Model { Name "respdegrau" Version 6.3 MdlSubVersion 0 GraphicalInterface { NumRootInports 0 NumRootOutports 0 ParameterArgumentNames "" ComputedModelVersion "1.58" NumModelReferences 0 NumTestPointedSignals 0 } SavedCharacterEncoding "windows-1252" SaveDefaultBlockParams on SampleTimeColors off LibraryLinkDisplay "none" WideLines off ShowLineDimensions off ShowPortDataTypes off ShowLoopsOnError on IgnoreBidirectionalLines off ShowStorageClass off ShowTestPointIcons on ShowViewerIcons on SortedOrder off ExecutionContextIcon off ShowLinearizationAnnotations on RecordCoverage off CovPath "/" CovSaveName "covdata" CovMetricSettings "dw" CovNameIncrementing off CovHtmlReporting on covSaveCumulativeToWorkspaceVar on CovSaveSingleToWorkspaceVar on CovCumulativeVarName "covCumulativeData" CovCumulativeReport off CovReportOnPause on ScopeRefreshTime 0.035000 OverrideScopeRefreshTime on DisableAllScopes off DataTypeOverride "UseLocalSettings" MinMaxOverflowLogging "UseLocalSettings" MinMaxOverflowArchiveMode "Overwrite" BlockNameDataTip off BlockParametersDataTip off BlockDescriptionStringDataTip off ToolBar on StatusBar on BrowserShowLibraryLinks off BrowserLookUnderMasks off Created "Fri Jan 23 00:19:38 2004" UpdateHistory "UpdateHistoryNever" ModifiedByFormat "%" LastModifiedBy "vilma" ModifiedDateFormat "%" LastModifiedDate "Fri Jun 29 20:04:16 2007" ModelVersionFormat "1.%" ConfigurationManager "None" LinearizationMsg "none" Profile off ParamWorkspaceSource "MATLABWorkspace" AccelSystemTargetFile "accel.tlc" AccelTemplateMakefile "accel_default_tmf" AccelMakeCommand "make_rtw" TryForcingSFcnDF off ExtModeBatchMode off ExtModeEnableFloating on ExtModeTrigType "manual" ExtModeTrigMode "normal" ExtModeTrigPort "1" ExtModeTrigElement "any" ExtModeTrigDuration 1000 ExtModeTrigDurationFloating "auto" ExtModeTrigHoldOff 0 ExtModeTrigDelay 0 ExtModeTrigDirection "rising" ExtModeTrigLevel 0 ExtModeArchiveMode "off" ExtModeAutoIncOneShot off ExtModeIncDirWhenArm off ExtModeAddSuffixToVar off ExtModeWriteAllDataToWs off ExtModeArmWhenConnect on ExtModeSkipDownloadWhenConnect off ExtModeLogAll on ExtModeAutoUpdateStatusClock on BufferReuse on StrictBusMsg "None" ProdHWDeviceType "32-bit Generic" ShowModelReferenceBlockVersion off ShowModelReferenceBlockIO off Array { Type "Handle" Dimension 1 Simulink.ConfigSet { $ObjectID 1 Version "1.1.0" Array { Type "Handle" Dimension 7 Simulink.SolverCC { $ObjectID 2 Version "1.1.0" StartTime "0.0" StopTime "5" AbsTol "auto" FixedStep "auto" InitialStep "auto" MaxNumMinSteps "-1" MaxOrder 5 ExtrapolationOrder 4 NumberNewtonIterations 1 MaxStep "auto" MinStep "auto" RelTol "1e-3" SolverMode "Auto" Solver "ode45" SolverName "ode45" ZeroCrossControl "UseLocalSettings" AlgebraicLoopSolver "TrustRegion" SolverResetMethod "Fast" PositivePriorityOrder off AutoInsertRateTranBlk off SampleTimeConstraint "Unconstrained" RateTranMode "Deterministic" } Simulink.DataIOCC { $ObjectID 3 Version "1.1.0" Decimation "1" ExternalInput "[t, u]" FinalStateName "xFinal" InitialState "xInitial" LimitDataPoints on MaxDataPoints "1000" LoadExternalInput off LoadInitialState off SaveFinalState off SaveFormat "Array" SaveOutput off SaveState off SignalLogging on InspectSignalLogs off SaveTime off StateSaveName "xout" TimeSaveName "tout" OutputSaveName "yout" SignalLoggingName "sigsOut" OutputOption "RefineOutputTimes" OutputTimes "[]" Refine "1" } Simulink.OptimizationCC { $ObjectID 4 Version "1.1.0" BlockReduction on BooleanDataType on ConditionallyExecuteInputs on InlineParams off InlineInvariantSignals off OptimizeBlockIOStorage on BufferReuse on EnforceIntegerDowncast on ExpressionFolding on FoldNonRolledExpr on LocalBlockOutputs on ParameterPooling on RollThreshold 5 SystemCodeInlineAuto off StateBitsets off DataBitsets off UseTempVars off ZeroExternalMemoryAtStartup on ZeroInternalMemoryAtStartup on InitFltsAndDblsToZero on NoFixptDivByZeroProtection off EfficientFloat2IntCast off OptimizeModelRefInitCode off LifeSpan "inf" BufferReusableBoundary on } Simulink.DebuggingCC { $ObjectID 5 Version "1.1.0" RTPrefix "error" ConsistencyChecking "none" ArrayBoundsChecking "none" SignalInfNanChecking "none" ReadBeforeWriteMsg "UseLocalSettings" WriteAfterWriteMsg "UseLocalSettings" WriteAfterReadMsg "UseLocalSettings" AlgebraicLoopMsg "warning" ArtificialAlgebraicLoopMsg "warning" CheckSSInitialOutputMsg on CheckExecutionContextPreStartOutputMsg off CheckExecutionContextRuntimeOutputMsg off SignalResolutionControl "TryResolveAllWithWarning" BlockPriorityViolationMsg "warning" MinStepSizeMsg "warning" SolverPrmCheckMsg "none" InheritedTsInSrcMsg "warning" DiscreteInheritContinuousMsg "warning" MultiTaskDSMMsg "warning" MultiTaskRateTransMsg "error" SingleTaskRateTransMsg "none" TasksWithSamePriorityMsg "warning" SigSpecEnsureSampleTimeMsg "warning" CheckMatrixSingularityMsg "none" IntegerOverflowMsg "warning" Int32ToFloatConvMsg "warning" ParameterDowncastMsg "error" ParameterOverflowMsg "error" ParameterUnderflowMsg "none" ParameterPrecisionLossMsg "warning" UnderSpecifiedDataTypeMsg "none" UnnecessaryDatatypeConvMsg "none" VectorMatrixConversionMsg "none" InvalidFcnCallConnMsg "error" FcnCallInpInsideContextMsg "Use local settings" SignalLabelMismatchMsg "none" UnconnectedInputMsg "warning" UnconnectedOutputMsg "warning" UnconnectedLineMsg "warning" SFcnCompatibilityMsg "none" UniqueDataStoreMsg "none" BusObjectLabelMismatch "warning" RootOutportRequireBusObject "warning" AssertControl "UseLocalSettings" EnableOverflowDetection off ModelReferenceIOMsg "none" ModelReferenceVersionMismatchMessage "none" ModelReferenceIOMismatchMessage "none" ModelReferenceCSMismatchMessage "none" ModelReferenceSimTargetVerbose off UnknownTsInhSupMsg "warning" ModelReferenceDataLoggingMessage "warning" ModelReferenceSymbolNameMessage "warning" ModelReferenceExtraNoncontSigs "error" } Simulink.HardwareCC { $ObjectID 6 Version "1.1.0" ProdBitPerChar 8 ProdBitPerShort 16 ProdBitPerInt 32 ProdBitPerLong 32 ProdIntDivRoundTo "Undefined" ProdEndianess "Unspecified" ProdWordSize 32 ProdShiftRightIntArith on ProdHWDeviceType "32-bit Generic" TargetBitPerChar 8 TargetBitPerShort 16 TargetBitPerInt 32 TargetBitPerLong 32 TargetShiftRightIntArith on TargetIntDivRoundTo "Undefined" TargetEndianess "Unspecified" TargetWordSize 32 TargetTypeEmulationWarnSuppressLevel 0 TargetPreprocMaxBitsSint 32 TargetPreprocMaxBitsUint 32 TargetHWDeviceType "Specified" TargetUnknown on ProdEqTarget on } Simulink.ModelReferenceCC { $ObjectID 7 Version "1.1.0" UpdateModelReferenceTargets "IfOutOfDateOrStructuralChange" CheckModelReferenceTargetMessage "error" ModelReferenceNumInstancesAllowed "Multi" ModelReferencePassRootInputsByReference on ModelReferenceMinAlgLoopOccurrences off } Simulink.RTWCC { $BackupClass "Simulink.RTWCC" $ObjectID 8 Version "1.1.0" SystemTargetFile "grt.tlc" GenCodeOnly off MakeCommand "make_rtw" TemplateMakefile "grt_default_tmf" GenerateReport off SaveLog off RTWVerbose on RetainRTWFile off ProfileTLC off TLCDebug off TLCCoverage off TLCAssert off ProcessScriptMode "Default" ConfigurationMode "Optimized" ConfigAtBuild off IncludeHyperlinkInReport off LaunchReport off TargetLang "C" Array { Type "Handle" Dimension 2 Simulink.CodeAppCC { $ObjectID 9 Version "1.1.0" ForceParamTrailComments off GenerateComments on IgnoreCustomStorageClasses on IncHierarchyInIds off MaxIdLength 31 PreserveName off PreserveNameWithParent off ShowEliminatedStatement off IncAutoGenComments off SimulinkDataObjDesc off SFDataObjDesc off IncDataTypeInIds off PrefixModelToSubsysFcnNames on CustomSymbolStr "$R$N$M" MangleLength 1 DefineNamingRule "None" ParamNamingRule "None" SignalNamingRule "None" InsertBlockDesc off SimulinkBlockComments on EnableCustomComments off InlinedPrmAccess "Literals" ReqsInCode off } Simulink.STFCustomTargetCC { $BackupClass "Simulink.TargetCC" $ObjectID 10 Version "1.1.0" TargetFcnLib "ansi_tfl_tmw.mat" TargetLibSuffix "" TargetPreCompLibLocation "" GenFloatMathFcnCalls "ANSI_C" UtilityFuncGeneration "Auto" GenerateFullHeader on GenerateSampleERTMain off IsPILTarget off ModelReferenceCompliant on IncludeMdlTerminateFcn on CombineOutputUpdateFcns off SuppressErrorStatus off IncludeFileDelimiter "Auto" ERTCustomFileBanners off SupportAbsoluteTime on LogVarNameModifier "rt_" MatFileLogging on MultiInstanceERTCode off SupportNonFinite on SupportComplex on PurelyIntegerCode off SupportContinuousTime on SupportNonInlinedSFcns on SystemTargetFile "grt.tlc" DialogCategory 0 } PropName "Components" } } PropName "Components" } Name "Configuration" SimulationMode "normal" ExtraOptions "-aGenerateASAP2=0 -aRTWCAPIStates=0 -aRTWCAPIPa" "rams=0 -aRTWCAPISignals=0 -aExtModeMexFile=\"ext_comm\" -aExtModeTransport=0 " "-aExtModeStaticAllocSize=1000000 -aExtModeTesting=0 -aExtModeStaticAlloc=0 -a" "ExtMode=0 " CurrentDlgPage "Solver" } PropName "ConfigurationSets" } Simulink.ConfigSet { $PropName "ActiveConfigurationSet" $ObjectID 1 } BlockDefaults { Orientation "right" ForegroundColor "black" BackgroundColor "white" DropShadow off NamePlacement "normal" FontName "Helvetica" FontSize 10 FontWeight "normal" FontAngle "normal" ShowName on } BlockParameterDefaults { Block { BlockType Clock DisplayTime off } Block { BlockType Constant Value "1" VectorParams1D on OutDataTypeMode "Inherit from 'Constant value'" OutDataType "sfix(16)" ConRadixGroup "Use specified scaling" OutScaling "2^0" SampleTime "inf" } Block { BlockType DiscreteStateSpace A "1" B "1" C "1" D "1" X0 "0" SampleTime "1" StateMustResolveToSignalObject off RTWStateStorageClass "Auto" Realization "auto" } Block { BlockType Fcn Expr "sin(u[1])" SampleTime "-1" } Block { BlockType Gain Gain "1" Multiplication "Element-wise(K.*u)" ParameterDataTypeMode "Same as input" ParameterDataType "sfix(16)" ParameterScalingMode "Best Precision: Matrix-wise" ParameterScaling "2^0" OutDataTypeMode "Same as input" OutDataType "sfix(16)" OutScaling "2^0" LockScale off RndMeth "Floor" SaturateOnIntegerOverflow 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 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 RandomNumber Mean "0" Variance "1" Seed "0" SampleTime "-1" VectorParams1D on } Block { BlockType Saturate UpperLimit "0.5" LowerLimit "-0.5" LinearizeAsGain on 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 Step Time "1" Before "0" After "1" SampleTime "-1" VectorParams1D on ZeroCross on } Block { BlockType SubSystem ShowPortLabels on Permissions "ReadWrite" PermitHierarchicalResolution "All" SystemSampleTime "-1" RTWFcnNameOpts "Auto" RTWFileNameOpts "Auto" 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 ToWorkspace VariableName "simulink_output" MaxDataPoints "1000" Decimation "1" SampleTime "0" FixptAsFi off } } AnnotationDefaults { HorizontalAlignment "center" VerticalAlignment "middle" ForegroundColor "black" BackgroundColor "white" DropShadow off FontName "Helvetica" FontSize 10 FontWeight "normal" FontAngle "normal" } LineDefaults { FontName "Helvetica" FontSize 9 FontWeight "normal" FontAngle "normal" } System { Name "respdegrau" Location [148, 151, 935, 628] Open on ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" ReportName "simulink-default.rpt" Block { BlockType Reference Name "Band-Limited\nWhite Noise" Ports [0, 1] Position [480, 260, 510, 290] Orientation "left" SourceBlock "simulink/Sources/Band-Limited\nWhite Noise" SourceType "Band-Limited White Noise." ShowPortLabels on Cov "0.000000000001" Ts "0.1" seed "[23341]" VectorParams1D on } Block { BlockType Clock Name "Clock" Position [550, 385, 570, 405] Decimation "10" } Block { BlockType SubSystem Name "P" Ports [5, 3] Position [255, 129, 385, 241] Orientation "left" TreatAsAtomicUnit off MinAlgLoopOccurrences off RTWSystemCode "Auto" MaskHideContents off System { Name "P" Location [2, 82, 1022, 722] Open on ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" Block { BlockType Inport Name "wd" Position [605, 80, 635, 90] NamePlacement "alternate" IconDisplay "Port number" } Block { BlockType Inport Name "w (referencia)" Position [95, 335, 125, 345] Orientation "up" Port "2" IconDisplay "Port number" } Block { BlockType Inport Name "degrau" Position [235, 95, 265, 105] Orientation "left" Port "3" IconDisplay "Port number" } Block { BlockType Inport Name "ruido de sensor" Position [570, 365, 600, 375] Port "4" IconDisplay "Port number" } Block { BlockType Inport Name "u" Position [255, 60, 285, 70] Orientation "left" Port "5" IconDisplay "Port number" } Block { BlockType Gain Name "1/L1" Position [390, 125, 420, 155] Gain "1/.52" } Block { BlockType Fcn Name "Fcn" Position [600, 135, 660, 165] Expr "-(0.0249/(2*0.00672))*(u[1]^2)/(1+u[2]/0.00" "672)^2" } Block { BlockType Integrator Name "Integrator" Ports [1, 1] Position [790, 135, 820, 165] } Block { BlockType Integrator Name "Integrator1" Ports [1, 1] Position [840, 134, 875, 166] InitialCondition "0.0045" } Block { BlockType Integrator Name "Integrator2" Ports [1, 1] Position [485, 125, 515, 155] InitialCondition "0.577" } Block { BlockType Mux Name "Mux" Ports [2, 1] Position [570, 131, 575, 169] ShowName off Inputs "2" DisplayOption "bar" } Block { BlockType Gain Name "R/L" Position [470, 175, 500, 205] Orientation "left" Gain "21/0.52" } Block { BlockType Saturate Name "Saturation" Position [265, 125, 295, 155] UpperLimit "10" LowerLimit "0" } Block { BlockType Sum Name "Sum" Ports [2, 1] Position [440, 130, 460, 150] ShowName off IconShape "round" Inputs "|+-" } Block { BlockType Sum Name "Sum1" Ports [2, 1] Position [745, 140, 765, 160] ShowName off IconShape "round" Inputs "|++" } Block { BlockType Sum Name "Sum2" Ports [2, 1] Position [220, 130, 240, 150] ShowName off IconShape "round" Inputs "|-+" } Block { BlockType Sum Name "Sum3" Ports [2, 1] Position [135, 125, 155, 145] NamePlacement "alternate" ShowName off IconShape "round" Inputs "|+-" } Block { BlockType Sum Name "Sum4" Ports [2, 1] Position [180, 90, 200, 110] Orientation "down" ShowName off IconShape "round" Inputs "|++" } Block { BlockType Sum Name "Sum5" Ports [2, 1] Position [695, 285, 715, 305] Orientation "left" ShowName off IconShape "round" Inputs "|++" } Block { BlockType Sum Name "Sum6" Ports [2, 1] Position [615, 285, 635, 305] Orientation "left" ShowName off IconShape "round" Inputs "|++" } Block { BlockType Constant Name "g" Position [740, 180, 770, 210] Orientation "up" NamePlacement "alternate" Value "9.8" } Block { BlockType Gain Name "ka" Position [325, 121, 360, 159] Gain "2.1" } Block { BlockType Gain Name "ks1" Position [525, 280, 555, 310] Orientation "left" Gain "1/0.000576" } Block { BlockType SubSystem Name "m" Ports [2, 2] Position [680, 126, 720, 159] TreatAsAtomicUnit off MinAlgLoopOccurrences off RTWSystemCode "Auto" MaskHideContents off System { Name "m" Location [13, 137, 515, 489] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" Block { BlockType Inport Name "u1" Position [60, 68, 90, 82] IconDisplay "Port number" } Block { BlockType Inport Name "w1" Position [60, 198, 90, 212] Port "2" IconDisplay "Port number" } Block { BlockType Gain Name "Gain" Position [180, 35, 210, 65] Gain "-.1" } Block { BlockType Gain Name "Gain1" Position [180, 90, 210, 120] Gain "-.1/m" } Block { BlockType Gain Name "Gain2" Position [175, 160, 205, 190] } Block { BlockType Gain Name "Gain3" Position [170, 225, 200, 255] Gain "1/m" } Block { BlockType Sum Name "Sum" Ports [2, 1] Position [315, 75, 335, 95] ShowName off IconShape "round" Inputs "|++" } Block { BlockType Sum Name "Sum1" Ports [2, 1] Position [315, 185, 335, 205] ShowName off IconShape "round" Inputs "|++" } Block { BlockType Outport Name "y1" Position [390, 73, 420, 87] IconDisplay "Port number" } Block { BlockType Outport Name "z1" Position [385, 183, 415, 197] Port "2" IconDisplay "Port number" } Line { SrcBlock "u1" SrcPort 1 Points [45, 0] Branch { Points [25, 0] DstBlock "Gain" DstPort 1 } Branch { Points [0, 100] DstBlock "Gain2" DstPort 1 } } Line { SrcBlock "Gain" SrcPort 1 Points [85, 0] DstBlock "Sum" DstPort 1 } Line { SrcBlock "w1" SrcPort 1 Points [15, 0] Branch { Points [10, 0; 0, -100] DstBlock "Gain1" DstPort 1 } Branch { Points [0, 35] DstBlock "Gain3" DstPort 1 } } Line { SrcBlock "Gain1" SrcPort 1 Points [0, 5] DstBlock "Sum" DstPort 2 } Line { Labels [0, 0] SrcBlock "Gain2" SrcPort 1 Points [90, 0] DstBlock "Sum1" DstPort 1 } Line { SrcBlock "Gain3" SrcPort 1 Points [120, 0] DstBlock "Sum1" DstPort 2 } Line { SrcBlock "Sum1" SrcPort 1 Points [30, 0] DstBlock "z1" DstPort 1 } Line { SrcBlock "Sum" SrcPort 1 Points [35, 0] DstBlock "y1" DstPort 1 } } } Block { BlockType Saturate Name "saturacao \ndo sensor" Position [800, 231, 840, 269] Orientation "left" UpperLimit "5.5e-3" LowerLimit "3.5e-3" } Block { BlockType Constant Name "tensao de\nequilibrio" Position [215, 185, 245, 215] Orientation "up" Value "5.772857" } Block { BlockType Scope Name "u1" Ports [1] Position [390, 64, 420, 96] Floating off Location [188, 390, 512, 629] Open off NumInputPorts "1" List { ListType AxesTitles axes1 "%" } SaveName "ScopeData1" DataFormat "StructureWithTime" SampleTime "0" } Block { BlockType Constant Name "zo (posicao de\nequilibrio)" Position [690, 330, 720, 360] Orientation "up" Value "-0.0045" } Block { BlockType Outport Name "zd" Position [780, 80, 810, 90] NamePlacement "alternate" IconDisplay "Port number" } Block { BlockType Outport Name "saida" Position [700, 438, 730, 452] Orientation "left" Port "2" IconDisplay "Port number" } Block { BlockType Outport Name "e" Position [110, 48, 140, 62] Orientation "left" Port "3" IconDisplay "Port number" } Line { SrcBlock "Mux" SrcPort 1 DstBlock "Fcn" DstPort 1 } Line { SrcBlock "Integrator" SrcPort 1 DstBlock "Integrator1" DstPort 1 } Line { SrcBlock "Integrator2" SrcPort 1 Points [0, 0; 10, 0] Branch { Points [0, 50] DstBlock "R/L" DstPort 1 } Branch { DstBlock "Mux" DstPort 1 } } Line { SrcBlock "Sum" SrcPort 1 DstBlock "Integrator2" DstPort 1 } Line { SrcBlock "R/L" SrcPort 1 Points [-15, 0] DstBlock "Sum" DstPort 2 } Line { SrcBlock "Integrator1" SrcPort 1 Points [5, 0; 0, 100] DstBlock "saturacao \ndo sensor" DstPort 1 } Line { SrcBlock "Sum1" SrcPort 1 DstBlock "Integrator" DstPort 1 } Line { SrcBlock "g" SrcPort 1 DstBlock "Sum1" DstPort 2 } Line { SrcBlock "1/L1" SrcPort 1 DstBlock "Sum" DstPort 1 } Line { SrcBlock "ka" SrcPort 1 Points [0, 0; 10, 0] Branch { DstBlock "1/L1" DstPort 1 } Branch { DstBlock "u1" DstPort 1 } } Line { SrcBlock "Sum2" SrcPort 1 DstBlock "Saturation" DstPort 1 } Line { SrcBlock "tensao de\nequilibrio" SrcPort 1 DstBlock "Sum2" DstPort 2 } Line { SrcBlock "zo (posicao de\nequilibrio)" SrcPort 1 DstBlock "Sum5" DstPort 2 } Line { SrcBlock "ks1" SrcPort 1 Points [-375, 0] DstBlock "Sum3" DstPort 2 } Line { SrcBlock "Sum3" SrcPort 1 Points [10, 0; 0, -80] DstBlock "e" DstPort 1 } Line { SrcBlock "m" SrcPort 2 DstBlock "Sum1" DstPort 1 } Line { SrcBlock "Fcn" SrcPort 1 DstBlock "m" DstPort 2 } Line { SrcBlock "wd" SrcPort 1 Points [25, 0] DstBlock "m" DstPort 1 } Line { SrcBlock "m" SrcPort 1 Points [20, 0; 0, -50] DstBlock "zd" DstPort 1 } Line { Labels [0, 0] SrcBlock "w (referencia)" SrcPort 1 Points [0, -195] DstBlock "Sum3" DstPort 1 } Line { SrcBlock "u" SrcPort 1 Points [-60, 0] DstBlock "Sum4" DstPort 1 } Line { SrcBlock "degrau" SrcPort 1 DstBlock "Sum4" DstPort 2 } Line { SrcBlock "Sum4" SrcPort 1 Points [0, 25] DstBlock "Sum2" DstPort 1 } Line { SrcBlock "Sum6" SrcPort 1 DstBlock "ks1" DstPort 1 } Line { SrcBlock "Sum5" SrcPort 1 DstBlock "Sum6" DstPort 1 } Line { SrcBlock "ruido de sensor" SrcPort 1 Points [20, 0] DstBlock "Sum6" DstPort 2 } Line { SrcBlock "saturacao \ndo sensor" SrcPort 1 Points [0, 0; -15, 0] Branch { Points [-35, 0] Branch { Points [-195, 0; 0, -90] DstBlock "Mux" DstPort 2 } Branch { Points [0, 45] DstBlock "Sum5" DstPort 1 } } Branch { Points [0, 195] DstBlock "saida" DstPort 1 } } Line { SrcBlock "Saturation" SrcPort 1 DstBlock "ka" DstPort 1 } Annotation { Name "4.78666" Position [230, 246] UseDisplayTextAsClickCallback off } } } Block { BlockType Constant Name "Ref." Position [615, 150, 645, 180] Orientation "left" Value "0" } Block { BlockType Scope Name "Scope" Ports [1] Position [105, 264, 135, 296] Orientation "left" Floating off Location [339, 255, 720, 543] Open off NumInputPorts "1" ZoomMode "xonly" List { ListType AxesTitles axes1 "%" } YMin "0.00415" YMax "0.0049" DataFormat "StructureWithTime" LimitDataPoints off SampleTime "0" } Block { BlockType Step Name "Step" Position [615, 230, 645, 260] Orientation "left" After "-0.3" SampleTime "0" } Block { BlockType ToWorkspace Name "To Workspace" Position [75, 170, 135, 200] Orientation "left" VariableName "saida" MaxDataPoints "inf" SampleTime "-1" SaveFormat "Array" } Block { BlockType ToWorkspace Name "To Workspace1" Position [615, 380, 675, 410] NamePlacement "alternate" VariableName "tempo" MaxDataPoints "inf" SampleTime "-1" SaveFormat "Array" } Block { BlockType Gain Name "Variação paramétrica na massa: [-1 1]" Position [305, 47, 355, 93] } Block { BlockType DiscreteStateSpace Name "hinf" Position [260, 277, 380, 313] A "adi" B "bdi" C "cdi" D "ddi" SampleTime "ts" } Line { SrcBlock "Ref." SrcPort 1 DstBlock "P" DstPort 2 } Line { SrcBlock "P" SrcPort 1 Points [-90, 0; 0, -80] DstBlock "Variação paramétrica na massa: [-1 1]" DstPort 1 } Line { SrcBlock "Variação paramétrica na massa: [-1 1]" SrcPort 1 Points [125, 0; 0, 75] DstBlock "P" DstPort 1 } Line { SrcBlock "P" SrcPort 3 Points [-15, 0; 0, 75] DstBlock "hinf" DstPort 1 } Line { SrcBlock "Band-Limited\nWhite Noise" SrcPort 1 Points [0, -70] DstBlock "P" DstPort 4 } Line { SrcBlock "Step" SrcPort 1 Points [-40, 0; 0, -60] DstBlock "P" DstPort 3 } Line { SrcBlock "P" SrcPort 2 Points [-65, 0] Branch { DstBlock "To Workspace" DstPort 1 } Branch { Points [0, 95] DstBlock "Scope" DstPort 1 } } Line { SrcBlock "Clock" SrcPort 1 DstBlock "To Workspace1" DstPort 1 } Line { SrcBlock "hinf" SrcPort 1 Points [20, 0; 0, -70] DstBlock "P" DstPort 5 } Annotation { Name "0,1" Position [658, 298] UseDisplayTextAsClickCallback off } Annotation { Name "[0.000000000001]" Position [517, 332] UseDisplayTextAsClickCallback off } } }