📄 carpole1122.mdl
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Points [20, 0]
Branch {
Points [0, 30; -45, 0; 0, 115]
DstBlock "Mux2"
DstPort 2
}
Branch {
DstBlock "theta dot"
DstPort 1
}
}
Line {
SrcBlock "theta dot"
SrcPort 1
Points [15, 0]
Branch {
Points [0, 40]
Branch {
Points [-220, 0; 0, -20]
DstBlock "Mux1"
DstPort 4
}
Branch {
DstBlock "out_2"
DstPort 1
}
}
Branch {
DstBlock "theta"
DstPort 1
}
}
Line {
SrcBlock "Fcn4"
SrcPort 1
Points [25, 0; 0, -15]
DstBlock "Mux1"
DstPort 2
}
Line {
SrcBlock "Fcn5"
SrcPort 1
Points [35, 0; 0, -30]
DstBlock "Mux1"
DstPort 3
}
Line {
SrcBlock "theta"
SrcPort 1
Points [40, 0]
Branch {
Points [0, -65; -445, 0; 0, 70]
Branch {
DstBlock "Fcn4"
DstPort 1
}
Branch {
Points [0, 30]
DstBlock "Fcn5"
DstPort 1
}
}
Branch {
DstBlock "out_1"
DstPort 1
}
}
}
}
Block {
BlockType Constant
Name "Constant"
Position [211, 265, 229, 285]
Orientation "up"
NamePlacement "alternate"
Value "1"
VectorParams1D on
SamplingMode "Sample based"
OutDataTypeMode "Inherit from 'Constant value'"
OutDataType "sfix(16)"
ConRadixGroup "Use specified scaling"
OutScaling "2^0"
SampleTime "inf"
FramePeriod "inf"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
}
Block {
BlockType Reference
Name "Fuzzy Logic\nController"
Ports [1, 1]
Position [335, 345, 395, 395]
Orientation "left"
FontName "Arial"
SourceBlock "fuzblock/Fuzzy Logic \nController"
SourceType "FIS"
ShowPortLabels on
SystemSampleTime "-1"
FunctionWithSeparateData off
RTWMemSecFuncInitTerm "Inherit from model"
RTWMemSecFuncExecute "Inherit from model"
RTWMemSecDataConstants "Inherit from model"
RTWMemSecDataInternal "Inherit from model"
RTWMemSecDataParameters "Inherit from model"
fis "fismatrix"
}
Block {
BlockType Mux
Name "Mux"
Ports [4, 1]
Position [410, 110, 450, 145]
Orientation "up"
ShowName off
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
}
Block {
BlockType Mux
Name "Mux1"
Ports [4, 1]
Position [425, 353, 460, 387]
Orientation "left"
ShowName off
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
}
Block {
BlockType Mux
Name "Mux2"
Ports [2, 1]
Position [535, 164, 565, 191]
ShowName off
Inputs "2"
}
Block {
BlockType Scope
Name "Scope"
Ports [1]
Position [580, 167, 600, 193]
ShowName off
Floating off
Location [76, 694, 833, 864]
Open off
NumInputPorts "1"
TickLabels "on"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
TimeRange "10"
YMin "-2"
YMax "2"
DataFormat "Array"
SampleTime "0"
}
Block {
BlockType Scope
Name "Scope1"
Ports [1]
Position [299, 575, 331, 605]
Orientation "down"
NamePlacement "alternate"
Floating off
Location [188, 390, 512, 629]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
SaveName "ScopeData1"
DataFormat "StructureWithTime"
SampleTime "0"
}
Block {
BlockType Scope
Name "Scope2"
Ports [1]
Position [755, 179, 785, 211]
Floating off
Location [188, 390, 512, 629]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
SaveName "ScopeData2"
DataFormat "StructureWithTime"
SampleTime "0"
}
Block {
BlockType Scope
Name "Scope3"
Ports [1]
Position [755, 394, 785, 426]
Floating off
Location [188, 390, 512, 629]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
SaveName "ScopeData3"
DataFormat "StructureWithTime"
SampleTime "0"
}
Block {
BlockType Scope
Name "Scope4"
Ports [1]
Position [755, 344, 785, 376]
Floating off
Location [188, 390, 512, 629]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
SaveName "ScopeData4"
DataFormat "StructureWithTime"
SampleTime "0"
}
Block {
BlockType Scope
Name "Scope5"
Ports [1]
Position [755, 239, 785, 271]
Floating off
Location [188, 390, 512, 629]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
SaveName "ScopeData5"
DataFormat "StructureWithTime"
SampleTime "0"
}
Block {
BlockType Sum
Name "Sum"
Ports [2, 1]
Position [485, 270, 505, 290]
Orientation "down"
ShowName off
Inputs "+-"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
}
Block {
BlockType Switch
Name "Switch"
Position [270, 154, 295, 186]
}
Block {
BlockType SignalGenerator
Name "Target Position"
Ports [0, 1]
Position [145, 143, 190, 177]
WaveForm "square"
Amplitude "0"
Frequency "0.128320"
Units "rad/sec"
}
Block {
BlockType Constant
Name "Target Position\n(Mouse-Driven)"
Position [232, 375, 258, 395]
Orientation "up"
NamePlacement "alternate"
Value "0.153846"
VectorParams1D on
SamplingMode "Sample based"
OutDataTypeMode "Inherit from 'Constant value'"
OutDataType "sfix(16)"
ConRadixGroup "Use specified scaling"
OutScaling "2^0"
SampleTime "inf"
FramePeriod "inf"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
}
Line {
SrcBlock "Target Position"
SrcPort 1
Points [60, 0]
DstBlock "Switch"
DstPort 1
}
Line {
SrcBlock "Constant"
SrcPort 1
Points [0, -90]
DstBlock "Switch"
DstPort 2
}
Line {
SrcBlock "Target Position\n(Mouse-Driven)"
SrcPort 1
Points [0, -190]
DstBlock "Switch"
DstPort 3
}
Line {
SrcBlock "Mux2"
SrcPort 1
DstBlock "Scope"
DstPort 1
}
Line {
SrcBlock "Mux"
SrcPort 1
Points [0, -15]
DstBlock "Animation"
DstPort 1
}
Line {
SrcBlock "Cart & Pole\nDynamics"
SrcPort 4
Points [0, 0; 80, 0]
Branch {
Points [0, 145]
DstBlock "Mux1"
DstPort 4
}
Branch {
Points [105, 0; 0, 170]
DstBlock "Scope3"
DstPort 1
}
}
Line {
SrcBlock "Switch"
SrcPort 1
Points [0, 0; 145, 0]
Branch {
Points [55, 0]
Branch {
DstBlock "Mux2"
DstPort 1
}
Branch {
DstBlock "Sum"
DstPort 2
}
}
Branch {
DstBlock "Mux"
DstPort 4
}
}
Line {
SrcBlock "Fuzzy Logic\nController"
SrcPort 1
Points [0, -50; -15, 0]
Branch {
Points [0, -100]
Branch {
Points [0, -60]
DstBlock "Mux"
DstPort 3
}
Branch {
DstBlock "Cart & Pole\nDynamics"
DstPort 1
}
}
Branch {
DstBlock "Scope1"
DstPort 1
}
}
Line {
SrcBlock "Cart & Pole\nDynamics"
SrcPort 3
Points [0, 0; 25, 0]
Branch {
Points [65, 0]
Branch {
Points [0, -40]
DstBlock "Mux2"
DstPort 2
}
Branch {
Points [0, 5]
Branch {
DstBlock "Sum"
DstPort 1
}
Branch {
Points [0, -5; 135, 0; 0, 135]
DstBlock "Scope4"
DstPort 1
}
}
}
Branch {
DstBlock "Mux"
DstPort 2
}
}
Line {
SrcBlock "Cart & Pole\nDynamics"
SrcPort 1
Points [0, 0; 15, 0]
Branch {
DstBlock "Mux"
DstPort 1
}
Branch {
Points [105, 0]
Branch {
Points [0, 160]
DstBlock "Mux1"
DstPort 1
}
Branch {
DstBlock "Scope2"
DstPort 1
}
}
}
Line {
SrcBlock "Cart & Pole\nDynamics"
SrcPort 2
Points [0, 0; 110, 0]
Branch {
Points [0, 155]
DstBlock "Mux1"
DstPort 2
}
Branch {
Points [190, 0; 0, 45]
DstBlock "Scope5"
DstPort 1
}
}
Line {
SrcBlock "Sum"
SrcPort 1
Points [0, 80]
DstBlock "Mux1"
DstPort 3
}
Line {
SrcBlock "Mux1"
SrcPort 1
Points [-10, 0]
DstBlock "Fuzzy Logic\nController"
DstPort 1
}
}
}
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