📄 cp1.mdl
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TargetPreCompLibLocation ""
GenFloatMathFcnCalls "ANSI_C"
UtilityFuncGeneration "Auto"
GenerateFullHeader on
GenerateSampleERTMain off
GenerateTestInterfaces off
IsPILTarget off
ModelReferenceCompliant on
IncludeMdlTerminateFcn on
CombineOutputUpdateFcns off
SuppressErrorStatus off
IncludeERTFirstTime on
ERTFirstTimeCompliant off
IncludeFileDelimiter "Auto"
ERTCustomFileBanners off
SupportAbsoluteTime on
LogVarNameModifier "rt_"
MatFileLogging on
MultiInstanceERTCode off
SupportNonFinite on
SupportComplex on
PurelyIntegerCode off
SupportContinuousTime on
SupportNonInlinedSFcns on
ExtMode off
ExtModeStaticAlloc off
ExtModeTesting off
ExtModeStaticAllocSize 1000000
ExtModeTransport 0
ExtModeMexFile "ext_comm"
RTWCAPISignals off
RTWCAPIParams off
RTWCAPIStates off
GenerateASAP2 off
}
PropName "Components"
}
}
PropName "Components"
}
Name "Configuration"
SimulationMode "normal"
CurrentDlgPage "Solver"
}
PropName "ConfigurationSets"
}
Simulink.ConfigSet {
$PropName "ActiveConfigurationSet"
$ObjectID 1
}
BlockDefaults {
Orientation "right"
ForegroundColor "black"
BackgroundColor "white"
DropShadow off
NamePlacement "normal"
FontName "Arial"
FontSize 10
FontWeight "normal"
FontAngle "normal"
ShowName on
}
BlockParameterDefaults {
Block {
BlockType ActionPort
InitializeStates "held"
ActionType "unset"
}
Block {
BlockType Constant
}
Block {
BlockType DataTypeConversion
OutDataTypeMode "Inherit via back propagation"
OutDataType "sfix(16)"
OutScaling "2^0"
LockScale off
ConvertRealWorld "Real World Value (RWV)"
RndMeth "Zero"
SaturateOnIntegerOverflow on
SampleTime "-1"
}
Block {
BlockType Demux
Outputs "4"
DisplayOption "none"
BusSelectionMode off
}
Block {
BlockType Fcn
Expr "sin(u[1])"
SampleTime "-1"
}
Block {
BlockType If
NumInputs "1"
IfExpression "u1 > 0"
ShowElse on
ZeroCross on
SampleTime "-1"
}
Block {
BlockType Inport
Port "1"
UseBusObject off
BusObject "BusObject"
BusOutputAsStruct off
PortDimensions "-1"
SampleTime "-1"
DataType "auto"
OutDataType "sfix(16)"
OutScaling "2^0"
SignalType "auto"
SamplingMode "auto"
LatchByDelayingOutsideSignal off
LatchByCopyingInsideSignal off
Interpolate on
}
Block {
BlockType Integrator
ExternalReset "none"
InitialConditionSource "internal"
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 Merge
Inputs "2"
InitialOutput "[]"
AllowUnequalInputPortWidths off
InputPortOffsets "[]"
}
Block {
BlockType Mux
Inputs "4"
DisplayOption "none"
UseBusObject off
BusObject "BusObject"
NonVirtualBus off
}
Block {
BlockType Outport
Port "1"
UseBusObject off
BusObject "BusObject"
BusOutputAsStruct off
PortDimensions "-1"
SampleTime "-1"
DataType "auto"
OutDataType "sfix(16)"
OutScaling "2^0"
SignalType "auto"
SamplingMode "auto"
OutputWhenDisabled "held"
InitialOutput "[]"
}
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 RelationalOperator
Operator ">="
InputSameDT on
LogicOutDataTypeMode "Logical (see Configuration Parameters: Optimiza"
"tion)"
LogicDataType "uint(8)"
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 SubSystem
ShowPortLabels on
Permissions "ReadWrite"
PermitHierarchicalResolution "All"
TreatAsAtomicUnit off
SystemSampleTime "-1"
RTWFcnNameOpts "Auto"
RTWFileNameOpts "Auto"
RTWMemSecFuncInitTerm "Inherit from model"
RTWMemSecFuncExecute "Inherit from model"
RTWMemSecDataConstants "Inherit from model"
RTWMemSecDataInternal "Inherit from model"
RTWMemSecDataParameters "Inherit from model"
SimViewingDevice off
DataTypeOverride "UseLocalSettings"
MinMaxOverflowLogging "UseLocalSettings"
}
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 Switch
Criteria "u2 >= Threshold"
Threshold "0"
InputSameDT on
OutDataTypeMode "Inherit via internal rule"
RndMeth "Floor"
SaturateOnIntegerOverflow on
ZeroCross on
SampleTime "-1"
}
}
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 "cp1"
Location [2, 83, 1270, 978]
Open on
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "A4"
PaperUnits "centimeters"
TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
TiledPageScale 1
ShowPageBoundaries off
ZoomFactor "100"
ReportName "simulink-default.rpt"
Block {
BlockType Inport
Name "In1"
Position [20, 38, 50, 52]
IconDisplay "Port number"
}
Block {
BlockType SubSystem
Name "Cart & Pole\nDynamics"
Ports [1, 4]
Position [145, 85, 195, 140]
ShowPortLabels off
MinAlgLoopOccurrences off
RTWSystemCode "Auto"
FunctionWithSeparateData off
MaskHideContents off
MaskType "Cart & Pole"
MaskDescription "Inverted Pendulum (cart & pole)"
MaskHelp "Inverted Pendulum"
MaskPromptString "Initial Conditions (angle, angular velocity, ca"
"rt position and cart velocity):|Physical Specifications (pole length, pole ma"
"ss, cart mass and g):"
MaskStyleString "edit,edit"
MaskTunableValueString "on,on"
MaskCallbackString "|"
MaskEnableString "on,on"
MaskVisibilityString "on,on"
MaskToolTipString "on,on"
MaskVarAliasString ","
MaskInitialization "init_cond = @1; specs = @2;l=specs(1)/2;m=specs"
"(2);mc=specs(3);g=specs(4);"
MaskDisplay "plot(-4,-1,4,6,[0 3 2.8 -0.2 0],[1 5 5.15 1.15 "
"1],[-1 -1 1 1 -1],[1 0 0 1 1],[-3.5 3.5],[0 0])"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
MaskValueString "[0.2, 0, 0.5, 0]|[1.0, 0.1, 1.0, 9.8]"
MaskTabNameString ","
System {
Name "Cart & Pole\nDynamics"
Location [134, 510, 934, 815]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "A4"
PaperUnits "centimeters"
TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
TiledPageScale 1
ShowPageBoundaries off
ZoomFactor "100"
Block {
BlockType Inport
Name "in_1"
Position [205, 60, 225, 80]
IconDisplay "Port number"
}
Block {
BlockType Fcn
Name "Fcn1"
Position [350, 85, 390, 105]
ShowName off
Expr "(g*u(2)+u(3)*((-u(1)-m*l*u(4)*u(4)*u(2))/(m"
"c+m)))/(l*(4/3-(m*u(3)*u(3))/(mc+m)))"
}
Block {
BlockType Fcn
Name "Fcn2"
Position [450, 220, 490, 240]
ShowName off
Expr "(u(1)+m*l*(u(4)*u(4)*u(2)-u(5)*u(3)))/(mc+m"
")"
}
Block {
BlockType Fcn
Name "Fcn4"
Position [145, 89, 200, 111]
ShowName off
}
Block {
BlockType Fcn
Name "Fcn5"
Position [145, 118, 200, 142]
ShowName off
Expr "cos(u[1])"
}
Block {
BlockType Mux
Name "Mux1"
Ports [4, 1]
Position [280, 65, 315, 120]
ShowName off
}
Block {
BlockType Mux
Name "Mux2"
Ports [2, 1]
Position [400, 208, 430, 252]
ShowName off
Inputs "[4,1]"
}
Block {
BlockType Integrator
Name "theta"
Ports [1, 1]
Position [505, 85, 525, 105]
InitialCondition "init_cond(1)"
IgnoreLimit off
}
Block {
BlockType Integrator
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