Model {
  Name			  "PIDR12"
  Version		  6.0
  SampleTimeColors	  off
  LibraryLinkDisplay	  "none"
  WideLines		  off
  ShowLineDimensions	  off
  ShowPortDataTypes	  off
  SortedOrder		  off
  RecordCoverage	  off
  CovPath		  "/"
  CovSaveName		  "covdata"
  CovNameIncrementing	  off
  CovHtmlReporting	  on
  BlockNameDataTip	  off
  BlockParametersDataTip  off
  BlockDescriptionStringDataTip	off
  ToolBar		  on
  StatusBar		  on
  BrowserShowLibraryLinks off
  BrowserLookUnderMasks	  off
  Created		  "Wed Apr 11 13:09:02 2007"
  Creator		  "Fabio"
  UpdateHistory		  "UpdateHistoryNever"
  ModifiedByFormat	  "%<Auto>"
  LastModifiedBy	  "vilma"
  ModifiedDateFormat	  "%<Auto>"
  LastModifiedDate	  "Wed Jun 11 11:54:54 2008"
  ModelVersionFormat	  "1.%<AutoIncrement:7>"
  ConfigurationManager	  "None"
  LinearizationMsg	  "none"
  Profile		  off
  AccelSystemTargetFile	  "accel.tlc"
  AccelTemplateMakefile	  "accel_default_tmf"
  AccelMakeCommand	  "make_rtw"
  ExtModeBatchMode	  off
  ExtModeTrigType	  "manual"
  ExtModeTrigMode	  "normal"
  ExtModeTrigPort	  "1"
  ExtModeTrigElement	  "any"
  ExtModeTrigDuration	  1000
  ExtModeTrigHoldOff	  0
  ExtModeTrigDelay	  0
  ExtModeTrigDirection	  "rising"
  ExtModeTrigLevel	  0
  ExtModeArchiveMode	  "off"
  ExtModeAutoIncOneShot	  off
  ExtModeIncDirWhenArm	  off
  ExtModeAddSuffixToVar	  off
  ExtModeWriteAllDataToWs off
  ExtModeArmWhenConnect	  on
  ExtModeLogAll		  on
  BufferReuse		  on
  SolverName		  "ode45"
  SolverMode		  "Auto"
  StartTime		  "0.0"
  StopTime		  "40"
  MaxOrder		  5
  MaxStep		  "auto"
  MinStep		  "auto"
  MaxNumMinSteps	  "-1"
  InitialStep		  "auto"
  FixedStep		  "auto"
  RelTol		  "1e-3"
  AbsTol		  "auto"
  OutputOption		  "RefineOutputTimes"
  OutputTimes		  "[]"
  Refine		  "1"
  LoadExternalInput	  off
  ExternalInput		  "[t, u]"
  LoadInitialState	  off
  InitialState		  "xInitial"
  SaveTime		  on
  TimeSaveName		  "tout"
  SaveState		  off
  StateSaveName		  "xout"
  SaveOutput		  on
  OutputSaveName	  "yout"
  SaveFinalState	  off
  FinalStateName	  "xFinal"
  SaveFormat		  "Array"
  Decimation		  "1"
  LimitDataPoints	  on
  MaxDataPoints		  "1000"
  ConsistencyChecking	  "none"
  ArrayBoundsChecking	  "none"
  AlgebraicLoopMsg	  "warning"
  BlockPriorityViolationMsg "warning"
  MinStepSizeMsg	  "warning"
  InheritedTsInSrcMsg	  "warning"
  MultiTaskRateTransMsg	  "error"
  SingleTaskRateTransMsg  "none"
  CheckForMatrixSingularity "none"
  IntegerOverflowMsg	  "warning"
  Int32ToFloatConvMsg	  "warning"
  UnnecessaryDatatypeConvMsg "none"
  VectorMatrixConversionMsg "none"
  SignalLabelMismatchMsg  "none"
  UnconnectedInputMsg	  "warning"
  UnconnectedOutputMsg	  "warning"
  UnconnectedLineMsg	  "warning"
  SfunCompatibilityCheckMsg "none"
  RTWInlineParameters	  off
  BlockReductionOpt	  on
  BooleanDataType	  on
  ParameterPooling	  on
  OptimizeBlockIOStorage  on
  RTWSystemTargetFile	  "grt.tlc"
  RTWTemplateMakefile	  "grt_default_tmf"
  RTWMakeCommand	  "make_rtw"
  RTWGenerateCodeOnly	  off
  RTWRetainRTWFile	  off
  TLCProfiler		  off
  TLCDebug		  off
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  RTWOptions		  "-aEnforceIntegerDowncast=1 -aFoldNonRolledExpr=1 -a"
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"eshold=5 -aGenerateReport=0 -aGenCodeOnly=0 -aRTWVerbose=1 -aIncludeHyperlink"
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"-aIgnoreCustomStorageClasses=1 -aIncHierarchyInIds=0 -aMaxRTWIdLen=31 -aShowE"
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"InsertBlockDesc=0 -aSimulinkBlockComments=1 -aInlinedPrmAccess=\"Literals\"  "
"-aSuppressErrorStatus=0 -aModelReferenceCompliant=1 -aSupportNonInlinedSFcns="
"1 -aSupportContinuousTime=1 -aSupportComplex=1 -aSupportNonFinite=1 -aSupport"
"AbsoluteTime=1 -aTargetPreCompLibLocation=\"\" -aTargetLibSuffix=\"\" -aTarge"
"tFcnLib=\"ansi_tfl_tmw.mat\" -aMultiInstanceERTCode=0 -aLogVarNameModifier=\""
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"eSampleERTMain=0 -aGenerateFullHeader=1 -aUtilityFuncGeneration=\"Auto\" -aIn"
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"-aERTCustomFileBanners=0 -aRTWCAPIStates=0 -aRTWCAPIParams=0 -aRTWCAPISignals"
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"ng=0 -aExtModeStaticAlloc=0 -aExtMode=0  "
  SimulationMode	  "normal"
  BlockDefaults {
    Orientation		    "right"
    ForegroundColor	    "black"
    BackgroundColor	    "white"
    DropShadow		    off
    NamePlacement	    "normal"
    FontName		    "arial"
    FontSize		    10
    FontWeight		    "normal"
    FontAngle		    "normal"
    ShowName		    on
  }
  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		    "tp545264"
    Location		    [268, 82, 980, 490]
    Open		    on
    ModelBrowserVisibility  off
    ModelBrowserWidth	    200
    ScreenColor		    "white"
    PaperOrientation	    "landscape"
    PaperPositionMode	    "auto"
    PaperType		    "usletter"
    PaperUnits		    "inches"
    ZoomFactor		    "100"
    ReportName		    "simulink-default.rpt"
    Block {
      BlockType		      SubSystem
      Name		      "PID"
      Ports		      [1, 1]
      Position		      [180, 95, 220, 155]
      Permissions	      "ReadWrite"
      TreatAsAtomicUnit	      off
      RTWSystemCode	      "Auto"
      RTWFcnNameOpts	      "Auto"
      RTWFileNameOpts	      "Auto"
      SimViewingDevice	      off
      System {
	Name			"PID"
	Location		[328, 525, 763, 669]
	Open			off
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"white"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"usletter"
	PaperUnits		"inches"
	ZoomFactor		"100"
	Block {
	  BlockType		  Inport
	  Name			  "erro"
	  Position		  [25, 38, 55, 52]
	  Port			  "1"
	  PortDimensions	  "-1"
	  SampleTime		  "-1"
	  DataType		  "auto"
	  SignalType		  "auto"
	  Interpolate		  on
	}
	Block {
	  BlockType		  Sum
	  Name			  "Add"
	  Ports			  [3, 1]
	  Position		  [330, 36, 355, 74]
	  IconShape		  "rectangular"
	  Inputs		  "+++"
	  SaturateOnIntegerOverflow off
	  SampleTime		  "-1"
	}
	Block {
	  BlockType		  Gain
	  Name			  "D"
	  Position		  [110, 90, 140, 120]
	  Gain			  "D"
	  Multiplication	  "Element-wise(K.*u)"
	  SaturateOnIntegerOverflow off
	  SampleTime		  "-1"
	}
	Block {
	  BlockType		  Derivative
	  Name			  "Derivativo"
	  Position		  [245, 90, 275, 120]
	}
	Block {
	  BlockType		  Gain
	  Name			  "I"
	  Position		  [140, 50, 170, 80]
	  Gain			  "I"
	  Multiplication	  "Element-wise(K.*u)"
	  SaturateOnIntegerOverflow off
	  SampleTime		  "-1"
	}
	Block {
	  BlockType		  Integrator
	  Name			  "Integrador"
	  Ports			  [1, 1]
	  Position		  [190, 50, 220, 80]
	  ExternalReset		  "none"
	  InitialConditionSource  "internal"
	  InitialCondition	  "0"
	  LimitOutput		  off
	  UpperSaturationLimit	  "inf"
	  LowerSaturationLimit	  "-inf"
	  ShowSaturationPort	  off
	  ShowStatePort		  off
	  AbsoluteTolerance	  "auto"
	  IgnoreLimit		  off
	}
	Block {
	  BlockType		  Gain
	  Name			  "Proporcional"
	  Position		  [235, 30, 265, 60]
	  NamePlacement		  "alternate"
	  Gain			  "P"
	  Multiplication	  "Element-wise(K.*u)"
	  SaturateOnIntegerOverflow off
	  SampleTime		  "-1"
	}
	Block {
	  BlockType		  Outport
	  Name			  "u"
	  Position		  [380, 48, 410, 62]
	  Port			  "1"
	  OutputWhenDisabled	  "held"
	  InitialOutput		  "[]"
	}
	Line {
	  SrcBlock		  "D"
	  SrcPort		  1
	  DstBlock		  "Derivativo"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Derivativo"
	  SrcPort		  1
	  Points		  [5, 0; 0, -40]
	  DstBlock		  "Add"
	  DstPort		  3
	}
	Line {
	  SrcBlock		  "Integrador"
	  SrcPort		  1
	  Points		  [50, 0; 0, -10]
	  DstBlock		  "Add"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "I"
	  SrcPort		  1
	  DstBlock		  "Integrador"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Proporcional"
	  SrcPort		  1
	  DstBlock		  "Add"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "erro"
	  SrcPort		  1
	  Points		  [15, 0]
	  Branch {
	    DstBlock		    "Proporcional"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, 20]
	    Branch {
	      DstBlock		      "I"
	      DstPort		      1
	    }
	    Branch {
	      Points		      [0, 40]
	      DstBlock		      "D"
	      DstPort		      1
	    }
	  }
	}
	Line {
	  SrcBlock		  "Add"
	  SrcPort		  1
	  DstBlock		  "u"
	  DstPort		  1
	}
      }
    }
    Block {
      BlockType		      Scope
      Name		      "Scope"
      Ports		      [1]
      Position		      [435, 109, 465, 141]
      Floating		      off
      Location		      [188, 390, 512, 629]
      Open		      off
      NumInputPorts	      "1"
      TickLabels	      "OneTimeTick"
      ZoomMode		      "on"
      List {
	ListType		AxesTitles
	axes1			"%<SignalLabel>"
      }
      Grid		      "on"
      TimeRange		      "auto"
      YMin		      "-5"
      YMax		      "5"
      SaveToWorkspace	      off
      SaveName		      "ScopeData"
      DataFormat	      "StructureWithTime"
      LimitDataPoints	      on
      MaxDataPoints	      "5000"
      Decimation	      "1"
      SampleInput	      off
      SampleTime	      "0"
    }
    Block {
      BlockType		      Step
      Name		      "Step"
      Position		      [55, 110, 85, 140]
      Time		      "1"
      Before		      "0"
      After		      "1"
      SampleTime	      "0"
      VectorParams1D	      on
    }
    Block {
      BlockType		      Sum
      Name		      "Sum"
      Ports		      [2, 1]
      Position		      [120, 115, 140, 135]
      ShowName		      off
      IconShape		      "round"
      Inputs		      "|+-"
      SaturateOnIntegerOverflow	off
      SampleTime	      "-1"
    }
    Block {
      BlockType		      TransferFcn
      Name		      "ft = 1/(s+1)^3"
      Position		      [265, 102, 365, 148]
      Numerator		      "[1]"
      Denominator	      "[1     3     3     1]"
      AbsoluteTolerance	      "auto"
      Realization	      "auto"
    }
    Line {
      SrcBlock		      "Step"
      SrcPort		      1
      DstBlock		      "Sum"
      DstPort		      1
    }
    Line {
      SrcBlock		      "ft = 1/(s+1)^3"
      SrcPort		      1
      Points		      [25, 0]
      Branch {
	Points			[0, 65; -265, 0]
	DstBlock		"Sum"
	DstPort			2
      }
      Branch {
	DstBlock		"Scope"
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    }
    Line {
      SrcBlock		      "Sum"
      SrcPort		      1
      DstBlock		      "PID"
      DstPort		      1
    }
    Line {
      SrcBlock		      "PID"
      SrcPort		      1
      DstBlock		      "ft = 1/(s+1)^3"
      DstPort		      1
    }
    Annotation {
      Text		      "Controlador PID"
      Position		      [95, 64]
    }
  }
}
