mophong_inverted_pendulum_p_goc_vitri.mdl

c program for caro game

      Ports		      []
      Position		      [67, 35, 145, 77]
      ForegroundColor	      "red"
      ShowName		      off
      List {
	ListType		RTWdata
	document_text01		"Type your documentation here."
      }
      CopyFcn		      "docblock('breaklink',gcb);"
      DeleteFcn		      "docblock('close_document',gcb);"
      PreSaveFcn	      "docblock('save_document',gcb);"
      OpenFcn		      "plot_data"
      FontSize		      10
      TreatAsAtomicUnit	      off
      MaskType		      "DocBlock"
      MaskDescription	      "Use this block to save long descriptive text wi"
"th the model.  Double-clicking the block will open an editor."
      MaskPromptString	      "E Coder Flag|Document Type"
      MaskStyleString	      "edit,popup(Text|RTF|HTML)"
      MaskTunableValueString  "off,off"
      MaskCallbackString      "|"
      MaskEnableString	      "on,on"
      MaskVisibilityString    "on,off"
      MaskToolTipString	      "on,on"
      MaskVarAliasString      ","
      MaskVariables	      "ECoderFlag=&1;DocumentType=&2;"
      MaskDisplay	      "plot([.8 0 0 1 1 .8 .8 1],[1 1 0 0 .8 1 .8 .8])"
";\ntext(.5,.5,'Nhan nut de ve','horizontalalignment','center');\n"
      MaskIconFrame	      off
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "autoscale"
      MaskValueString	      "|Text"
      System {
	Name			"DocBlock"
	Location		[480, 85, 980, 386]
	Open			off
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"white"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"usletter"
	PaperUnits		"inches"
	ZoomFactor		"100"
	Block {
	  BlockType		  SubSystem
	  Name			  "EmptySubsystem"
	  Ports			  []
	  Position		  [115, 50, 145, 80]
	  TreatAsAtomicUnit	  off
	  System {
	    Name		    "EmptySubsystem"
	    Location		    [146, 180, 902, 673]
	    Open		    off
	    ModelBrowserVisibility  off
	    ModelBrowserWidth	    200
	    ScreenColor		    "white"
	    PaperOrientation	    "landscape"
	    PaperPositionMode	    "auto"
	    PaperType		    "usletter"
	    PaperUnits		    "inches"
	    ZoomFactor		    "100"
	  }
	}
      }
    }
    Block {
      BlockType		      Gain
      Name		      "Kp"
      Position		      [195, 115, 225, 145]
      Gain		      "10"
    }
    Block {
      BlockType		      Gain
      Name		      "Kp1"
      Position		      [300, 250, 330, 280]
      Orientation	      "left"
      NamePlacement	      "alternate"
      Gain		      "20"
    }
    Block {
      BlockType		      Mux
      Name		      "Mux"
      Ports		      [2, 1]
      Position		      [510, 193, 515, 242]
      ShowName		      off
      Inputs		      "2"
      DisplayOption	      "bar"
    }
    Block {
      BlockType		      "S-Function"
      Name		      "S-Function\nInverted Pendulum"
      Ports		      [1, 1]
      Position		      [300, 102, 420, 158]
      ForegroundColor	      "blue"
      FunctionName	      "Pendulum_sfunc"
      MaskDisplay	      "disp('INVERTED PENDULUM');"
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "autoscale"
    }
    Block {
      BlockType		      Scope
      Name		      "Scope"
      Ports		      [2]
      Position		      [545, 111, 580, 149]
      Location		      [260, 398, 584, 637]
      Open		      off
      NumInputPorts	      "2"
      ZoomMode		      "yonly"
      List {
	ListType		AxesTitles
	axes1			"%<SignalLabel>"
	axes2			"%<SignalLabel>"
      }
      List {
	ListType		SelectedSignals
	axes1			""
	axes2			""
      }
      YMin		      "0~-5"
      YMax		      "5~5"
      SaveToWorkspace	      on
      SaveName		      "y"
      DataFormat	      "StructureWithTime"
      LimitDataPoints	      off
    }
    Block {
      BlockType		      Scope
      Name		      "Scope1"
      Ports		      [1]
      Position		      [305, 49, 335, 81]
      Location		      [188, 365, 512, 604]
      Open		      off
      NumInputPorts	      "1"
      List {
	ListType		AxesTitles
	axes1			"%<SignalLabel>"
      }
      List {
	ListType		SelectedSignals
	axes1			""
      }
      DataFormat	      "StructureWithTime"
    }
    Block {
      BlockType		      Scope
      Name		      "Scope2"
      Ports		      [1]
      Position		      [545, 201, 580, 239]
      Location		      [260, 398, 584, 637]
      Open		      off
      NumInputPorts	      "1"
      List {
	ListType		AxesTitles
	axes1			"%<SignalLabel>"
      }
      List {
	ListType		SelectedSignals
	axes1			""
      }
      SaveToWorkspace	      on
      SaveName		      "y1"
      DataFormat	      "StructureWithTime"
      LimitDataPoints	      off
    }
    Block {
      BlockType		      Step
      Name		      "Step"
      Position		      [65, 115, 95, 145]
      SampleTime	      "0"
    }
    Block {
      BlockType		      Sum
      Name		      "Sum"
      Ports		      [2, 1]
      Position		      [150, 120, 170, 140]
      ShowName		      off
      IconShape		      "round"
      Inputs		      "|+-"
      InputSameDT	      off
      OutDataTypeMode	      "Inherit via internal rule"
    }
    Block {
      BlockType		      Sum
      Name		      "Sum1"
      Ports		      [2, 1]
      Position		      [245, 120, 265, 140]
      ShowName		      off
      IconShape		      "round"
      Inputs		      "|+-"
      InputSameDT	      off
      OutDataTypeMode	      "Inherit via internal rule"
    }
    Line {
      SrcBlock		      "S-Function\nInverted Pendulum"
      SrcPort		      1
      DstBlock		      "Demux"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Demux"
      SrcPort		      1
      Points		      [30, 0]
      Branch {
	DstBlock		"Scope"
	DstPort			1
      }
      Branch {
	Points			[0, 145]
	DstBlock		"Kp1"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Demux"
      SrcPort		      2
      Points		      [15, 0]
      Branch {
	DstBlock		"Scope"
	DstPort			2
      }
      Branch {
	Points			[0, 60]
	Branch {
	  Points		  [0, 5; -310, 0]
	  DstBlock		  "Sum"
	  DstPort		  2
	}
	Branch {
	  Points		  [0, 5]
	  DstBlock		  "Mux"
	  DstPort		  1
	}
      }
    }
    Line {
      SrcBlock		      "Step"
      SrcPort		      1
      Points		      [0, 0; 20, 0]
      Branch {
	DstBlock		"Sum"
	DstPort			1
      }
      Branch {
	Points			[0, 100]
	DstBlock		"Mux"
	DstPort			2
      }
    }
    Line {
      SrcBlock		      "Sum"
      SrcPort		      1
      DstBlock		      "Kp"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Mux"
      SrcPort		      1
      DstBlock		      "Scope2"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Kp"
      SrcPort		      1
      DstBlock		      "Sum1"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Sum1"
      SrcPort		      1
      Points		      [5, 0]
      Branch {
	DstBlock		"S-Function\nInverted Pendulum"
	DstPort			1
      }
      Branch {
	Points			[0, -65]
	DstBlock		"Scope1"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Kp1"
      SrcPort		      1
      Points		      [-40, 0]
      DstBlock		      "Sum1"
      DstPort		      2
    }
  }
}