Model { Name "ex6_10" Version 8.2 MdlSubVersion 0 SavedCharacterEncoding "windows-1252" GraphicalInterface { NumRootInports 0 NumRootOutports 0 ParameterArgumentNames "" ComputedModelVersion "1.16" NumModelReferences 0 NumTestPointedSignals 0 } SaveDefaultBlockParams on ScopeRefreshTime 0.035000 OverrideScopeRefreshTime on DisableAllScopes off DataTypeOverride "UseLocalSettings" DataTypeOverrideAppliesTo "AllNumericTypes" MinMaxOverflowLogging "UseLocalSettings" MinMaxOverflowArchiveMode "Overwrite" FPTRunName "Run 1" MaxMDLFileLineLength 120 Object { $PropName "BdWindowsInfo" $ObjectID 1 $ClassName "Simulink.BDWindowsInfo" Array { Type "Simulink.WindowInfo" Dimension 2 Object { $ObjectID 2 IsActive [0] Location [229.0, 307.0, 584.0, 397.0] Object { $PropName "ModelBrowserInfo" $ObjectID 3 $ClassName "Simulink.ModelBrowserInfo" Visible [0] DockPosition "Left" Width [50] Height [50] Filter [8] } Object { $PropName "ExplorerBarInfo" $ObjectID 4 $ClassName "Simulink.ExplorerBarInfo" Visible [1] } Object { $PropName "EditorsInfo" $ObjectID 5 $ClassName "Simulink.EditorInfo" IsActive [1] ViewObjType "SimulinkSubsys" LoadSaveID "7" Extents [534.0, 223.0] ZoomFactor [1.0] Offset [0.0, 0.0] } } Object { $ObjectID 6 IsActive [1] Location [23.0, 52.0, 1001.0, 679.0] Object { $PropName "ModelBrowserInfo" $ObjectID 7 $ClassName "Simulink.ModelBrowserInfo" Visible [0] DockPosition "Left" Width [50] Height [50] Filter [8] } Object { $PropName "ExplorerBarInfo" $ObjectID 8 $ClassName "Simulink.ExplorerBarInfo" Visible [1] } Object { $PropName "EditorsInfo" $ObjectID 9 $ClassName "Simulink.EditorInfo" IsActive [1] ViewObjType "SimulinkTopLevel" LoadSaveID "0" Extents [951.0, 505.0] ZoomFactor [1.0] Offset [0.0, 0.0] } } PropName "WindowsInfo" } } Created "Mon Oct 06 16:58:57 2008" Creator "Eduardo" UpdateHistory "UpdateHistoryNever" ModifiedByFormat "%" LastModifiedBy "Eduardo" ModifiedDateFormat "%" LastModifiedDate "Tue Jul 02 19:57:14 2019" RTWModifiedTimeStamp 483998230 ModelVersionFormat "1.%" ConfigurationManager "none" SampleTimeColors off SampleTimeAnnotations off LibraryLinkDisplay "none" WideLines off ShowLineDimensions on ShowPortDataTypes off ShowDesignRanges off ShowLoopsOnError on IgnoreBidirectionalLines off ShowStorageClass off ShowTestPointIcons on ShowSignalResolutionIcons on ShowViewerIcons on SortedOrder off ExecutionContextIcon off ShowLinearizationAnnotations on BlockNameDataTip off BlockParametersDataTip off BlockDescriptionStringDataTip off ToolBar on StatusBar on BrowserShowLibraryLinks off BrowserLookUnderMasks off SimulationMode "normal" PauseTimes "5" NumberOfSteps 1 SnapshotBufferSize 10 SnapshotInterval 10 NumberOfLastSnapshots 0 LinearizationMsg "none" Profile off ParamWorkspaceSource "MATLABWorkspace" AccelSystemTargetFile "accel.tlc" AccelTemplateMakefile "accel_default_tmf" AccelMakeCommand "make_rtw" TryForcingSFcnDF off Object { $PropName "DataLoggingOverride" $ObjectID 10 $ClassName "Simulink.SimulationData.ModelLoggingInfo" model_ "ex6_10" Array { Type "Cell" Dimension 1 Cell "ex6_10" PropName "logAsSpecifiedByModels_" } Array { Type "Cell" Dimension 1 Cell "" PropName "logAsSpecifiedByModelsSSIDs_" } } RecordCoverage off CovPath "/" CovSaveName "covdata" CovMetricSettings "dw" CovNameIncrementing off CovHtmlReporting on CovForceBlockReductionOff on CovEnableCumulative on covSaveCumulativeToWorkspaceVar on CovSaveSingleToWorkspaceVar on CovCumulativeVarName "covCumulativeData" CovCumulativeReport off CovReportOnPause on CovModelRefEnable "Off" CovExternalEMLEnable 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 ShowModelReferenceBlockVersion off ShowModelReferenceBlockIO off Array { Type "Handle" Dimension 1 Simulink.ConfigSet { $ObjectID 11 Version "1.13.1" Array { Type "Handle" Dimension 8 Simulink.SolverCC { $ObjectID 12 Version "1.13.1" StartTime "0.0" StopTime "100" AbsTol "auto" FixedStep "auto" InitialStep "auto" MaxNumMinSteps "-1" MaxOrder 5 ZcThreshold "auto" ConsecutiveZCsStepRelTol "10*128*eps" MaxConsecutiveZCs "1000" ExtrapolationOrder 4 NumberNewtonIterations 1 MaxStep "auto" MinStep "auto" MaxConsecutiveMinStep "1" RelTol "1e-6" SolverMode "Auto" EnableConcurrentExecution off ConcurrentTasks off Solver "ode45" SolverName "ode45" SolverJacobianMethodControl "auto" ShapePreserveControl "DisableAll" ZeroCrossControl "UseLocalSettings" ZeroCrossAlgorithm "Nonadaptive" AlgebraicLoopSolver "TrustRegion" SolverResetMethod "Fast" 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BufferReusableBoundary on SimCompilerOptimization "Off" AccelVerboseBuild off ParallelExecutionInRapidAccelerator on } Simulink.DebuggingCC { $ObjectID 15 Version "1.13.1" RTPrefix "error" ConsistencyChecking "none" ArrayBoundsChecking "none" SignalInfNanChecking "none" SignalRangeChecking "none" ReadBeforeWriteMsg "UseLocalSettings" WriteAfterWriteMsg "UseLocalSettings" WriteAfterReadMsg "UseLocalSettings" AlgebraicLoopMsg "warning" ArtificialAlgebraicLoopMsg "warning" SaveWithDisabledLinksMsg "warning" SaveWithParameterizedLinksMsg "none" CheckSSInitialOutputMsg on UnderspecifiedInitializationDetection "Classic" MergeDetectMultiDrivingBlocksExec "none" CheckExecutionContextPreStartOutputMsg off CheckExecutionContextRuntimeOutputMsg off SignalResolutionControl "TryResolveAllWithWarning" BlockPriorityViolationMsg "warning" MinStepSizeMsg "warning" TimeAdjustmentMsg "none" MaxConsecutiveZCsMsg "error" MaskedZcDiagnostic "warning" IgnoredZcDiagnostic "warning" SolverPrmCheckMsg "warning" 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BusObjectLabelMismatch "warning" RootOutportRequireBusObject "warning" AssertControl "UseLocalSettings" EnableOverflowDetection off ModelReferenceIOMsg "none" ModelReferenceMultiInstanceNormalModeStructChecksumCheck "error" ModelReferenceVersionMismatchMessage "none" ModelReferenceIOMismatchMessage "none" ModelReferenceCSMismatchMessage "none" UnknownTsInhSupMsg "warning" ModelReferenceDataLoggingMessage "warning" ModelReferenceSymbolNameMessage "warning" ModelReferenceExtraNoncontSigs "error" StateNameClashWarn "warning" SimStateInterfaceChecksumMismatchMsg "warning" SimStateOlderReleaseMsg "error" InitInArrayFormatMsg "warning" StrictBusMsg "ErrorLevel1" BusNameAdapt "WarnAndRepair" NonBusSignalsTreatedAsBus "none" LoggingUnavailableSignals "error" BlockIODiagnostic "none" SFUnusedDataAndEventsDiag "warning" SFUnexpectedBacktrackingDiag "warning" SFInvalidInputDataAccessInChartInitDiag "warning" SFNoUnconditionalDefaultTransitionDiag "warning" SFTransitionOutsideNaturalParentDiag "warning" SFUnconditionalTransitionShadowingDiag "warning" SFUndirectedBroadcastEventsDiag "warning" SFTransitionActionBeforeConditionDiag "warning" } Simulink.HardwareCC { $ObjectID 16 Version "1.13.1" ProdBitPerChar 8 ProdBitPerShort 16 ProdBitPerInt 32 ProdBitPerLong 32 ProdBitPerLongLong 64 ProdBitPerFloat 32 ProdBitPerDouble 64 ProdBitPerPointer 32 ProdLargestAtomicInteger "Char" ProdLargestAtomicFloat "None" ProdIntDivRoundTo "Undefined" ProdEndianess "Unspecified" ProdWordSize 32 ProdShiftRightIntArith on ProdLongLongMode off ProdHWDeviceType "32-bit Generic" TargetBitPerChar 8 TargetBitPerShort 16 TargetBitPerInt 32 TargetBitPerLong 32 TargetBitPerLongLong 64 TargetBitPerFloat 32 TargetBitPerDouble 64 TargetBitPerPointer 32 TargetLargestAtomicInteger "Char" TargetLargestAtomicFloat "None" TargetShiftRightIntArith on TargetLongLongMode off TargetIntDivRoundTo "Undefined" TargetEndianess "Unspecified" TargetWordSize 32 TargetTypeEmulationWarnSuppressLevel 0 TargetPreprocMaxBitsSint 32 TargetPreprocMaxBitsUint 32 TargetHWDeviceType "Specified" TargetUnknown off ProdEqTarget on } Simulink.ModelReferenceCC { $ObjectID 17 Version "1.13.1" UpdateModelReferenceTargets "IfOutOfDateOrStructuralChange" CheckModelReferenceTargetMessage "error" EnableParallelModelReferenceBuilds off ParallelModelReferenceErrorOnInvalidPool on ParallelModelReferenceMATLABWorkerInit "None" ModelReferenceNumInstancesAllowed "Multi" PropagateVarSize "Infer from blocks in model" ModelReferencePassRootInputsByReference on ModelReferenceMinAlgLoopOccurrences off PropagateSignalLabelsOutOfModel off SupportModelReferenceSimTargetCustomCode off } Simulink.SFSimCC { $ObjectID 18 Version "1.13.1" SFSimEnableDebug on SFSimOverflowDetection on SFSimEcho on SimBlas on SimCtrlC on SimExtrinsic on SimIntegrity on SimUseLocalCustomCode off SimParseCustomCode on SimBuildMode "sf_incremental_build" SimGenImportedTypeDefs off } Simulink.RTWCC { $BackupClass "Simulink.RTWCC" $ObjectID 19 Version "1.13.1" Array { Type "Cell" Dimension 1 Cell "IncludeHyperlinkInReport" PropName "DisabledProps" } SystemTargetFile "grt.tlc" TLCOptions "" GenCodeOnly off MakeCommand "make_rtw" GenerateMakefile on PackageGeneratedCodeAndArtifacts off PackageName "" TemplateMakefile "grt_default_tmf" PostCodeGenCommand "" Description "" GenerateReport off SaveLog off RTWVerbose on RetainRTWFile off ProfileTLC off TLCDebug off TLCCoverage off TLCAssert off ProcessScriptMode "Default" ConfigurationMode "Optimized" ProcessScript "" ConfigurationScript "" ConfigAtBuild off RTWUseLocalCustomCode off RTWUseSimCustomCode off CustomSourceCode "" CustomHeaderCode "" CustomInclude "" CustomSource "" CustomLibrary "" CustomInitializer "" CustomTerminator "" Toolchain "Automatically locate an installed toolchain" BuildConfiguration "Faster Builds" IncludeHyperlinkInReport off LaunchReport off PortableWordSizes off GenerateErtSFunction off CreateSILPILBlock "None" CodeExecutionProfiling off CodeExecutionProfileVariable "executionProfile" CodeProfilingSaveOptions "SummaryOnly" CodeProfilingInstrumentation off SILDebugging off TargetLang "C" IncludeBusHierarchyInRTWFileBlockHierarchyMap off IncludeERTFirstTime on GenerateTraceInfo off GenerateTraceReport off GenerateTraceReportSl off GenerateTraceReportSf off GenerateTraceReportEml off GenerateCodeInfo off GenerateWebview off GenerateCodeMetricsReport off GenerateCodeReplacementReport off RTWCompilerOptimization "Off" RTWCustomCompilerOptimizations "" CheckMdlBeforeBuild "Off" CustomRebuildMode "OnUpdate" DataInitializer "" SharedConstantsCachingThreshold 1024 Array { Type "Handle" Dimension 2 Simulink.CodeAppCC { $ObjectID 20 Version "1.13.1" Array { Type "Cell" Dimension 9 Cell "IgnoreCustomStorageClasses" Cell "InsertBlockDesc" Cell "SFDataObjDesc" Cell "SimulinkDataObjDesc" Cell "DefineNamingRule" Cell "SignalNamingRule" Cell "ParamNamingRule" Cell "InlinedPrmAccess" Cell "CustomSymbolStr" PropName "DisabledProps" } ForceParamTrailComments off GenerateComments on IgnoreCustomStorageClasses on IgnoreTestpoints off IncHierarchyInIds off MaxIdLength 31 PreserveName off PreserveNameWithParent off ShowEliminatedStatement off OperatorAnnotations off IncAutoGenComments off SimulinkDataObjDesc off SFDataObjDesc off MATLABFcnDesc off IncDataTypeInIds off MangleLength 1 CustomSymbolStrGlobalVar "$R$N$M" CustomSymbolStrType "$N$R$M_T" CustomSymbolStrField "$N$M" CustomSymbolStrFcn "$R$N$M$F" CustomSymbolStrFcnArg "rt$I$N$M" CustomSymbolStrBlkIO "rtb_$N$M" CustomSymbolStrTmpVar "$N$M" CustomSymbolStrMacro "$R$N$M" CustomSymbolStrUtil "$N$C" DefineNamingRule "None" ParamNamingRule "None" SignalNamingRule "None" InsertBlockDesc off InsertPolySpaceComments off SimulinkBlockComments on MATLABSourceComments off EnableCustomComments off InternalIdentifier "Shortened" InlinedPrmAccess "Literals" ReqsInCode off UseSimReservedNames off } Simulink.GRTTargetCC { $BackupClass "Simulink.TargetCC" $ObjectID 21 Version "1.13.1" Array { Type "Cell" Dimension 11 Cell "IncludeMdlTerminateFcn" Cell "CombineOutputUpdateFcns" Cell "SuppressErrorStatus" Cell "ERTCustomFileBanners" Cell "GenerateSampleERTMain" Cell "SupportContinuousTime" Cell "PurelyIntegerCode" Cell "SupportNonInlinedSFcns" Cell "SupportComplex" Cell "SupportAbsoluteTime" Cell "GenerateAllocFcn" PropName "DisabledProps" } TargetFcnLib "ansi_tfl_tmw.mat" TargetLibSuffix "" TargetPreCompLibLocation "" CodeReplacementLibrary "ANSI_C" UtilityFuncGeneration "Auto" ERTMultiwordTypeDef "System defined" ERTMultiwordLength 256 MultiwordLength 2048 GenerateFullHeader on GenerateSampleERTMain off GenerateTestInterfaces off IsPILTarget off ModelReferenceCompliant on ParMdlRefBuildCompliant on CompOptLevelCompliant on ConcurrentExecutionCompliant on IncludeMdlTerminateFcn on GeneratePreprocessorConditionals "Disable all" CombineOutputUpdateFcns off CombineSignalStateStructs off SuppressErrorStatus off ERTFirstTimeCompliant off IncludeFileDelimiter "Auto" ERTCustomFileBanners off SupportAbsoluteTime on LogVarNameModifier "rt_" MatFileLogging on MultiInstanceERTCode off SupportNonFinite on SupportComplex on PurelyIntegerCode off SupportContinuousTime on SupportNonInlinedSFcns on SupportVariableSizeSignals off EnableShiftOperators on ParenthesesLevel "Nominal" MATLABClassNameForMDSCustomization "Simulink.SoftwareTarget.GRTCustomization" ModelStepFunctionPrototypeControlCompliant off CPPClassGenCompliant off AutosarCompliant off GRTInterface on GenerateAllocFcn off UseMalloc off ExtMode off ExtModeStaticAlloc off ExtModeTesting off ExtModeStaticAllocSize 1000000 ExtModeTransport 0 ExtModeMexFile "ext_comm" ExtModeIntrfLevel "Level1" RTWCAPISignals off RTWCAPIParams off RTWCAPIStates off RTWCAPIRootIO off GenerateASAP2 off } PropName "Components" } } PropName "Components" } Name "Configuration" CurrentDlgPage "Solver" ConfigPrmDlgPosition [ 243, 69, 1123, 699 ] } PropName "ConfigurationSets" } Simulink.ConfigSet { $PropName "ActiveConfigurationSet" $ObjectID 11 } Object { $PropName "DataTransfer" $ObjectID 22 $ClassName "Simulink.GlobalDataTransfer" DefaultTransitionBetweenSyncTasks "Ensure deterministic transfer (maximum delay)" DefaultTransitionBetweenAsyncTasks "Ensure data integrity only" DefaultTransitionBetweenContTasks "Ensure deterministic transfer (minimum delay)" DefaultExtrapolationMethodBetweenContTasks "None" AutoInsertRateTranBlk [0] } ExplicitPartitioning off BlockDefaults { ForegroundColor "black" BackgroundColor "white" DropShadow off NamePlacement "normal" FontName "Helvetica" FontSize 10 FontWeight "normal" FontAngle "normal" ShowName on BlockRotation 0 BlockMirror off } AnnotationDefaults { HorizontalAlignment "center" VerticalAlignment "middle" ForegroundColor "black" BackgroundColor "white" DropShadow off FontName "Helvetica" FontSize 10 FontWeight "normal" FontAngle "normal" UseDisplayTextAsClickCallback off } LineDefaults { FontName "Helvetica" FontSize 9 FontWeight "normal" FontAngle "normal" } MaskDefaults { SelfModifiable "off" IconFrame "on" IconOpaque "on" RunInitForIconRedraw "off" IconRotate "none" PortRotate "default" IconUnits "autoscale" } MaskParameterDefaults { Evaluate "on" Tunable "on" NeverSave "off" Internal "off" ReadOnly "off" Enabled "on" Visible "on" ToolTip "on" } BlockParameterDefaults { Block { BlockType Clock DisplayTime off Decimation "10" } Block { BlockType Fcn Expr "sin(u[1])" SampleTime "-1" } Block { BlockType Gain Gain "1" Multiplication "Element-wise(K.*u)" ParamMin "[]" ParamMax "[]" ParamDataTypeStr "Inherit: Same as input" OutMin "[]" OutMax "[]" OutDataTypeStr "Inherit: Same as input" LockScale off RndMeth "Floor" SaturateOnIntegerOverflow on SampleTime "-1" } Block { BlockType Inport Port "1" OutputFunctionCall off OutMin "[]" OutMax "[]" OutDataTypeStr "Inherit: auto" LockScale off BusOutputAsStruct off PortDimensions "-1" VarSizeSig "Inherit" SampleTime "-1" SignalType "auto" SamplingMode "auto" LatchByDelayingOutsideSignal off LatchInputForFeedbackSignals 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 ContinuousStateAttributes "''" } Block { BlockType Mux Inputs "4" DisplayOption "none" UseBusObject off BusObject "BusObject" NonVirtualBus off } Block { BlockType Outport Port "1" OutMin "[]" OutMax "[]" OutDataTypeStr "Inherit: auto" LockScale off BusOutputAsStruct off PortDimensions "-1" VarSizeSig "Inherit" SampleTime "-1" SignalType "auto" SamplingMode "auto" SourceOfInitialOutputValue "Dialog" OutputWhenDisabled "held" InitialOutput "[]" } Block { BlockType Step Time "1" Before "0" After "1" SampleTime "-1" VectorParams1D on ZeroCross on } Block { BlockType SubSystem ShowPortLabels "FromPortIcon" Permissions "ReadWrite" PermitHierarchicalResolution "All" TreatAsAtomicUnit off CheckFcnCallInpInsideContextMsg off SystemSampleTime "-1" RTWFcnNameOpts "Auto" RTWFileNameOpts "Auto" FunctionInterfaceSpec "void_void" RTWMemSecFuncInitTerm "Inherit from model" RTWMemSecFuncExecute "Inherit from model" RTWMemSecDataConstants "Inherit from model" RTWMemSecDataInternal "Inherit from model" RTWMemSecDataParameters "Inherit from model" SimViewingDevice off DataTypeOverride "UseLocalSettings" DataTypeOverrideAppliesTo "AllNumericTypes" MinMaxOverflowLogging "UseLocalSettings" SFBlockType "NONE" Variant off GeneratePreprocessorConditionals off ContentPreviewEnabled off } Block { BlockType ToWorkspace VariableName "simulink_output" MaxDataPoints "1000" Decimation "1" SampleTime "0" SaveFormat "Array" FixptAsFi off NumInputs "1" } } System { Name "ex6_10" Location [23, 52, 1024, 731] Open on ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" ReportName "simulink-default.rpt" SIDHighWatermark "45" Block { BlockType Clock Name "Clock" SID "1" Position [765, 30, 785, 50] ZOrder -1 } Block { BlockType Fcn Name "Fcn" SID "2" Position [325, 95, 385, 125] ZOrder -2 Expr "I*J/k*(u[6]-(M*g*L/I*sin(u[1])*(u[2]^2+M*g*L/I*cos(u[1])+k/I) + k/I*(u[1]-u[3])*(k/I+k/J+M*g*L/I*co" "s(u[1])) ))" } Block { BlockType Gain Name "Gain" SID "38" Position [150, 190, 180, 220] ZOrder -11 BlockRotation 270 Gain "-K" Multiplication "Matrix(K*u)" ParamDataTypeStr "Inherit: Inherit via internal rule" OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Mux Name "Mux" SID "4" Ports [2, 1] Position [240, 61, 250, 154] ZOrder -12 ShowName off Inputs "2" DisplayOption "bar" } Block { BlockType SubSystem Name "Sistema Fisico" SID "7" Ports [1, 1] Position [460, 80, 500, 140] ZOrder -13 MinAlgLoopOccurrences off PropExecContextOutsideSubsystem off RTWSystemCode "Auto" FunctionWithSeparateData off Opaque off RequestExecContextInheritance off MaskHideContents off System { Name "Sistema Fisico" Location [229, 307, 813, 704] Open on ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" Block { BlockType Inport Name "u" SID "8" Position [355, 143, 385, 157] ZOrder -1 IconDisplay "Port number" } Block { BlockType Fcn Name "Fcn" SID "9" Position [70, 25, 130, 55] ZOrder -2 Expr "(-M*g*L*sin(u[1])-k*(u[1]-u[3]))/I" } Block { BlockType Fcn Name "Fcn1" SID "10" Position [70, 115, 130, 145] ZOrder -3 Expr "(u[5]+k*(u[1]-u[3]))/J" } Block { BlockType Integrator Name "Integrator" SID "11" Ports [1, 1] Position [290, 25, 320, 55] ZOrder -4 InitialCondition "q10" } Block { BlockType Integrator Name "Integrator1" SID "12" Ports [1, 1] Position [190, 115, 220, 145] ZOrder -5 } Block { BlockType Integrator Name "Integrator2" SID "13" Ports [1, 1] Position [290, 115, 320, 145] ZOrder -6 InitialCondition "q20" } Block { BlockType Integrator Name "Integrator3" SID "14" Ports [1, 1] Position [195, 25, 225, 55] ZOrder -7 } Block { BlockType Mux Name "Mux" SID "15" Ports [5, 1] Position [405, 44, 415, 136] ZOrder -8 ShowName off Inputs "5" DisplayOption "bar" } Block { BlockType Outport Name "x" SID "16" Position [475, 83, 505, 97] ZOrder -9 IconDisplay "Port number" } Line { ZOrder 1 SrcBlock "Integrator3" SrcPort 1 Points [30, 0] Branch { ZOrder 2 DstBlock "Integrator" DstPort 1 } Branch { ZOrder 3 Points [0, 30] DstBlock "Mux" DstPort 2 } } Line { ZOrder 4 SrcBlock "Integrator" SrcPort 1 Points [65, 0] DstBlock "Mux" DstPort 1 } Line { ZOrder 5 SrcBlock "Integrator1" SrcPort 1 Points [40, 0] Branch { ZOrder 6 DstBlock "Integrator2" DstPort 1 } Branch { ZOrder 7 Points [0, -20] DstBlock "Mux" DstPort 4 } } Line { ZOrder 8 SrcBlock "Mux" SrcPort 1 Points [35, 0] Branch { ZOrder 9 Points [0, 95; -425, 0; 0, -55] Branch { ZOrder 10 DstBlock "Fcn1" DstPort 1 } Branch { ZOrder 11 Points [0, -90] DstBlock "Fcn" DstPort 1 } } Branch { ZOrder 12 DstBlock "x" DstPort 1 } } Line { ZOrder 13 SrcBlock "Fcn1" SrcPort 1 DstBlock "Integrator1" DstPort 1 } Line { ZOrder 14 SrcBlock "Fcn" SrcPort 1 DstBlock "Integrator3" DstPort 1 } Line { ZOrder 15 SrcBlock "Integrator2" SrcPort 1 Points [10, 0; 0, -40] DstBlock "Mux" DstPort 3 } Line { ZOrder 16 SrcBlock "u" SrcPort 1 DstBlock "Mux" DstPort 5 } Annotation { SID "40" Name "q1" Position [362, 31, 362, 31] AutoSize on WordWrap off ZOrder -1 } Annotation { SID "41" Name "q1p" Position [362, 61, 362, 61] AutoSize on WordWrap off ZOrder -2 } Annotation { SID "42" Name "q2p" Position [360, 121, 360, 121] AutoSize on WordWrap off ZOrder -3 } Annotation { SID "43" Name "q2" Position [360, 86, 360, 86] AutoSize on WordWrap off ZOrder -4 } } } Block { BlockType Step Name "Step" SID "6" Position [35, 425, 65, 455] ZOrder -14 Time "0.1" After "5*pi/180" SampleTime "0" } Block { BlockType SubSystem Name "Subsystem1" SID "17" Ports [1, 1] Position [425, 265, 465, 325] ZOrder -15 BlockMirror on NamePlacement "alternate" MinAlgLoopOccurrences off PropExecContextOutsideSubsystem off RTWSystemCode "Auto" FunctionWithSeparateData off Opaque off RequestExecContextInheritance off MaskHideContents off System { Name "Subsystem1" Location [500, 157, 1084, 625] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" Block { BlockType Inport Name "x" SID "18" Position [65, 93, 95, 107] ZOrder -1 IconDisplay "Port number" } Block { BlockType Fcn Name "Fcn" SID "19" Position [285, 25, 345, 55] ZOrder -2 Expr "u[1]" } Block { BlockType Fcn Name "Fcn1" SID "20" Position [285, 135, 345, 165] ZOrder -3 Expr "-M*g*L/I*sin(u[1])-k/I*(u[1]-u[3])" } Block { BlockType Fcn Name "Fcn2" SID "21" Position [285, 85, 345, 115] ZOrder -4 Expr "u[2]" } Block { BlockType Fcn Name "Fcn3" SID "22" Position [285, 190, 345, 220] ZOrder -5 Expr "-M*g*L/I*u[2]*cos(u[1])-k/I*(u[2]-u[4])" } Block { BlockType Mux Name "Mux" SID "23" Ports [4, 1] Position [405, 46, 415, 139] ZOrder -6 ShowName off DisplayOption "bar" } Block { BlockType Outport Name "z" SID "24" Position [475, 83, 505, 97] ZOrder -7 IconDisplay "Port number" } Line { ZOrder 1 SrcBlock "Mux" SrcPort 1 Points [0, -5] DstBlock "z" DstPort 1 } Line { ZOrder 2 SrcBlock "x" SrcPort 1 Points [160, 0] Branch { ZOrder 3 Points [0, -60] DstBlock "Fcn" DstPort 1 } Branch { ZOrder 4 DstBlock "Fcn2" DstPort 1 } Branch { ZOrder 5 Points [0, 50] Branch { ZOrder 6 DstBlock "Fcn1" DstPort 1 } Branch { ZOrder 7 Points [0, 55] DstBlock "Fcn3" DstPort 1 } } } Line { ZOrder 8 SrcBlock "Fcn" SrcPort 1 Points [20, 0; 0, 15] DstBlock "Mux" DstPort 1 } Line { ZOrder 9 SrcBlock "Fcn2" SrcPort 1 Points [20, 0; 0, -20] DstBlock "Mux" DstPort 2 } Line { ZOrder 10 SrcBlock "Fcn1" SrcPort 1 Points [40, 0] DstBlock "Mux" DstPort 3 } Line { ZOrder 11 SrcBlock "Fcn3" SrcPort 1 Points [40, 0] DstBlock "Mux" DstPort 4 } } } Block { BlockType SubSystem Name "Subsystem2" SID "25" Ports [1, 1] Position [90, 355, 150, 395] ZOrder -16 BlockRotation 270 MinAlgLoopOccurrences off PropExecContextOutsideSubsystem off RTWSystemCode "Auto" FunctionWithSeparateData off Opaque off RequestExecContextInheritance off MaskHideContents off System { Name "Subsystem2" Location [390, 620, 1165, 1088] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" Block { BlockType Inport Name "u" SID "26" Position [90, 128, 120, 142] ZOrder -1 IconDisplay "Port number" } Block { BlockType Fcn Name "Fcn" SID "27" Position [290, 180, 350, 210] ZOrder -2 BlockMirror on NamePlacement "alternate" Expr "1/denpf(1)*(u[5]-denpf(2)*u[4]-denpf(3)*u[3]-denpf(4)*u[2]-u[1])" } Block { BlockType Integrator Name "Integrator" SID "28" Ports [1, 1] Position [210, 30, 240, 60] ZOrder -3 } Block { BlockType Integrator Name "Integrator1" SID "29" Ports [1, 1] Position [395, 25, 425, 55] ZOrder -4 } Block { BlockType Integrator Name "Integrator2" SID "30" Ports [1, 1] Position [290, 25, 320, 55] ZOrder -5 } Block { BlockType Integrator Name "Integrator3" SID "31" Ports [1, 1] Position [115, 30, 145, 60] ZOrder -6 } Block { BlockType Mux Name "Mux" SID "32" Ports [5, 1] Position [525, 48, 535, 142] ZOrder -7 ShowName off Inputs "5" DisplayOption "bar" } Block { BlockType Mux Name "Mux1" SID "33" Ports [5, 1] Position [595, 28, 605, 122] ZOrder -8 ShowName off Inputs "5" DisplayOption "bar" } Block { BlockType Outport Name "zdp" SID "34" Position [655, 63, 685, 77] ZOrder -9 IconDisplay "Port number" } Line { ZOrder 1 SrcBlock "Integrator1" SrcPort 1 Points [40, 0; 0, 15; 30, 0] Branch { ZOrder 2 DstBlock "Mux" DstPort 1 } Branch { ZOrder 3 Points [0, -20] DstBlock "Mux1" DstPort 1 } } Line { ZOrder 4 SrcBlock "Integrator2" SrcPort 1 Points [40, 0] Branch { ZOrder 5 DstBlock "Integrator1" DstPort 1 } Branch { ZOrder 6 Points [0, 35; 140, 0] Branch { ZOrder 7 DstBlock "Mux" DstPort 2 } Branch { ZOrder 8 Points [0, -20] DstBlock "Mux1" DstPort 2 } } } Line { ZOrder 9 SrcBlock "Integrator" SrcPort 1 Points [15, 0] Branch { ZOrder 10 Points [0, -5] DstBlock "Integrator2" DstPort 1 } Branch { ZOrder 11 Points [0, 50; 245, 0] Branch { ZOrder 12 DstBlock "Mux" DstPort 3 } Branch { ZOrder 13 Points [0, -20] DstBlock "Mux1" DstPort 3 } } } Line { ZOrder 14 SrcBlock "Integrator3" SrcPort 1 Points [35, 0] Branch { ZOrder 15 DstBlock "Integrator" DstPort 1 } Branch { ZOrder 16 Points [0, 70; 315, 0] Branch { ZOrder 17 DstBlock "Mux" DstPort 4 } Branch { ZOrder 18 Points [0, -20] DstBlock "Mux1" DstPort 4 } } } Line { ZOrder 19 SrcBlock "u" SrcPort 1 DstBlock "Mux" DstPort 5 } Line { ZOrder 20 SrcBlock "Fcn" SrcPort 1 Points [-45, 0] Branch { ZOrder 21 Points [-215, 0; 0, -150] DstBlock "Integrator3" DstPort 1 } Branch { ZOrder 22 Points [0, 35; 340, 0] DstBlock "Mux1" DstPort 5 } } Line { ZOrder 23 SrcBlock "Mux" SrcPort 1 Points [10, 0; 0, 100] DstBlock "Fcn" DstPort 1 } Line { ZOrder 24 SrcBlock "Mux1" SrcPort 1 Points [10, 0; 0, -5] DstBlock "zdp" DstPort 1 } } } Block { BlockType ToWorkspace Name "To Workspace" SID "35" Ports [1] Position [655, 95, 715, 125] ZOrder -17 VariableName "x" MaxDataPoints "inf" SampleTime "-1" } Block { BlockType ToWorkspace Name "To Workspace1" SID "36" Ports [1] Position [840, 25, 900, 55] ZOrder -18 VariableName "t" MaxDataPoints "inf" SampleTime "-1" } Block { BlockType ToWorkspace Name "To Workspace2" SID "37" Ports [1] Position [205, 320, 265, 350] ZOrder -19 VariableName "zd" MaxDataPoints "inf" SampleTime "-1" } Block { BlockType ToWorkspace Name "To Workspace3" SID "39" Ports [1] Position [325, 190, 385, 220] ZOrder -20 VariableName "z" MaxDataPoints "inf" SampleTime "-1" } Line { ZOrder 1 SrcBlock "Clock" SrcPort 1 DstBlock "To Workspace1" DstPort 1 } Line { ZOrder 2 SrcBlock "Sistema Fisico" SrcPort 1 Points [95, 0] Branch { ZOrder 3 Points [25, 0] Branch { ZOrder 4 DstBlock "To Workspace" DstPort 1 } Branch { ZOrder 5 Points [0, -90; -425, 0; 0, 65] DstBlock "Mux" DstPort 1 } } Branch { ZOrder 6 Points [0, 185] DstBlock "Subsystem1" DstPort 1 } } Line { ZOrder 7 SrcBlock "Mux" SrcPort 1 DstBlock "Fcn" DstPort 1 } Line { ZOrder 8 SrcBlock "Step" SrcPort 1 Points [50, 0] DstBlock "Subsystem2" DstPort 1 } Line { ZOrder 9 SrcBlock "Subsystem2" SrcPort 1 Points [0, -15] Branch { ZOrder 17 Points [0, -110] } Branch { ZOrder 11 DstBlock "To Workspace2" DstPort 1 } } Line { ZOrder 12 SrcBlock "Subsystem1" SrcPort 1 Points [-160, 0] Branch { ZOrder 13 Points [-95, 0] DstBlock "Gain" DstPort 1 } Branch { ZOrder 14 Points [0, -90] DstBlock "To Workspace3" DstPort 1 } } Line { ZOrder 15 SrcBlock "Gain" SrcPort 1 Points [0, -55] DstBlock "Mux" DstPort 2 } Line { ZOrder 16 SrcBlock "Fcn" SrcPort 1 DstBlock "Sistema Fisico" DstPort 1 } Annotation { SID "44" Name "z" Position [314, 280, 314, 280] AutoSize on WordWrap off ZOrder -1 } Annotation { SID "45" Name "x" Position [512, 281, 512, 281] AutoSize on WordWrap off ZOrder -2 } } }