📄 block0.mdl
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InitialCondition "0"
LimitOutput off
UpperSaturationLimit "inf"
LowerSaturationLimit "-inf"
ShowSaturationPort off
ShowStatePort off
AbsoluteTolerance "auto"
IgnoreLimit off
ZeroCross on
}
Block {
BlockType Math
Operator "exp"
OutputSignalType "auto"
SampleTime "-1"
OutDataTypeMode "Same as first input"
OutDataType "sfix(16)"
OutScaling "2^0"
LockScale off
RndMeth "Floor"
SaturateOnIntegerOverflow on
}
Block {
BlockType Mux
Inputs "4"
DisplayOption "none"
UseBusObject off
BusObject "BusObject"
NonVirtualBus off
}
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 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 Signum
ZeroCross on
SampleTime "-1"
}
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"
}
Block {
BlockType TransferFcn
Numerator "[1]"
Denominator "[1 2 1]"
AbsoluteTolerance "auto"
Realization "auto"
}
}
AnnotationDefaults {
HorizontalAlignment "center"
VerticalAlignment "middle"
ForegroundColor "black"
BackgroundColor "white"
DropShadow off
FontName "arial"
FontSize 10
FontWeight "normal"
FontAngle "normal"
}
LineDefaults {
FontName "arial"
FontSize 9
FontWeight "normal"
FontAngle "normal"
}
System {
Name "Block0"
Location [2, 82, 1014, 722]
Open on
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "80"
ReportName "simulink-default.rpt"
Block {
BlockType Sum
Name "Add"
Ports [2, 1]
Position [305, 103, 335, 147]
Inputs "+-"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
OutScaling "2^-10"
SaturateOnIntegerOverflow off
}
Block {
BlockType Sum
Name "Add1"
Ports [2, 1]
Position [565, 102, 595, 133]
Inputs "+-"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
OutScaling "2^-10"
SaturateOnIntegerOverflow off
}
Block {
BlockType Sum
Name "Add2"
Ports [2, 1]
Position [665, 402, 695, 433]
Orientation "left"
NamePlacement "alternate"
Inputs "-+"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
OutScaling "2^-10"
SaturateOnIntegerOverflow off
}
Block {
BlockType Sum
Name "Add3"
Ports [3, 1]
Position [355, 392, 385, 538]
Orientation "left"
NamePlacement "alternate"
Inputs "+++"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
OutScaling "2^-10"
SaturateOnIntegerOverflow off
}
Block {
BlockType Sum
Name "Add4"
Ports [2, 1]
Position [445, 176, 470, 269]
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
OutScaling "2^-10"
SaturateOnIntegerOverflow off
}
Block {
BlockType Sum
Name "Add5"
Ports [3, 1]
Position [615, 250, 645, 380]
Orientation "left"
NamePlacement "alternate"
Inputs "+++"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
OutScaling "2^-10"
SaturateOnIntegerOverflow off
}
Block {
BlockType Sum
Name "Add6"
Ports [2, 1]
Position [350, 583, 370, 632]
Inputs "+-"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
OutScaling "2^-10"
SaturateOnIntegerOverflow off
}
Block {
BlockType Sum
Name "Add7"
Ports [2, 1]
Position [575, 433, 595, 482]
Orientation "left"
NamePlacement "alternate"
Inputs "+-"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
OutScaling "2^-10"
SaturateOnIntegerOverflow off
}
Block {
BlockType Gain
Name "Current Amplifier"
Position [220, 450, 250, 480]
Orientation "left"
NamePlacement "alternate"
Gain "125"
ParameterDataTypeMode "Inherit via internal rule"
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Derivative
Name "Derivative"
Position [770, 300, 800, 330]
Orientation "left"
NamePlacement "alternate"
}
Block {
BlockType Derivative
Name "Derivative1"
Position [270, 230, 300, 260]
}
Block {
BlockType Derivative
Name "Derivative2"
Position [445, 500, 475, 530]
Orientation "left"
NamePlacement "alternate"
}
Block {
BlockType Scope
Name "Desired"
Ports [1]
Position [785, 524, 815, 556]
Floating off
Location [5, 52, 1021, 729]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
SaveName "ScopeData2"
DataFormat "StructureWithTime"
SampleTime "0"
}
Block {
BlockType Scope
Name "Error"
Ports [1]
Position [695, 589, 725, 621]
Orientation "left"
NamePlacement "alternate"
Floating off
Location [5, 52, 1021, 729]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
SaveName "ScopeData1"
DataFormat "StructureWithTime"
SampleTime "0"
}
Block {
BlockType Gain
Name "Gain"
Position [370, 18, 425, 72]
Gain "18.234"
ParameterDataTypeMode "Inherit via internal rule"
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Gain
Name "Gain10"
Position [360, 230, 390, 260]
Gain "0.000003925"
ParameterDataTypeMode "Inherit via internal rule"
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Gain
Name "Gain4"
Position [505, 300, 535, 330]
Orientation "left"
NamePlacement "alternate"
Gain "1.11111"
ParameterDataTypeMode "Inherit via internal rule"
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Gain
Name "Gain5"
Position [690, 105, 720, 135]
Gain "0.00015"
ParameterDataTypeMode "Inherit via internal rule"
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Gain
Name "Gain6"
Position [825, 393, 880, 427]
Orientation "left"
NamePlacement "alternate"
Gain "6866"
ParameterDataTypeMode "Inherit via internal rule"
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Gain
Name "Gain7"
Position [695, 255, 725, 285]
Orientation "left"
NamePlacement "alternate"
Gain "3.9"
ParameterDataTypeMode "Inherit via internal rule"
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Gain
Name "Gain8"
Position [695, 300, 725, 330]
Orientation "left"
NamePlacement "alternate"
Gain "0.003465"
ParameterDataTypeMode "Inherit via internal rule"
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Gain
Name "Gain9"
Position [360, 185, 390, 215]
Gain "0.0000678"
ParameterDataTypeMode "Inherit via internal rule"
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Integrator
Name "Integrator"
Ports [1, 1]
Position [875, 105, 905, 135]
IgnoreLimit off
}
Block {
BlockType Integrator
Name "Integrator1"
Ports [1, 1]
Position [445, 450, 475, 480]
Orientation "left"
NamePlacement "alternate"
IgnoreLimit off
}
Block {
BlockType Gain
Name "Kd"
Position [525, 500, 555, 530]
Orientation "left"
NamePlacement "alternate"
Gain "0.00125"
ParameterDataTypeMode "Inherit via internal rule"
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Gain
Name "Kd1"
Position [420, 595, 450, 625]
Gain "0.001"
ParameterDataTypeMode "Inherit via internal rule"
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Gain
Name "Ki"
Position [525, 450, 555, 480]
Orientation "left"
NamePlacement "alternate"
Gain "0.005"
ParameterDataTypeMode "Inherit via internal rule"
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Gain
Name "Kp"
Position [525, 405, 555, 435]
Orientation "left"
NamePlacement "alternate"
Gain "2"
ParameterDataTypeMode "Inherit via internal rule"
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Math
Name "Math\nFunction"
Ports [1, 1]
Position [390, 110, 420, 140]
Operator "sqrt"
}
Block {
BlockType Mux
Name "Mux"
Ports [2, 1]
Position [660, 506, 665, 544]
Orientation "left"
NamePlacement "alternate"
ShowName off
Inputs "2"
DisplayOption "bar"
}
Block {
BlockType Scope
Name "Output"
Ports [1]
Position [800, 459, 830, 491]
Floating off
Location [1, 52, 1017, 729]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
TimeRange "0.2"
YMin "-1000"
YMax "1000"
DataFormat "StructureWithTime"
SampleTime "0"
}
Block {
BlockType Scope
Name "Output1"
Ports [1]
Position [215, 624, 245, 656]
Floating off
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