📄 fig4_34.mdl
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Model {
Name "fig434sim"
Version 3.00
SimParamPage "Solver"
SampleTimeColors off
InvariantConstants off
WideVectorLines off
ShowLineWidths off
ShowPortDataTypes off
StartTime "0.0"
StopTime "5"
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Solver "ode45"
RelTol "1e-3"
AbsTol "1e-6"
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MaxOrder 5
OutputOption "RefineOutputTimes"
OutputTimes "[]"
LoadExternalInput off
ExternalInput "[t, u]"
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TimeSaveName "tout"
SaveState off
StateSaveName "xout"
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OutputSaveName "yout"
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InitialState "xInitial"
SaveFinalState off
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AlgebraicLoopMsg "warning"
MinStepSizeMsg "warning"
UnconnectedInputMsg "warning"
UnconnectedOutputMsg "warning"
UnconnectedLineMsg "warning"
InheritedTsInSrcMsg "warning"
IntegerOverflowMsg "warning"
UnnecessaryDatatypeConvMsg "none"
Int32ToFloatConvMsg "warning"
SignalLabelMismatchMsg "none"
ConsistencyChecking "off"
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BlockDataTips on
BlockParametersDataTip on
BlockAttributesDataTip off
BlockPortWidthsDataTip off
BlockDescriptionStringDataTip off
BlockMaskParametersDataTip off
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StatusBar on
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RTWSystemTargetFile "grt.tlc"
RTWInlineParameters off
RTWRetainRTWFile off
RTWTemplateMakefile "grt_default_tmf"
RTWMakeCommand "make_rtw"
RTWGenerateCodeOnly off
ExtModeMexFile "ext_comm"
ExtModeBatchMode off
ExtModeTrigType "manual"
ExtModeTrigMode "oneshot"
ExtModeTrigPort "1"
ExtModeTrigElement "any"
ExtModeTrigDuration 1000
ExtModeTrigHoldOff 0
ExtModeTrigDelay 0
ExtModeTrigDirection "rising"
ExtModeTrigLevel 0
ExtModeArchiveMode "off"
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ExtModeIncDirWhenArm off
ExtModeAddSuffixToVar off
ExtModeWriteAllDataToWs off
ExtModeArmWhenConnect off
Created "Wed Sep 13 12:58:22 2000"
UpdateHistory "UpdateHistoryNever"
ModifiedByFormat "%<Auto>"
ModifiedDateFormat "%<Auto>"
LastModifiedDate "Tue Dec 19 14:52:59 2000"
ModelVersionFormat "1.%<AutoIncrement:11>"
ConfigurationManager "none"
BlockDefaults {
Orientation "right"
ForegroundColor "black"
BackgroundColor "white"
DropShadow off
NamePlacement "normal"
FontName "Helvetica"
FontSize 10
FontWeight "normal"
FontAngle "normal"
ShowName on
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AnnotationDefaults {
HorizontalAlignment "center"
VerticalAlignment "middle"
ForegroundColor "black"
BackgroundColor "white"
DropShadow off
FontName "Helvetica"
FontSize 10
FontWeight "normal"
FontAngle "normal"
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LineDefaults {
FontName "Helvetica"
FontSize 9
FontWeight "normal"
FontAngle "normal"
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System {
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ModelBrowserWidth 200
ScreenColor "white"
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PaperUnits "inches"
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ReportName "simulink-default.rpt"
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Name "Control"
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Position [360, 170, 390, 200]
Floating off
Location [5, 30, 805, 583]
Open off
NumInputPorts "1"
TickLabels "on"
ZoomMode "yonly"
List {
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axes1 "%<SignalLabel>"
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Grid "on"
TimeRange "auto"
YMin "0"
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SaveToWorkspace on
SaveName "ucd"
DataFormat "Matrix"
LimitMaxRows on
MaxRows "5000"
Decimation "1"
SampleInput off
SampleTime "0"
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Block {
BlockType DiscreteTransferFcn
Name "Discrete\nPI control"
Position [115, 247, 175, 283]
Numerator "numD"
Denominator "denD"
SampleTime "T"
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Block {
BlockType Reference
Name "Kc"
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Position [195, 60, 225, 90]
SourceBlock "simulink3/Math/Slider\nGain"
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high "10"
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Block {
BlockType Reference
Name "Kd"
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Position [195, 250, 225, 280]
SourceBlock "simulink3/Math/Slider\nGain"
SourceType "Slider Gain"
low "0"
gain "1.4"
high "10"
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Block {
BlockType Mux
Name "Mux"
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Inputs "2"
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Block {
BlockType Mux
Name "Mux1"
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Position [460, 127, 495, 163]
Inputs "2"
DisplayOption "none"
}
Block {
BlockType Scope
Name "Output"
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Floating off
Location [417, 257, 741, 594]
Open off
NumInputPorts "1"
TickLabels "on"
ZoomMode "on"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
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Grid "on"
TimeRange "auto"
YMin "-5"
YMax "5"
SaveToWorkspace on
SaveName "ycd"
DataFormat "Matrix"
LimitMaxRows on
MaxRows "5000"
Decimation "1"
SampleInput off
SampleTime "0"
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Block {
BlockType TransferFcn
Name "PI\ncontrol"
Position [120, 57, 175, 93]
Numerator "[1 6]"
Denominator "[1 0]"
}
Block {
BlockType TransferFcn
Name "Plant"
Position [255, 57, 310, 93]
Numerator "[9]"
Denominator "[1 9]"
}
Block {
BlockType TransferFcn
Name "Plant "
Position [325, 57, 380, 93]
Numerator "[5]"
Denominator "[1 5]"
}
Block {
BlockType Step
Name "Step"
Position [15, 60, 45, 90]
Time ".1"
Before "0"
After "1"
SampleTime ".001"
}
Block {
BlockType Sum
Name "Sum"
Ports [2, 1, 0, 0, 0]
Position [80, 255, 100, 275]
ShowName off
IconShape "round"
Inputs "|+-"
SaturateOnIntegerOverflow off
}
Block {
BlockType Sum
Name "Sum2"
Ports [2, 1, 0, 0, 0]
Position [85, 65, 105, 85]
ShowName off
IconShape "round"
Inputs "|+-"
SaturateOnIntegerOverflow off
}
Block {
BlockType TransferFcn
Name "tau 1"
Position [255, 247, 310, 283]
Numerator "[9]"
Denominator "[1 9]"
}
Block {
BlockType TransferFcn
Name "tau 2"
Position [325, 247, 380, 283]
Numerator "[5]"
Denominator "[1 5]"
}
Line {
SrcBlock "PI\ncontrol"
SrcPort 1
DstBlock "Kc"
DstPort 1
}
Line {
SrcBlock "Sum2"
SrcPort 1
DstBlock "PI\ncontrol"
DstPort 1
}
Line {
SrcBlock "Plant"
SrcPort 1
DstBlock "Plant "
DstPort 1
}
Line {
SrcBlock "Discrete\nPI control"
SrcPort 1
DstBlock "Kd"
DstPort 1
}
Line {
SrcBlock "tau 1"
SrcPort 1
DstBlock "tau 2"
DstPort 1
}
Line {
SrcBlock "Step"
SrcPort 1
Points [5, 0]
Branch {
DstBlock "Sum2"
DstPort 1
}
Branch {
Points [0, 190]
DstBlock "Sum"
DstPort 1
}
}
Line {
SrcBlock "Kc"
SrcPort 1
Points [5, 0]
Branch {
DstBlock "Plant"
DstPort 1
}
Branch {
Points [0, 100]
DstBlock "Mux"
DstPort 1
}
}
Line {
SrcBlock "Mux"
SrcPort 1
DstBlock "Control"
DstPort 1
}
Line {
SrcBlock "Plant "
SrcPort 1
Points [10, 0]
Branch {
Points [30, 0; 0, 60]
DstBlock "Mux1"
DstPort 1
}
Branch {
Points [0, 70; -300, 0]
DstBlock "Sum2"
DstPort 2
}
}
Line {
SrcBlock "Mux1"
SrcPort 1
DstBlock "Output"
DstPort 1
}
Line {
SrcBlock "Sum"
SrcPort 1
DstBlock "Discrete\nPI control"
DstPort 1
}
Line {
SrcBlock "Kd"
SrcPort 1
Points [5, 0]
Branch {
DstBlock "tau 1"
DstPort 1
}
Branch {
Points [0, -70]
DstBlock "Mux"
DstPort 2
}
}
Line {
SrcBlock "tau 2"
SrcPort 1
Points [10, 0]
Branch {
Points [30, 0; 0, -110]
DstBlock "Mux1"
DstPort 2
}
Branch {
Points [0, 70; -305, 0]
DstBlock "Sum"
DstPort 2
}
}
Annotation {
Position [239, 24]
Text "SIMULINK diagram to compare continuous with dis"
"crete control."
FontSize 14
}
}
}
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