mophong_inverted_pendulum_pd_goc_vitri.mdl

c program for caro game

	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		      "Kd"
      Position		      [390, 320, 420, 350]
      Orientation	      "left"
      NamePlacement	      "alternate"
    }
    Block {
      BlockType		      Gain
      Name		      "Kd1"
      Position		      [180, 165, 210, 195]
    }
    Block {
      BlockType		      Gain
      Name		      "Kp"
      Position		      [180, 115, 210, 145]
    }
    Block {
      BlockType		      Gain
      Name		      "Kp2"
      Position		      [395, 255, 425, 285]
      Orientation	      "left"
      NamePlacement	      "alternate"
    }
    Block {
      BlockType		      Mux
      Name		      "Mux"
      Ports		      [2, 1]
      Position		      [570, 198, 575, 247]
      ShowName		      off
      Inputs		      "2"
      DisplayOption	      "bar"
    }
    Block {
      BlockType		      "S-Function"
      Name		      "S-Function\nInverted Pendulum"
      Ports		      [1, 1]
      Position		      [360, 102, 480, 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		      [605, 111, 640, 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		      [365, 54, 395, 86]
      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		      [605, 206, 640, 244]
      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		      [35, 115, 65, 145]
      SampleTime	      "0"
    }
    Block {
      BlockType		      Sum
      Name		      "Sum"
      Ports		      [2, 1]
      Position		      [120, 120, 140, 140]
      ShowName		      off
      IconShape		      "round"
      Inputs		      "|+-"
      InputSameDT	      off
      OutDataTypeMode	      "Inherit via internal rule"
    }
    Block {
      BlockType		      Sum
      Name		      "Sum1"
      Ports		      [2, 1]
      Position		      [305, 120, 325, 140]
      ShowName		      off
      IconShape		      "round"
      Inputs		      "|+-"
      InputSameDT	      off
      OutDataTypeMode	      "Inherit via internal rule"
    }
    Block {
      BlockType		      Sum
      Name		      "Sum2"
      Ports		      [2, 1]
      Position		      [335, 260, 355, 280]
      Orientation	      "left"
      NamePlacement	      "alternate"
      ShowName		      off
      IconShape		      "round"
      Inputs		      "|++"
      InputSameDT	      off
      OutDataTypeMode	      "Inherit via internal rule"
    }
    Block {
      BlockType		      Sum
      Name		      "Sum3"
      Ports		      [2, 1]
      Position		      [260, 120, 280, 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, 150]
	Branch {
	  DstBlock		  "Kp2"
	  DstPort		  1
	}
	Branch {
	  Points		  [0, 65]
	  DstBlock		  "Derivative1"
	  DstPort		  1
	}
      }
    }
    Line {
      SrcBlock		      "Demux"
      SrcPort		      2
      Points		      [15, 0]
      Branch {
	DstBlock		"Scope"
	DstPort			2
      }
      Branch {
	Points			[0, 65]
	Branch {
	  Points		  [0, 5; -400, 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, 105]
	DstBlock		"Mux"
	DstPort			2
      }
    }
    Line {
      SrcBlock		      "Sum"
      SrcPort		      1
      Points		      [15, 0]
      Branch {
	DstBlock		"Kp"
	DstPort			1
      }
      Branch {
	Points			[0, 50]
	DstBlock		"Kd1"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Mux"
      SrcPort		      1
      DstBlock		      "Scope2"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Sum1"
      SrcPort		      1
      Points		      [5, 0]
      Branch {
	DstBlock		"S-Function\nInverted Pendulum"
	DstPort			1
      }
      Branch {
	Points			[0, -60]
	DstBlock		"Scope1"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Sum2"
      SrcPort		      1
      Points		      [-15, 0]
      DstBlock		      "Sum1"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Kp2"
      SrcPort		      1
      DstBlock		      "Sum2"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Derivative1"
      SrcPort		      1
      DstBlock		      "Kd"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Kd"
      SrcPort		      1
      Points		      [-40, 0]
      DstBlock		      "Sum2"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Kp"
      SrcPort		      1
      DstBlock		      "Sum3"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Sum3"
      SrcPort		      1
      DstBlock		      "Sum1"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Derivative"
      SrcPort		      1
      Points		      [5, 0]
      DstBlock		      "Sum3"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Kd1"
      SrcPort		      1
      DstBlock		      "Derivative"
      DstPort		      1
    }
  }
}