📄 model_unbounded_inputs.mdl
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DstPort 1
}
Branch {
Points [0, 65]
DstBlock "Gain"
DstPort 1
}
}
}
}
Block {
BlockType SubSystem
Name "Subsystem2"
Ports [1, 1]
Position [75, 140, 155, 200]
TreatAsAtomicUnit off
System {
Name "Subsystem2"
Location [353, 129, 911, 443]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "100"
Block {
BlockType Inport
Name "y sekund"
Position [15, 143, 45, 157]
}
Block {
BlockType Gain
Name "Gain"
Position [260, 68, 305, 112]
Gain "2.38"
}
Block {
BlockType Gain
Name "Gain1"
Position [320, 188, 365, 232]
Gain "2.89"
}
Block {
BlockType Integrator
Name "Integrator"
Ports [1, 1]
Position [210, 135, 240, 165]
}
Block {
BlockType Integrator
Name "Integrator1"
Ports [1, 1]
Position [120, 135, 150, 165]
InitialCondition "-2"
}
Block {
BlockType Sum
Name "Sum"
Ports [2, 1]
Position [425, 80, 445, 100]
ShowName off
IconShape "round"
Inputs "|--"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
}
Block {
BlockType Scope
Name "brzina y"
Ports [1]
Position [205, 189, 235, 221]
Location [138, 84, 462, 323]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
List {
ListType SelectedSignals
axes1 ""
}
YMin "-2.1"
YMax "-1.9"
SaveName "ScopeData9"
DataFormat "StructureWithTime"
}
Block {
BlockType Scope
Name "polozaj y"
Ports [1]
Position [315, 134, 345, 166]
Location [122, 101, 446, 340]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
List {
ListType SelectedSignals
axes1 ""
}
YMin "-0.525"
YMax "-0.475"
SaveName "ScopeData10"
DataFormat "StructureWithTime"
}
Block {
BlockType Outport
Name "r2"
Position [470, 83, 500, 97]
}
Line {
SrcBlock "y sekund"
SrcPort 1
DstBlock "Integrator1"
DstPort 1
}
Line {
SrcBlock "Gain"
SrcPort 1
DstBlock "Sum"
DstPort 1
}
Line {
SrcBlock "Gain1"
SrcPort 1
Points [65, 0]
DstBlock "Sum"
DstPort 2
}
Line {
SrcBlock "Sum"
SrcPort 1
DstBlock "r2"
DstPort 1
}
Line {
SrcBlock "Integrator1"
SrcPort 1
Points [20, 0]
Branch {
DstBlock "Integrator"
DstPort 1
}
Branch {
Points [0, 55]
DstBlock "brzina y"
DstPort 1
}
Branch {
Points [0, -60]
DstBlock "Gain"
DstPort 1
}
}
Line {
SrcBlock "Integrator"
SrcPort 1
Points [30, 0]
Branch {
DstBlock "polozaj y"
DstPort 1
}
Branch {
Points [0, 60]
DstBlock "Gain1"
DstPort 1
}
}
}
}
Block {
BlockType Sum
Name "Sum"
Ports [2, 1]
Position [195, 160, 215, 180]
ShowName off
IconShape "round"
Inputs "|++"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
}
Block {
BlockType Sum
Name "Sum1"
Ports [2, 1]
Position [390, 65, 410, 85]
ShowName off
IconShape "round"
Inputs "|++"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
}
Block {
BlockType Sum
Name "Sum2"
Ports [3, 1]
Position [810, 275, 830, 325]
ShowName off
Inputs "+++"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
}
Block {
BlockType Sum
Name "Sum3"
Ports [2, 1]
Position [410, 355, 430, 375]
ShowName off
IconShape "round"
Inputs "|-+"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
}
Block {
BlockType Sum
Name "Sum4"
Ports [2, 1]
Position [605, 340, 625, 360]
ShowName off
IconShape "round"
Inputs "|-+"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
}
Block {
BlockType TransferFcn
Name "Transfer Fcn"
Position [505, 267, 565, 303]
Denominator "[1 1]"
}
Block {
BlockType TransferFcn
Name "Transfer Fcn1"
Position [685, 267, 745, 303]
Denominator "[1 1]"
}
Block {
BlockType Trigonometry
Name "Trigonometric\nFunction"
Ports [2, 1]
Position [320, 258, 350, 307]
Operator "atan2"
}
Block {
BlockType Scope
Name "teta"
Ports [1]
Position [345, 469, 375, 501]
Orientation "left"
Location [563, 211, 887, 450]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
List {
ListType SelectedSignals
axes1 ""
}
SaveName "ScopeData5"
DataFormat "StructureWithTime"
}
Block {
BlockType Scope
Name "teta prim"
Ports [1]
Position [540, 524, 570, 556]
Orientation "left"
Location [205, 219, 529, 458]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
List {
ListType SelectedSignals
axes1 ""
}
SaveName "ScopeData6"
DataFormat "StructureWithTime"
}
Block {
BlockType Scope
Name "u1"
Ports [1]
Position [540, 59, 570, 91]
Location [270, 129, 594, 368]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
List {
ListType SelectedSignals
axes1 ""
}
DataFormat "StructureWithTime"
}
Block {
BlockType Scope
Name "u2"
Ports [1]
Position [935, 284, 965, 316]
Location [188, 365, 512, 604]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
List {
ListType SelectedSignals
axes1 ""
}
SaveName "ScopeData4"
DataFormat "StructureWithTime"
}
Line {
SrcBlock "Subsystem"
SrcPort 1
Points [65, 0]
Branch {
Points [0, -45; -195, 0; 0, 45]
DstBlock "Subsystem"
DstPort 1
}
Branch {
Points [0, 195]
DstBlock "Gain"
DstPort 1
}
Branch {
DstBlock "Math\nFunction"
DstPort 1
}
}
Line {
SrcBlock "Sum"
SrcPort 1
Points [20, 0]
Branch {
Points [0, 125]
DstBlock "Trigonometric\nFunction"
DstPort 2
}
Branch {
DstBlock "Math\nFunction1"
DstPort 1
}
}
Line {
SrcBlock "Math\nFunction"
SrcPort 1
DstBlock "Sum1"
DstPort 1
}
Line {
SrcBlock "Sum1"
SrcPort 1
DstBlock "Math\nFunction2"
DstPort 1
}
Line {
SrcBlock "Math\nFunction2"
SrcPort 1
DstBlock "u1"
DstPort 1
}
Line {
SrcBlock "Subsystem2"
SrcPort 1
Points [15, 0]
Branch {
DstBlock "Sum"
DstPort 1
}
Branch {
Points [0, -40; -145, 0; 0, 40]
DstBlock "Subsystem2"
DstPort 1
}
}
Line {
SrcBlock "Constant"
SrcPort 1
Points [60, 0]
DstBlock "Sum"
DstPort 2
}
Line {
SrcBlock "Trigonometric\nFunction"
SrcPort 1
Points [40, 0]
Branch {
Points [0, -65]
DstBlock "Scope1"
DstPort 1
}
Branch {
DstBlock "Derivative1"
DstPort 1
}
Branch {
DstBlock "Sum3"
DstPort 1
}
}
Line {
SrcBlock "Derivative"
SrcPort 1
Points [15, 0]
Branch {
Points [0, -65]
DstBlock "Scope3"
DstPort 1
}
Branch {
DstBlock "Transfer Fcn1"
DstPort 1
}
}
Line {
SrcBlock "Sum2"
SrcPort 1
Points [45, 0]
Branch {
Points [0, 185]
DstBlock "Integrator"
DstPort 1
}
Branch {
DstBlock "u2"
DstPort 1
}
}
Line {
SrcBlock "Integrator"
SrcPort 1
Points [-50, 0]
Branch {
DstBlock "Integrator1"
DstPort 1
}
Branch {
DstBlock "Sum4"
DstPort 2
}
Branch {
Points [0, 55]
DstBlock "teta prim"
DstPort 1
}
}
Line {
SrcBlock "Integrator1"
SrcPort 1
Points [-65, 0]
Branch {
DstBlock "Sum3"
DstPort 2
}
Branch {
DstBlock "teta"
DstPort 1
}
}
Line {
SrcBlock "Gain1"
SrcPort 1
Points [220, 0]
DstBlock "Sum2"
DstPort 3
}
Line {
SrcBlock "Sum3"
SrcPort 1
Points [35, 0; 0, 60]
DstBlock "Gain1"
DstPort 1
}
Line {
SrcBlock "Sum4"
SrcPort 1
DstBlock "Gain2"
DstPort 1
}
Line {
SrcBlock "Gain2"
SrcPort 1
Points [30, 0; 0, -50]
DstBlock "Sum2"
DstPort 2
}
Line {
SrcBlock "Math\nFunction1"
SrcPort 1
Points [60, 0]
DstBlock "Sum1"
DstPort 2
}
Line {
SrcBlock "Gain"
SrcPort 1
DstBlock "Trigonometric\nFunction"
DstPort 1
}
Line {
SrcBlock "Derivative1"
SrcPort 1
DstBlock "Transfer Fcn"
DstPort 1
}
Line {
SrcBlock "Transfer Fcn"
SrcPort 1
Points [5, 0]
Branch {
DstBlock "Derivative"
DstPort 1
}
Branch {
DstBlock "Scope2"
DstPort 1
}
Branch {
Points [0, 65]
DstBlock "Sum4"
DstPort 1
}
}
Line {
SrcBlock "Transfer Fcn1"
SrcPort 1
DstBlock "Sum2"
DstPort 1
}
Annotation {
Name "r1"
Position [190, 58]
}
Annotation {
Name "r2"
Position [190, 153]
}
Annotation {
Name "u1"
Position [501, 63]
}
Annotation {
Name "teta d"
Position [370, 275]
}
Annotation {
Name "teta d prim"
Position [534, 236]
}
Annotation {
Name "teta d sekund"
Position [681, 209]
}
Annotation {
Name "u2=teta sekund"
Position [880, 271]
}
Annotation {
Name "teta prim"
Position [562, 475]
}
Annotation {
Name "teta"
Position [449, 475]
}
}
}
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