📄 cp1.mdl
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Name "theta dot"
Ports [1, 1]
Position [435, 85, 455, 105]
InitialCondition "init_cond(2)"
IgnoreLimit off
}
Block {
BlockType Integrator
Name "x"
Ports [1, 1]
Position [570, 220, 590, 240]
InitialCondition "init_cond(3)"
IgnoreLimit off
}
Block {
BlockType Integrator
Name "x dot"
Ports [1, 1]
Position [510, 220, 530, 240]
InitialCondition "init_cond(4)"
IgnoreLimit off
}
Block {
BlockType Outport
Name "out_1"
Position [670, 85, 690, 105]
IconDisplay "Port number"
BusOutputAsStruct off
InitialOutput "0"
}
Block {
BlockType Outport
Name "out_2"
Position [675, 125, 695, 145]
Port "2"
IconDisplay "Port number"
BusOutputAsStruct off
InitialOutput "0"
}
Block {
BlockType Outport
Name "out_3"
Position [675, 165, 695, 185]
Port "3"
IconDisplay "Port number"
BusOutputAsStruct off
InitialOutput "0"
}
Block {
BlockType Outport
Name "out_4"
Position [675, 205, 695, 225]
Port "4"
IconDisplay "Port number"
BusOutputAsStruct off
InitialOutput "0"
}
Line {
SrcBlock "in_1"
SrcPort 1
DstBlock "Mux1"
DstPort 1
}
Line {
SrcBlock "x"
SrcPort 1
Points [25, 0; 0, -55]
DstBlock "out_3"
DstPort 1
}
Line {
SrcBlock "x dot"
SrcPort 1
Points [0, 0]
Branch {
Points [15, 0; 0, -15]
DstBlock "out_4"
DstPort 1
}
Branch {
DstBlock "x"
DstPort 1
}
}
Line {
SrcBlock "Mux1"
SrcPort 1
Points [0, 0]
Branch {
DstBlock "Fcn1"
DstPort 1
}
Branch {
Points [10, 0; 0, 125]
DstBlock "Mux2"
DstPort 1
}
}
Line {
SrcBlock "Mux2"
SrcPort 1
DstBlock "Fcn2"
DstPort 1
}
Line {
SrcBlock "Fcn2"
SrcPort 1
DstBlock "x dot"
DstPort 1
}
Line {
SrcBlock "Fcn1"
SrcPort 1
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 Reference
Name "Fuzzy Logic\nController"
Ports [1, 1]
Position [140, 230, 200, 280]
Orientation "left"
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 "Mux1"
Ports [4, 1]
Position [240, 238, 275, 272]
Orientation "left"
ShowName off
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
}
Block {
BlockType Scope
Name "Scope"
Ports [1]
Position [490, 314, 520, 346]
Floating off
Location [188, 390, 512, 629]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
DataFormat "StructureWithTime"
SampleTime "0"
}
Block {
BlockType Scope
Name "Scope2"
Ports [1]
Position [485, 129, 515, 161]
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 [485, 194, 515, 226]
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 [485, 254, 515, 286]
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 [485, 74, 515, 106]
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 [315, 180, 335, 200]
Orientation "down"
ShowName off
Inputs "+-"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
}
Line {
SrcBlock "Fuzzy Logic\nController"
SrcPort 1
Points [-40, 0]
Branch {
Points [0, -140]
DstBlock "Cart & Pole\nDynamics"
DstPort 1
}
Branch {
Points [0, 75]
DstBlock "Scope"
DstPort 1
}
}
Line {
SrcBlock "In1"
SrcPort 1
Points [275, 0]
DstBlock "Sum"
DstPort 2
}
Line {
SrcBlock "Mux1"
SrcPort 1
DstBlock "Fuzzy Logic\nController"
DstPort 1
}
Line {
SrcBlock "Sum"
SrcPort 1
Points [0, 55]
DstBlock "Mux1"
DstPort 3
}
Line {
SrcBlock "Cart & Pole\nDynamics"
SrcPort 2
Points [150, 0]
Branch {
Points [0, 145]
DstBlock "Mux1"
DstPort 2
}
Branch {
Points [40, 0; 0, 40]
DstBlock "Scope2"
DstPort 1
}
}
Line {
SrcBlock "Cart & Pole\nDynamics"
SrcPort 1
Points [170, 0]
Branch {
Points [0, 150]
DstBlock "Mux1"
DstPort 1
}
Branch {
DstBlock "Scope5"
DstPort 1
}
}
Line {
SrcBlock "Cart & Pole\nDynamics"
SrcPort 4
Points [100, 0; 0, 135]
Branch {
DstBlock "Mux1"
DstPort 4
}
Branch {
DstBlock "Scope4"
DstPort 1
}
}
Line {
SrcBlock "Cart & Pole\nDynamics"
SrcPort 3
Points [120, 0; 0, 35]
Branch {
DstBlock "Sum"
DstPort 1
}
Branch {
Points [90, 0; 0, 55]
DstBlock "Scope3"
DstPort 1
}
}
}
}
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