servo_demo1.mdl

this is the simulik models of servo drive using matlab 7.1

      InitialCondition	      "0"
      LimitOutput	      off
      UpperSaturationLimit    "inf"
      LowerSaturationLimit    "-inf"
      ShowSaturationPort      off
      ShowStatePort	      off
      AbsoluteTolerance	      "auto"
      IgnoreLimit	      off
      ZeroCross		      on
    }
    Block {
      BlockType		      Logic
      Operator		      "AND"
      Inputs		      "2"
      AllPortsSameDT	      on
      OutDataTypeMode	      "Logical (see Configuration Parameters: Optimiza"
"tion)"
      LogicDataType	      "uint(8)"
      SampleTime	      "-1"
    }
    Block {
      BlockType		      Lookup2D
      RowIndex		      "[0 1]"
      ColumnIndex	      "[0 1]"
      OutputValues	      "[0 0;0 0]"
      LookUpMeth	      "Interpolation-Extrapolation"
      InputSameDT	      on
      OutDataTypeMode	      "Same as first input"
      OutDataType	      "sfix(16)"
      OutScaling	      "2^0"
      LockScale		      off
      RndMeth		      "Floor"
      SaturateOnIntegerOverflow	on
      SampleTime	      "-1"
      LUTDesignTableMode      "Redesign Table"
      LUTDesignDataSource     "Block Dialog"
      LUTDesignFunctionName   "sqrt(x)"
      LUTDesignUseExistingBP  on
      LUTDesignRelError	      "0.01"
      LUTDesignAbsError	      "1e-6"
    }
    Block {
      BlockType		      Memory
      X0		      "0"
      InheritSampleTime	      off
      LinearizeMemory	      off
      StateMustResolveToSignalObject off
      RTWStateStorageClass    "Auto"
    }
    Block {
      BlockType		      Mux
      Inputs		      "4"
      DisplayOption	      "none"
      UseBusObject	      off
      BusObject		      "BusObject"
      NonVirtualBus	      off
    }
    Block {
      BlockType		      Outport
      Port		      "1"
      UseBusObject	      off
      BusObject		      "BusObject"
      BusOutputAsStruct	      off
      PortDimensions	      "-1"
      SampleTime	      "-1"
      DataType		      "auto"
      OutDataType	      "sfix(16)"
      OutScaling	      "2^0"
      SignalType	      "auto"
      SamplingMode	      "auto"
      OutputWhenDisabled      "held"
      InitialOutput	      "[]"
    }
    Block {
      BlockType		      Product
      Inputs		      "2"
      Multiplication	      "Element-wise(.*)"
      InputSameDT	      on
      OutDataTypeMode	      "Same as first input"
      OutDataType	      "sfix(16)"
      OutScaling	      "2^0"
      LockScale		      off
      RndMeth		      "Zero"
      SaturateOnIntegerOverflow	on
      SampleTime	      "-1"
    }
    Block {
      BlockType		      RelationalOperator
      Operator		      ">="
      InputSameDT	      on
      LogicOutDataTypeMode    "Logical (see Configuration Parameters: Optimiza"
"tion)"
      LogicDataType	      "uint(8)"
      ZeroCross		      on
      SampleTime	      "-1"
    }
    Block {
      BlockType		      Saturate
      UpperLimit	      "0.5"
      LowerLimit	      "-0.5"
      LinearizeAsGain	      on
      ZeroCross		      on
      SampleTime	      "-1"
    }
    Block {
      BlockType		      Scope
      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	      "-1"
    }
    Block {
      BlockType		      "S-Function"
      FunctionName	      "system"
      SFunctionModules	      "''"
      PortCounts	      "[]"
    }
    Block {
      BlockType		      Signum
      ZeroCross		      on
      SampleTime	      "-1"
    }
    Block {
      BlockType		      Step
      Time		      "1"
      Before		      "0"
      After		      "1"
      SampleTime	      "-1"
      VectorParams1D	      on
      ZeroCross		      on
    }
    Block {
      BlockType		      SubSystem
      ShowPortLabels	      on
      Permissions	      "ReadWrite"
      PermitHierarchicalResolution "All"
      SystemSampleTime	      "-1"
      RTWFcnNameOpts	      "Auto"
      RTWFileNameOpts	      "Auto"
      SimViewingDevice	      off
      DataTypeOverride	      "UseLocalSettings"
      MinMaxOverflowLogging   "UseLocalSettings"
    }
    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"
    }
    Block {
      BlockType		      Switch
      Criteria		      "u2 >= Threshold"
      Threshold		      "0"
      InputSameDT	      on
      OutDataTypeMode	      "Inherit via internal rule"
      RndMeth		      "Floor"
      SaturateOnIntegerOverflow	on
      ZeroCross		      on
      SampleTime	      "-1"
    }
    Block {
      BlockType		      Terminator
    }
    Block {
      BlockType		      UnitDelay
      X0		      "0"
      SampleTime	      "1"
      StateMustResolveToSignalObject off
      RTWStateStorageClass    "Auto"
    }
    Block {
      BlockType		      ZeroOrderHold
      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		    "servo_demo1"
    Location		    [2, 78, 1022, 718]
    Open		    on
    ModelBrowserVisibility  off
    ModelBrowserWidth	    200
    ScreenColor		    "white"
    PaperOrientation	    "landscape"
    PaperPositionMode	    "auto"
    PaperType		    "usletter"
    PaperUnits		    "inches"
    ZoomFactor		    "100"
    ReportName		    "simulink-default.rpt"
    Block {
      BlockType		      SubSystem
      Name		      "Controller"
      Ports		      [2, 1]
      Position		      [110, 79, 185, 161]
      TreatAsAtomicUnit	      off
      MinAlgLoopOccurrences   off
      RTWSystemCode	      "Auto"
      MaskHideContents	      off
      System {
	Name			"Controller"
	Location		[2, 78, 1022, 718]
	Open			off
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"white"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"usletter"
	PaperUnits		"inches"
	ZoomFactor		"100"
	Block {
	  BlockType		  Inport
	  Name			  "set point"
	  Position		  [25, 28, 55, 42]
	  IconDisplay		  "Port number"
	}
	Block {
	  BlockType		  Inport
	  Name			  "feedback"
	  Position		  [50, 105, 80, 120]
	  Orientation		  "up"
	  Port			  "2"
	  IconDisplay		  "Port number"
	}
	Block {
	  BlockType		  Constant
	  Name			  "Constant5"
	  Position		  [295, 115, 315, 135]
	  Orientation		  "up"
	  ShowName		  off
	  Value			  "0"
	}
	Block {
	  BlockType		  Saturate
	  Name			  "Saturation"
	  Position		  [665, 60, 695, 90]
	  UpperLimit		  "dcmax"
	  LowerLimit		  "dcmin"
	}
	Block {
	  BlockType		  Sum
	  Name			  "Sum"
	  Ports			  [2, 1]
	  Position		  [620, 15, 640, 135]
	  ShowName		  off
	}
	Block {
	  BlockType		  Sum
	  Name			  "Sum1"
	  Ports			  [2, 1]
	  Position		  [95, 27, 125, 58]
	  ShowName		  off
	  Inputs		  "+-"
	}
	Block {
	  BlockType		  Sum
	  Name			  "Sum2"
	  Ports			  [2, 1]
	  Position		  [490, 87, 520, 118]
	  ShowName		  off
	}
	Block {
	  BlockType		  Switch
	  Name			  "Switch"
	  Position		  [340, 80, 370, 110]
	  ShowName		  off
	  Threshold		  "0.5"
	}
	Block {
	  BlockType		  UnitDelay
	  Name			  "Unit Delay"
	  Position		  [545, 90, 575, 120]
	  ShowName		  off
	  X0			  "dcnull"
	  SampleTime		  "0.02"
	}
	Block {
	  BlockType		  Gain
	  Name			  "integral\ngain"
	  Position		  [405, 76, 455, 114]
	  BackgroundColor	  "green"
	  Gain			  "Ki"
	}
	Block {
	  BlockType		  Gain
	  Name			  "loop\ngain"
	  Position		  [220, 25, 255, 65]
	  BackgroundColor	  "green"
	  Gain			  "Ka"
	}
	Block {
	  BlockType		  SubSystem
	  Name			  "prevent\nwindup"
	  Ports			  [2, 1]
	  Position		  [725, 138, 765, 187]
	  TreatAsAtomicUnit	  off
	  MinAlgLoopOccurrences	  off
	  RTWSystemCode		  "Auto"
	  MaskHideContents	  off
	  System {
	    Name		    "prevent\nwindup"
	    Location		    [329, 233, 829, 562]
	    Open		    off
	    ModelBrowserVisibility  off
	    ModelBrowserWidth	    200
	    ScreenColor		    "white"
	    PaperOrientation	    "landscape"
	    PaperPositionMode	    "auto"
	    PaperType		    "usletter"
	    PaperUnits		    "inches"
	    ZoomFactor		    "100"
	    Block {
	      BlockType		      Inport
	      Name		      "dc"
	      Position		      [25, 30, 55, 50]
	      NamePlacement	      "alternate"
	      IconDisplay	      "Port number"
	    }
	    Block {
	      BlockType		      Inport
	      Name		      "e1"
	      Position		      [25, 90, 55, 110]
	      NamePlacement	      "alternate"
	      Port		      "2"
	      IconDisplay	      "Port number"
	    }
	    Block {
	      BlockType		      Constant
	      Name		      "Constant1"
	      Position		      [160, 44, 195, 66]
	      ShowName		      off
	      Value		      "dcmin"
	    }
	    Block {
	      BlockType		      Constant
	      Name		      "Constant2"
	      Position		      [165, 204, 200, 226]
	      ShowName		      off
	      Value		      "dcmax"
	    }
	    Block {
	      BlockType		      Constant
	      Name		      "Constant5"
	      Position		      [215, 105, 235, 125]
	      ShowName		      off
	      Value		      "0"
	    }
	    Block {
	      BlockType		      Constant
	      Name		      "Constant6"
	      Position		      [210, 285, 230, 305]
	      ShowName		      off
	      Value		      "0"
	    }
	    Block {
	      BlockType		      Logic
	      Name		      "Logical\nOperator"
	      Ports		      [2, 1]
	      Position		      [325, 62, 355, 93]
	      ShowName		      off
	    }
	    Block {
	      BlockType		      Logic
	      Name		      "Logical\nOperator1"
	      Ports		      [2, 1]
	      Position		      [315, 217, 345, 248]
	      ShowName		      off
	    }
	    Block {
	      BlockType		      Logic
	      Name		      "Logical\nOperator2"
	      Ports		      [2, 1]
	      Position		      [390, 127, 420, 158]
	      ShowName		      off
	      Operator		      "NOR"
	    }
	    Block {
	      BlockType		      RelationalOperator
	      Name		      "Relational\nOperator"
	      Position		      [240, 32, 270, 63]
	      ShowName		      off
	      Operator		      "<="
	    }
	    Block {
	      BlockType		      RelationalOperator
	      Name		      "Relational\nOperator1"
	      Position		      [245, 192, 275, 223]
	      ShowName		      off
	    }
	    Block {
	      BlockType		      RelationalOperator
	      Name		      "Relational\nOperator2"
	      Position		      [250, 92, 280, 123]
	      ShowName		      off
	      Operator		      "<="
	    }
	    Block {
	      BlockType		      RelationalOperator
	      Name		      "Relational\nOperator3"
	      Position		      [250, 272, 280, 303]
	      ShowName		      off
	    }
	    Block {
	      BlockType		      Outport
	      Name		      "nothold"
	      Position		      [445, 138, 475, 152]
	      IconDisplay	      "Port number"
	      BusOutputAsStruct	      off
	      InitialOutput	      "0"
	    }
	    Line {
	      SrcBlock		      "Logical\nOperator2"
	      SrcPort		      1
	      DstBlock		      "nothold"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "Logical\nOperator1"
	      SrcPort		      1
	      Points		      [25, 0]
	      DstBlock		      "Logical\nOperator2"
	      DstPort		      2
	    }
	    Line {
	      SrcBlock		      "Logical\nOperator"
	      SrcPort		      1
	      Points		      [15, 0]
	      DstBlock		      "Logical\nOperator2"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "Relational\nOperator3"
	      SrcPort		      1
	      Points		      [5, 0; 0, -50]
	      DstBlock		      "Logical\nOperator1"
	      DstPort		      2
	    }
	    Line {
	      SrcBlock		      "Relational\nOperator1"
	      SrcPort		      1
	      Points		      [5, 0; 0, 15]
	      DstBlock		      "Logical\nOperator1"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "Constant6"
	      SrcPort		      1
	      DstBlock		      "Relational\nOperator3"
	      DstPort		      2
	    }
	    Line {
	      SrcBlock		      "Constant5"
	      SrcPort		      1
	      DstBlock		      "Relational\nOperator2"
	      DstPort		      2
	    }
	    Line {
	      SrcBlock		      "Relational\nOperator2"
	      SrcPort		      1
	      Points		      [25, 0]
	      DstBlock		      "Logical\nOperator"
	      DstPort		      2
	    }
	    Line {
	      SrcBlock		      "Constant2"
	      SrcPort		      1
	      DstBlock		      "Relational\nOperator1"
	      DstPort		      2
	    }
	    Line {
	      SrcBlock		      "Relational\nOperator"
	      SrcPort		      1
	      Points		      [20, 0; 0, 20]
	      DstBlock		      "Logical\nOperator"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "Constant1"
	      SrcPort		      1
	      DstBlock		      "Relational\nOperator"
	      DstPort		      2
	    }
	    Line {
	      SrcBlock		      "dc"
	      SrcPort		      1
	      Points		      [70, 0]
	      Branch {
		DstBlock		"Relational\nOperator"
		DstPort			1