lqrcontrol_delay.mdl

LQR controller to deal with the train problem

      Name		      "Saturation"
      Position		      [90, 35, 120, 65]
      UpperLimit	      "10000"
      LowerLimit	      "0"
    }
    Block {
      BlockType		      Saturate
      Name		      "Saturation3"
      Position		      [520, 115, 550, 145]
      NamePlacement	      "alternate"
      ShowName		      off
      UpperLimit	      "150"
      LowerLimit	      "-150"
    }
    Block {
      BlockType		      Saturate
      Name		      "Saturation4"
      Position		      [820, 115, 850, 145]
      NamePlacement	      "alternate"
      ShowName		      off
      UpperLimit	      "10000"
      LowerLimit	      "0"
    }
    Block {
      BlockType		      Scope
      Name		      "Scope1"
      Ports		      [1]
      Position		      [705, 14, 735, 46]
      Location		      [6, 526, 723, 1044]
      Open		      off
      NumInputPorts	      "1"
      List {
	ListType		AxesTitles
	axes1			"%<SignalLabel>"
      }
      TimeRange		      "200"
      YMin		      "-100"
      YMax		      "150"
      SaveName		      "ScopeData1"
      DataFormat	      "StructureWithTime"
    }
    Block {
      BlockType		      Scope
      Name		      "Scope2"
      Ports		      [1]
      Position		      [1130, 69, 1160, 101]
      Location		      [1, 50, 1401, 1019]
      Open		      off
      NumInputPorts	      "1"
      List {
	ListType		AxesTitles
	axes1			"%<SignalLabel>"
      }
      TimeRange		      "200"
      YMin		      "-100"
      YMax		      "3000"
      DataFormat	      "StructureWithTime"
    }
    Block {
      BlockType		      Sin
      Name		      "Sine Wave"
      Ports		      [0, 1]
      Position		      [20, 125, 50, 155]
      SineType		      "Time based"
      Amplitude		      "2000"
      Frequency		      "1/50"
      SampleTime	      "0"
    }
    Block {
      BlockType		      StateSpace
      Name		      "State-Space"
      Position		      [690, 113, 750, 147]
      A			      "A"
      B			      "B"
      C			      "C"
      D			      "D"
      X0		      "[0 0]"
    }
    Block {
      BlockType		      SubSystem
      Name		      "Subsystem"
      Ports		      [1, 1]
      Position		      [385, 141, 430, 179]
      ShowName		      off
      TreatAsAtomicUnit	      off
      MinAlgLoopOccurrences   off
      RTWSystemCode	      "Auto"
      System {
	Name			"Subsystem"
	Location		[625, 269, 1010, 361]
	Open			off
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"white"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"A4"
	PaperUnits		"centimeters"
	ZoomFactor		"100"
	Block {
	  BlockType		  Inport
	  Name			  "In1"
	  Position		  [25, 38, 55, 52]
	  Port			  "1"
	  IconDisplay		  "Port number"
	  LatchInput		  off
	}
	Block {
	  BlockType		  Gain
	  Name			  "Gain2"
	  Position		  [90, 27, 140, 63]
	  ShowName		  off
	  Gain			  "1/20"
	  ParameterDataTypeMode	  "Inherit via internal rule"
	  OutDataTypeMode	  "Inherit via internal rule"
	  SaturateOnIntegerOverflow off
	}
	Block {
	  BlockType		  Gain
	  Name			  "Gain3"
	  Position		  [255, 27, 305, 63]
	  ShowName		  off
	  Gain			  "20"
	  ParameterDataTypeMode	  "Inherit via internal rule"
	  OutDataTypeMode	  "Inherit via internal rule"
	  SaturateOnIntegerOverflow off
	}
	Block {
	  BlockType		  Rounding
	  Name			  "Rounding\nFunction"
	  Position		  [165, 25, 215, 65]
	  ShowName		  off
	  Operator		  "round"
	}
	Block {
	  BlockType		  Outport
	  Name			  "Out1"
	  Position		  [330, 38, 360, 52]
	  IconDisplay		  "Port number"
	  BusOutputAsStruct	  off
	}
	Line {
	  SrcBlock		  "Gain2"
	  SrcPort		  1
	  DstBlock		  "Rounding\nFunction"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Rounding\nFunction"
	  SrcPort		  1
	  DstBlock		  "Gain3"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "In1"
	  SrcPort		  1
	  DstBlock		  "Gain2"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Gain3"
	  SrcPort		  1
	  DstBlock		  "Out1"
	  DstPort		  1
	}
      }
    }
    Block {
      BlockType		      Sum
      Name		      "Sum"
      Ports		      [2, 1]
      Position		      [305, 130, 325, 150]
      ShowName		      off
      IconShape		      "round"
      Inputs		      "|+-"
      InputSameDT	      off
      OutDataTypeMode	      "Inherit via internal rule"
      SaturateOnIntegerOverflow	off
    }
    Block {
      BlockType		      Sum
      Name		      "Sum1"
      Ports		      [2, 1]
      Position		      [105, 130, 125, 150]
      ShowName		      off
      IconShape		      "round"
      Inputs		      "|-+"
      InputSameDT	      off
      OutDataTypeMode	      "Inherit via internal rule"
      SaturateOnIntegerOverflow	off
    }
    Block {
      BlockType		      Sum
      Name		      "Sum2"
      Ports		      [2, 1]
      Position		      [940, 185, 960, 205]
      Orientation	      "left"
      NamePlacement	      "alternate"
      ShowName		      off
      IconShape		      "round"
      Inputs		      "|+-"
      InputSameDT	      off
      OutDataTypeMode	      "Inherit via internal rule"
      SaturateOnIntegerOverflow	off
    }
    Line {
      SrcBlock		      "Saturation"
      SrcPort		      1
      Points		      [15, 0]
      Branch {
	DstBlock		"Gain2"
	DstPort			1
      }
      Branch {
	Points			[0, -45; 940, 0]
	DstBlock		"Mux"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Gain"
      SrcPort		      1
      Points		      [-215, 0]
      DstBlock		      "Sum"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Manual Switch"
      SrcPort		      1
      DstBlock		      "Saturation3"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Subsystem"
      SrcPort		      1
      DstBlock		      "Manual Switch"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Saturation3"
      SrcPort		      1
      Points		      [20, 0]
      Branch {
	Points			[0, 125]
	DstBlock		"Gain1"
	DstPort			1
      }
      Branch {
	Points			[-85, 0; 0, -100]
	DstBlock		"Scope1"
	DstPort			1
      }
      Branch {
	DstBlock		"State-Space"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Sum"
      SrcPort		      1
      Points		      [25, 0]
      Branch {
	Points			[0, -20]
	DstBlock		"Manual Switch"
	DstPort			1
      }
      Branch {
	Points			[0, 20]
	DstBlock		"Subsystem"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Sum2"
      SrcPort		      1
      DstBlock		      "Gain3"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Add"
      SrcPort		      1
      DstBlock		      "Integrator"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Integrator"
      SrcPort		      1
      Points		      [30, 0]
      Branch {
	DstBlock		"Gain4"
	DstPort			1
      }
      Branch {
	Points			[0, 100]
	Branch {
	  DstBlock		  "Gain5"
	  DstPort		  1
	}
	Branch {
	  Points		  [0, 45]
	  DstBlock		  "Gain"
	  DstPort		  1
	}
      }
    }
    Line {
      SrcBlock		      "Gain4"
      SrcPort		      1
      Points		      [20, 0]
      DstBlock		      "Sum2"
      DstPort		      2
    }
    Line {
      SrcBlock		      "State-Space"
      SrcPort		      1
      DstBlock		      "Saturation4"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Saturation4"
      SrcPort		      1
      Points		      [40, 0]
      Branch {
	Points			[0, -25]
	DstBlock		"Mux"
	DstPort			2
      }
      Branch {
	Points			[95, 0; 0, 65]
	DstBlock		"Sum2"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Gain5"
      SrcPort		      1
      Points		      [-50, 0; 0, -90]
      DstBlock		      "Add"
      DstPort		      3
    }
    Line {
      SrcBlock		      "Gain1"
      SrcPort		      1
      DstBlock		      "Add"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Gain3"
      SrcPort		      1
      Points		      [-110, 0; 0, 50]
      DstBlock		      "Add"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Gain6"
      SrcPort		      1
      DstBlock		      "Sum"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Gain2"
      SrcPort		      1
      Points		      [0, 60; -130, 0]
      DstBlock		      "Sum1"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Sine Wave"
      SrcPort		      1
      Points		      [10, 0; 0, -90]
      DstBlock		      "Saturation"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Mux"
      SrcPort		      1
      Points		      [5, 0; 0, -10]
      DstBlock		      "Scope2"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Sum1"
      SrcPort		      1
      DstBlock		      "Gain6"
      DstPort		      1
    }
  }
}