"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, 125]
	    DstBlock		    "Mux"
	    DstPort		    2
	  }
	}
      }
      Branch {
	Points			[0, 100]
	DstBlock		"Output"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Step"
      SrcPort		      1
      Points		      [10, 0; 0, -65; -70, 0]
      Branch {
	DstBlock		"Add2"
	DstPort			2
      }
      Branch {
	DstBlock		"Mux"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Mux"
      SrcPort		      1
      DstBlock		      "Output1"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Add2"
      SrcPort		      1
      DstBlock		      "Current Amplifier"
      DstPort		      1
    }
    Annotation {
      Name		      "QL"
      Position		      [538, 134]
      UseDisplayTextAsClickCallback off
    }
    Annotation {
      Name		      "Xv"
      Position		      [314, 23]
      UseDisplayTextAsClickCallback off
    }
    Annotation {
      Name		      "Xv"
      Position		      [40, 157]
      UseDisplayTextAsClickCallback off
    }
    Annotation {
      Name		      "Xv"
      Position		      [119, 485]
      UseDisplayTextAsClickCallback off
    }
    Annotation {
      Name		      "i"
      Position		      [225, 479]
      UseDisplayTextAsClickCallback off
    }
    Annotation {
      Name		      "Tout"
      Position		      [787, 447]
      UseDisplayTextAsClickCallback off
    }
    Annotation {
      Name		      "theta "
      Position		      [883, 442]
      UseDisplayTextAsClickCallback off
    }
    Annotation {
      Name		      "PL"
      Position		      [185, 209]
      UseDisplayTextAsClickCallback off
    }
    Annotation {
      Name		      "PL"
      Position		      [469, 346]
      UseDisplayTextAsClickCallback off
    }
    Annotation {
      Name		      "Thm"
      Position		      [562, 352]
      UseDisplayTextAsClickCallback off
    }
    Annotation {
      Name		      "Xv"
      Position		      [55, 483]
      UseDisplayTextAsClickCallback off
    }
    Annotation {
      Name		      "Theta"
      Position		      [913, 154]
      UseDisplayTextAsClickCallback off
    }
  }
}