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"Dialog" OutputWhenDisabled "held" InitialOutput "[]" MustResolveToSignalObject off OutputWhenUnConnected off OutputWhenUnconnectedValue "0" VectorParamsAs1DForOutWhenUnconnected off } Block { BlockType Product Inputs "2" Multiplication "Element-wise(.*)" CollapseMode "All dimensions" CollapseDim "1" InputSameDT on OutMin "[]" OutMax "[]" OutDataTypeStr "Inherit: Same as first input" LockScale off RndMeth "Zero" SaturateOnIntegerOverflow on SampleTime "-1" } Block { BlockType Saturate UpperLimitSource "Dialog" UpperLimit "0.5" LowerLimitSource "Dialog" LowerLimit "-0.5" LinearizeAsGain on ZeroCross on SampleTime "-1" OutMin "[]" OutMax "[]" OutDataTypeStr "Inherit: Same as input" LockScale off RndMeth "Floor" } Block { BlockType Scope DefaultConfigurationName "Simulink.scopes.TimeScopeBlockCfg" } 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 MinAlgLoopOccurrences off PropExecContextOutsideSubsystem off SystemSampleTime "-1" RTWSystemCode "Auto" RTWFcnNameOpts "Auto" RTWFileNameOpts "Auto" FunctionInterfaceSpec "void_void" FunctionWithSeparateData off 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" Opaque off MaskHideContents off SFBlockType "NONE" VariantControlMode "Expression" Variant off GeneratePreprocessorConditionals off AllowZeroVariantControls off PropagateVariantConditions off TreatAsGroupedWhenPropagatingVariantConditions on ContentPreviewEnabled off IsWebBlock off IsObserver off Latency "0" AutoFrameSizeCalculation off IsWebBlockPanel off } Block { BlockType Sum IconShape "rectangular" Inputs "++" CollapseMode "All dimensions" CollapseDim "1" InputSameDT on AccumDataTypeStr "Inherit: Inherit via internal rule" OutMin "[]" OutMax "[]" OutDataTypeStr "Inherit: Same as first input" LockScale off RndMeth "Floor" SaturateOnIntegerOverflow on SampleTime "-1" } Block { BlockType ToWorkspace VariableName "simulink_output" MaxDataPoints "1000" Decimation "1" SaveFormat "Array" Save2DSignal "Inherit from input (this choice will be removed - see release notes)" FixptAsFi off NumInputs "1" SampleTime "0" } Block { BlockType Trigonometry Operator "sin" ApproximationMethod "None" NumberOfIterations "11" OutputSignalType "auto" SampleTime "-1" } } System { Name "Grue_NL" Location [0, 27, 1366, 768] Open on PortBlocksUseCompactNotation off SetExecutionDomain off ExecutionDomainType "Deduce" ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "A4" PaperUnits "centimeters" TiledPaperMargins [1.270000, 1.270000, 1.270000, 1.270000] TiledPageScale 1 ShowPageBoundaries off ZoomFactor "102" ReportName "simulink-default.rpt" SIDHighWatermark "224" Block { BlockType Sum Name "Add" SID "197" Ports [2, 1] Position [395, 32, 425, 63] ZOrder 4 Inputs "+-" InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Sum Name "Add1" SID "198" Ports [2, 1] Position [515, -8, 545, 23] ZOrder 5 InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Sum Name "Add2" SID "199" Ports [2, 1] Position [515, 77, 545, 108] ZOrder 6 NamePlacement "alternate" Inputs "+-" InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Sum Name "Add3" SID "205" Ports [2, 1] Position [830, 222, 860, 253] ZOrder 12 BlockMirror on NamePlacement "alternate" Inputs "-+" InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Sum Name "Add4" SID "207" Ports [2, 1] Position [830, 262, 860, 293] ZOrder 14 BlockMirror on NamePlacement "alternate" Inputs "-+" InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Sum Name "Add5" SID "210" Ports [2, 1] Position [50, 62, 80, 93] ZOrder 294 Inputs "+-" InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Constant Name "Constant" SID "200" Position [475, -55, 505, -25] ZOrder 7 BlockRotation 270 BlockMirror on NamePlacement "alternate" Value "F" } Block { BlockType Constant Name "Constant1" SID "201" Position [475, 125, 505, 155] ZOrder 8 BlockRotation 270 Value "C0" } Block { BlockType Constant Name "Constant2" SID "206" Position [885, 190, 915, 220] ZOrder 13 BlockRotation 270 BlockMirror on NamePlacement "alternate" Value "D" } Block { BlockType Constant Name "Constant3" SID "208" Position [925, 190, 955, 220] ZOrder 15 BlockRotation 270 BlockMirror on NamePlacement "alternate" Value "R" } Block { BlockType Demux Name "Demux" SID "196" Ports [1, 2] Position [460, -21, 465, 121] ZOrder 3 ShowName off Outputs "2" DisplayOption "bar" } Block { BlockType Demux Name "Demux1" SID "202" Ports [1, 6] Position [965, 230, 985, 460] ZOrder 9 BlockMirror on NamePlacement "alternate" ShowName off Outputs "6" DisplayOption "bar" } Block { BlockType Gain Name "Gain" SID "195" Position [465, 327, 515, 363] ZOrder 2 BlockMirror on NamePlacement "alternate" Gain "K" Multiplication "Matrix(K*u) (u vector)" ParamDataTypeStr "Inherit: Inherit via internal rule" OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Gain Name "Gain1" SID "211" Position [200, -8, 235, 38] ZOrder 291 Gain "eta" ParamDataTypeStr "Inherit: Inherit via internal rule" OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Gain Name "Gain2" SID "212" Position [120, 62, 160, 98] ZOrder 293 Gain "-1/Ti" ParamDataTypeStr "Inherit: Inherit via internal rule" OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType SubSystem Name "Grue_NL" SID "19" Ports [2, 6] Position [590, -36, 720, 136] ZOrder -1 RequestExecContextInheritance off System { Name "Grue_NL" Location [0, 27, 1366, 768] Open off PortBlocksUseCompactNotation off SetExecutionDomain off ExecutionDomainType "Deduce" ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "A4" PaperUnits "centimeters" TiledPaperMargins [1.270000, 1.270000, 1.270000, 1.270000] TiledPageScale 1 ShowPageBoundaries off ZoomFactor "125" Block { BlockType Inport Name "F" SID "20" Position [25, 278, 55, 292] ZOrder -1 IconDisplay "Port number" } Block { BlockType Inport Name "C + C0" SID "21" Position [25, 173, 55, 187] ZOrder -2 Port "2" IconDisplay "Port number" } Block { BlockType Constant Name "Constant2" SID "192" Position [99, 95, 151, 120] ZOrder -3 BlockRotation 270 BlockMirror on NamePlacement "alternate" ShowName off Value "C0" } Block { BlockType SubSystem Name "Eq_Theta" SID "22" Ports [3, 3] Position [430, 55, 555, 115] ZOrder -4 RequestExecContextInheritance off System { Name "Eq_Theta" Location [413, 299, 1274, 925] Open off PortBlocksUseCompactNotation off SetExecutionDomain off ExecutionDomainType "Deduce" ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "A4" PaperUnits "centimeters" TiledPaperMargins [1.270000, 1.270000, 1.270000, 1.270000] TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" Block { BlockType Inport Name "d''" SID "23" Position [145, 58, 175, 72] ZOrder -1 IconDisplay "Port number" } Block { BlockType Inport Name "r" SID "24" Position [435, 103, 465, 117] ZOrder -2 Port "2" IconDisplay "Port number" } Block { BlockType Inport Name "r'" SID "25" Position [145, 158, 175, 172] ZOrder -3 Port "3" IconDisplay "Port number" } Block { BlockType Sum Name "Add" SID "26" Ports [3, 1] Position [435, 143, 475, 237] ZOrder -4 Inputs "---" InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Constant Name "Constant" SID "27" Position [65, 200, 95, 230] ZOrder -5 Value "2" } Block { BlockType Constant Name "Constant1" SID "28" Position [65, 290, 95, 320] ZOrder -6 Value "g" } Block { BlockType Product Name "Divide" SID "29" Ports [2, 1] Position [520, 167, 550, 198] ZOrder -7 Inputs "/*" InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" RndMeth "Floor" SaturateOnIntegerOverflow off } Block { BlockType Integrator Name "Integrator" SID "30" Ports [1, 1] Position [585, 170, 615, 200] ZOrder -8 } Block { BlockType Integrator Name "Integrator1" SID "31" Ports [1, 1] Position [655, 170, 685, 200] ZOrder -9 } Block { BlockType Product Name "Product1" SID "32" Ports [2, 1] Position [320, 57, 350, 88] ZOrder -10 InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Product Name "Product3" SID "33" Ports [3, 1] Position [255, 155, 285, 225] ZOrder -11 Inputs "3" InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Product Name "Product4" SID "34" Ports [2, 1] Position [330, 252, 360, 283] ZOrder -12 InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Trigonometry Name "Trigonometric\nFunction2" SID "35" Ports [1, 1] Position [255, 95, 285, 125] ZOrder -13 Operator "cos" } Block { BlockType Trigonometry Name "Trigonometric\nFunction3" SID "36" Ports [1, 1] Position [250, 245, 280, 275] ZOrder -14 } Block { BlockType Outport Name "Theta" SID "37" Position [755, 178, 785, 192] ZOrder -15 IconDisplay "Port number" } Block { BlockType Outport Name "Theta'" SID "38" Position [655, 123, 685, 137] ZOrder -16 Port "2" IconDisplay "Port number" } Block { BlockType Outport Name "Theta''" SID "39" Position [585, 123, 615, 137] ZOrder -17 Port "3" IconDisplay "Port number" } Line { ZOrder 1 SrcBlock "d''" SrcPort 1 DstBlock "Product1" DstPort 1 } Line { ZOrder 2 SrcBlock "Trigonometric\nFunction2" SrcPort 1 Points [5, 0; 0, -30] DstBlock "Product1" DstPort 2 } Line { ZOrder 3 SrcBlock "r'" SrcPort 1 DstBlock "Product3" DstPort 1 } Line { ZOrder 4 SrcBlock "Constant" SrcPort 1 DstBlock "Product3" DstPort 3 } Line { ZOrder 5 SrcBlock "Trigonometric\nFunction3" SrcPort 1 DstBlock "Product4" DstPort 1 } Line { ZOrder 6 SrcBlock "Constant1" SrcPort 1 Points [205, 0; 0, -30] DstBlock "Product4" DstPort 2 } Line { ZOrder 7 SrcBlock "Product1" SrcPort 1 Points [30, 0; 0, 85] DstBlock "Add" DstPort 1 } Line { ZOrder 8 SrcBlock "Product3" SrcPort 1 DstBlock "Add" DstPort 2 } Line { ZOrder 9 SrcBlock "Product4" SrcPort 1 Points [25, 0; 0, -50] DstBlock "Add" DstPort 3 } Line { ZOrder 10 SrcBlock "r" SrcPort 1 Points [15, 0; 0, 65] DstBlock "Divide" DstPort 1 } Line { ZOrder 11 SrcBlock "Add" SrcPort 1 DstBlock "Divide" DstPort 2 } Line { ZOrder 12 SrcBlock "Divide" SrcPort 1 Points [5, 0] Branch { ZOrder 13 DstBlock "Integrator" DstPort 1 } Branch { ZOrder 14 Points [0, -55] DstBlock "Theta''" DstPort 1 } } Line { ZOrder 15 SrcBlock "Integrator" SrcPort 1 Points [10, 0] Branch { ZOrder 16 DstBlock "Integrator1" DstPort 1 } Branch { ZOrder 17 Points [0, 180; -605, 0; 0, -175] DstBlock "Product3" DstPort 2 } Branch { ZOrder 18 Points [0, -55] DstBlock "Theta'" DstPort 1 } } Line { ZOrder 19 SrcBlock "Integrator1" SrcPort 1 Points [35, 0] Branch { ZOrder 20 DstBlock "Theta" DstPort 1 } Branch { ZOrder 21 Points [0, -155; -625, 0; 0, 80; 100, 0] Branch { ZOrder 22 DstBlock "Trigonometric\nFunction2" DstPort 1 } Branch { ZOrder 23 Points [0, 150] DstBlock "Trigonometric\nFunction3" DstPort 1 } } } } } Block { BlockType SubSystem Name "Eq_d" SID "40" Ports [3, 3] Position [435, 271, 550, 339] ZOrder -5 RequestExecContextInheritance off System { Name "Eq_d" Location [522, 45, 1170, 568] Open off PortBlocksUseCompactNotation off SetExecutionDomain off ExecutionDomainType "Deduce" ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "A4" PaperUnits "centimeters" TiledPaperMargins [1.270000, 1.270000, 1.270000, 1.270000] TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" Block { BlockType Inport Name "F" SID "41" Position [25, 153, 55, 167] ZOrder -1 IconDisplay "Port number" } Block { BlockType Inport Name "T" SID "42" Position [25, 98, 55, 112] ZOrder -2 Port "2" IconDisplay "Port number" } Block { BlockType Inport Name "Theta" SID "43" Position [25, 33, 55, 47] ZOrder -3 Port "3" IconDisplay "Port number" } Block { BlockType Constant Name "Constant" SID "44" Position [80, 185, 110, 215] ZOrder -4 Value "Cd" } Block { BlockType Constant Name "Constant1" SID "45" Position [260, 190, 290, 220] ZOrder -5 Value "Mc" } Block { BlockType Product Name "Divide" SID "46" Ports [2, 1] Position [325, 152, 355, 183] ZOrder -6 Inputs "*/" InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" RndMeth "Floor" SaturateOnIntegerOverflow off } Block { BlockType Integrator Name "Integrator" SID "47" Ports [1, 1] Position [385, 155, 415, 185] ZOrder -7 } Block { BlockType Integrator Name "Integrator1" SID "48" Ports [1, 1] Position [480, 155, 510, 185] ZOrder -8 } Block { BlockType Product Name "Product" SID "49" Ports [2, 1] Position [170, 82, 200, 113] ZOrder -9 InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Product Name "Product1" SID "50" Ports [2, 1] Position [180, 192, 210, 223] ZOrder -10 InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Sum Name "Sum" SID "51" Ports [3, 1] Position [220, 150, 240, 170] ZOrder -11 ShowName off IconShape "round" Inputs "++-" InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Trigonometry Name "Trigonometric\nFunction" SID "52" Ports [1, 1] Position [95, 25, 125, 55] ZOrder -12 } Block { BlockType Outport Name "d" SID "53" Position [545, 163, 575, 177] ZOrder -13 IconDisplay "Port number" } Block { BlockType Outport Name "d'" SID "54" Position [545, 123, 575, 137] ZOrder -14 Port "2" IconDisplay "Port number" } Block { BlockType Outport Name "d''" SID "55" Position [545, 83, 575, 97] ZOrder -15 Port "3" IconDisplay "Port number" } Line { ZOrder 1 SrcBlock "Product" SrcPort 1 Points [25, 0] DstBlock "Sum" DstPort 1 } Line { ZOrder 2 SrcBlock "Trigonometric\nFunction" SrcPort 1 Points [20, 0; 0, 50] DstBlock "Product" DstPort 1 } Line { ZOrder 3 SrcBlock "Product1" SrcPort 1 Points [15, 0] DstBlock "Sum" DstPort 3 } Line { ZOrder 4 SrcBlock "Constant" SrcPort 1 DstBlock "Product1" DstPort 1 } Line { ZOrder 5 SrcBlock "Sum" SrcPort 1 DstBlock "Divide" DstPort 1 } Line { ZOrder 6 SrcBlock "Constant1" SrcPort 1 Points [5, 0; 0, -30] DstBlock "Divide" DstPort 2 } Line { ZOrder 7 SrcBlock "Divide" SrcPort 1 Points [5, 0] Branch { ZOrder 8 DstBlock "Integrator" DstPort 1 } Branch { ZOrder 9 Points [0, -80] DstBlock "d''" DstPort 1 } } Line { ZOrder 10 SrcBlock "Integrator" SrcPort 1 Points [10, 0] Branch { ZOrder 11 Points [15, 0] Branch { ZOrder 12 DstBlock "Integrator1" DstPort 1 } Branch { ZOrder 13 Points [0, 90; -280, 0] DstBlock "Product1" DstPort 2 } } Branch { ZOrder 14 Points [0, -40] DstBlock "d'" DstPort 1 } } Line { ZOrder 15 SrcBlock "F" SrcPort 1 DstBlock "Sum" DstPort 2 } Line { ZOrder 16 SrcBlock "T" SrcPort 1 DstBlock "Product" DstPort 2 } Line { ZOrder 17 SrcBlock "Theta" SrcPort 1 DstBlock "Trigonometric\nFunction" DstPort 1 } Line { ZOrder 18 SrcBlock "Integrator1" SrcPort 1 DstBlock "d" DstPort 1 } } } Block { BlockType SubSystem Name "Eq_r" SID "56" Ports [4, 3] Position [430, 176, 555, 229] ZOrder -6 RequestExecContextInheritance off System { Name "Eq_r" Location [181, 85, 1389, 1024] Open off PortBlocksUseCompactNotation off SetExecutionDomain off ExecutionDomainType "Deduce" ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "A4" PaperUnits "centimeters" TiledPaperMargins [1.270000, 1.270000, 1.270000, 1.270000] TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" Block { BlockType Inport Name "C" SID "57" Position [120, 123, 150, 137] ZOrder -1 IconDisplay "Port number" } Block { BlockType Inport Name "d''" SID "58" Position [25, 323, 55, 337] ZOrder -2 Port "2" IconDisplay "Port number" } Block { BlockType Inport Name "Theta" SID "59" Position [25, 263, 55, 277] ZOrder -3 Port "3" IconDisplay "Port number" } Block { BlockType Inport Name "Theta'" SID "60" Position [25, 378, 55, 392] ZOrder -4 Port "4" IconDisplay "Port number" } Block { BlockType Sum Name "Add" SID "61" Ports [5, 1] Position [385, 127, 490, 333] ZOrder -5 Inputs "---++" InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Constant Name "Constant" SID "62" Position [70, 140, 100, 170] ZOrder -6 Value "b" } Block { BlockType Constant Name "Constant1" SID "63" Position [100, 60, 130, 90] ZOrder -7 Value "J" } Block { BlockType Constant Name "Constant2" SID "64" Position [180, 25, 210, 55] ZOrder -8 Value "m" } Block { BlockType Constant Name "Constant3" SID "65" Position [45, 210, 75, 240] ZOrder -9 Value "Cr" } Block { BlockType Constant Name "Constant4" SID "66" Position [185, 460, 215, 490] ZOrder -10 Value "g" } Block { BlockType Product Name "Divide" SID "67" Ports [2, 1] Position [280, 132, 310, 163] ZOrder -11 Inputs "*/" InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" RndMeth "Floor" SaturateOnIntegerOverflow off } Block { BlockType Product Name "Divide1" SID "68" Ports [2, 1] Position [175, 162, 205, 193] ZOrder -12 Inputs "**" InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" RndMeth "Floor" SaturateOnIntegerOverflow off } Block { BlockType Product Name "Divide2" SID "69" Ports [2, 1] Position [265, 67, 295, 98] ZOrder -13 Inputs "*/" InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" RndMeth "Floor" SaturateOnIntegerOverflow off } Block { BlockType Product Name "Divide3" SID "70" Ports [2, 1] Position [520, 177, 550, 208] ZOrder -14 Inputs "/*" InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" RndMeth "Floor" SaturateOnIntegerOverflow off } Block { BlockType Product Name "Divide4" SID "71" Ports [2, 1] Position [280, 187, 310, 218] ZOrder -15 Inputs "/*" InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" RndMeth "Floor" SaturateOnIntegerOverflow off } Block { BlockType Product Name "Divide5" SID "72" Ports [2, 1] Position [185, 217, 215, 248] ZOrder -16 Inputs "**" InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" RndMeth "Floor" SaturateOnIntegerOverflow off } Block { BlockType Product Name "Divide6" SID "73" Ports [3, 1] Position [280, 254, 310, 286] ZOrder -17 Inputs "***" InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" RndMeth "Floor" SaturateOnIntegerOverflow off } Block { BlockType Product Name "Divide7" SID "74" Ports [2, 1] Position [120, 362, 150, 393] ZOrder -18 Inputs "**" InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" RndMeth "Floor" SaturateOnIntegerOverflow off } Block { BlockType Product Name "Divide8" SID "75" Ports [3, 1] Position [280, 364, 310, 396] ZOrder -19 Inputs "***" InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" RndMeth "Floor" SaturateOnIntegerOverflow off } Block { BlockType Product Name "Divide9" SID "76" Ports [3, 1] Position [280, 424, 310, 456] ZOrder -20 Inputs "***" InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" RndMeth "Floor" SaturateOnIntegerOverflow off } Block { BlockType Integrator Name "Integrator" SID "77" Ports [1, 1] Position [685, 180, 715, 210] ZOrder -21 InitialCondition "R" } Block { BlockType Integrator Name "Integrator1" SID "78" Ports [1, 1] Position [600, 180, 630, 210] ZOrder -22 } Block { BlockType Sum Name "Sum" SID "79" Ports [2, 1] Position [290, 30, 310, 50] ZOrder -23 ShowName off IconShape "round" Inputs "|++" InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Trigonometry Name "Trigonometric\nFunction2" SID "80" Ports [1, 1] Position [95, 255, 125, 285] ZOrder -24 } Block { BlockType Trigonometry Name "Trigonometric\nFunction3" SID "81" Ports [1, 1] Position [120, 425, 150, 455] ZOrder -25 Operator "cos" } Block { BlockType Outport Name "r" SID "82" Position [765, 188, 795, 202] ZOrder -26 IconDisplay "Port number" } Block { BlockType Outport Name "r'" SID "83" Position [675, 138, 705, 152] ZOrder -27 Port "2" IconDisplay "Port number" } Block { BlockType Outport Name "r''" SID "84" Position [605, 138, 635, 152] ZOrder -28 Port "3" IconDisplay "Port number" } Line { ZOrder 1 SrcBlock "C" SrcPort 1 Points [110, 0] DstBlock "Divide" DstPort 1 } Line { ZOrder 2 SrcBlock "Constant" SrcPort 1 Points [25, 0] Branch { ZOrder 3 DstBlock "Divide" DstPort 2 } Branch { ZOrder 4 Points [0, 15] Branch { ZOrder 5 DstBlock "Divide1" DstPort 1 } Branch { ZOrder 6 Points [0, 15] DstBlock "Divide1" DstPort 2 } } } Line { ZOrder 7 SrcBlock "Divide" SrcPort 1 DstBlock "Add" DstPort 1 } Line { ZOrder 8 SrcBlock "Constant2" SrcPort 1 Points [30, 0] Branch { ZOrder 9 DstBlock "Sum" DstPort 1 } Branch { ZOrder 10 Points [0, 220] Branch { ZOrder 11 DstBlock "Divide6" DstPort 1 } Branch { ZOrder 12 Points [0, 105] Branch { ZOrder 13 Points [0, 5] DstBlock "Divide8" DstPort 1 } Branch { ZOrder 14 Points [0, 65] DstBlock "Divide9" DstPort 1 } } } } Line { ZOrder 15 SrcBlock "Divide2" SrcPort 1 DstBlock "Sum" DstPort 2 } Line { ZOrder 16 SrcBlock "Constant1" SrcPort 1 DstBlock "Divide2" DstPort 1 } Line { ZOrder 17 SrcBlock "Divide1" SrcPort 1 Points [15, 0; 0, -5] Branch { ZOrder 18 Points [0, -85] DstBlock "Divide2" DstPort 2 } Branch { ZOrder 19 Points [0, 20] DstBlock "Divide4" DstPort 1 } } Line { ZOrder 20 SrcBlock "Sum" SrcPort 1 Points [190, 0] DstBlock "Divide3" DstPort 1 } Line { ZOrder 21 SrcBlock "Add" SrcPort 1 Points [0, -30] DstBlock "Divide3" DstPort 2 } Line { ZOrder 22 SrcBlock "Divide3" SrcPort 1 Points [10, 0] Branch { ZOrder 23 DstBlock "Integrator1" DstPort 1 } Branch { ZOrder 24 Points [0, -50] DstBlock "r''" DstPort 1 } } Line { ZOrder 25 SrcBlock "Integrator1" SrcPort 1 Points [15, 0] Branch { ZOrder 26 DstBlock "Integrator" DstPort 1 } Branch { ZOrder 27 Points [0, 165; -480, 0] DstBlock "Divide5" DstPort 2 } Branch { ZOrder 28 Points [0, -50] DstBlock "r'" DstPort 1 } } Line { ZOrder 29 SrcBlock "Constant3" SrcPort 1 DstBlock "Divide5" DstPort 1 } Line { ZOrder 30 SrcBlock "Divide5" SrcPort 1 Points [5, 0; 0, -25] DstBlock "Divide4" DstPort 2 } Line { ZOrder 31 SrcBlock "Divide4" SrcPort 1 Points [10, 0; 0, -15] DstBlock "Add" DstPort 2 } Line { ZOrder 32 SrcBlock "Theta" SrcPort 1 Points [5, 0] Branch { ZOrder 33 DstBlock "Trigonometric\nFunction2" DstPort 1 } Branch { ZOrder 34 Points [0, 170] DstBlock "Trigonometric\nFunction3" DstPort 1 } } Line { ZOrder 35 SrcBlock "d''" SrcPort 1 Points [90, 0; 0, -50] DstBlock "Divide6" DstPort 3 } Line { ZOrder 36 SrcBlock "Trigonometric\nFunction2" SrcPort 1 DstBlock "Divide6" DstPort 2 } Line { ZOrder 37 SrcBlock "Divide6" SrcPort 1 Points [10, 0; 0, -40] DstBlock "Add" DstPort 3 } Line { ZOrder 38 SrcBlock "Theta'" SrcPort 1 Points [15, 0] Branch { ZOrder 39 DstBlock "Divide7" DstPort 2 } Branch { ZOrder 40 Points [0, -15] DstBlock "Divide7" DstPort 1 } } Line { ZOrder 41 SrcBlock "Divide7" SrcPort 1 DstBlock "Divide8" DstPort 2 } Line { ZOrder 42 SrcBlock "Integrator" SrcPort 1 Points [10, 0] Branch { ZOrder 43 Points [0, 220; -465, 0] DstBlock "Divide8" DstPort 3 } Branch { ZOrder 44 DstBlock "r" DstPort 1 } } Line { ZOrder 45 SrcBlock "Divide8" SrcPort 1 Points [20, 0; 0, -110] DstBlock "Add" DstPort 4 } Line { ZOrder 46 SrcBlock "Trigonometric\nFunction3" SrcPort 1 DstBlock "Divide9" DstPort 2 } Line { ZOrder 47 SrcBlock "Constant4" SrcPort 1 Points [20, 0; 0, -25] DstBlock "Divide9" DstPort 3 } Line { ZOrder 48 SrcBlock "Divide9" SrcPort 1 Points [45, 0; 0, -130] DstBlock "Add" DstPort 5 } } } Block { BlockType Saturate Name "Saturation" SID "190" Ports [1, 1] Position [180, 270, 210, 300] ZOrder -7 InputPortMap "u0" UpperLimit "1e4" LowerLimit "-1e4" } Block { BlockType Saturate Name "Saturation1" SID "191" Ports [1, 1] Position [225, 165, 255, 195] ZOrder -8 InputPortMap "u0" UpperLimit "3e3" LowerLimit "-3e3" } Block { BlockType Sum Name "Sum2" SID "193" Ports [2, 1] Position [115, 170, 135, 190] ZOrder -9 ShowName off IconShape "round" Inputs "+-|" InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType SubSystem Name "T" SID "85" Ports [3, 1] Position [685, 146, 795, 284] ZOrder -10 RequestExecContextInheritance off System { Name "T" Location [388, 51, 1125, 943] Open off PortBlocksUseCompactNotation off SetExecutionDomain off ExecutionDomainType "Deduce" ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "A4" PaperUnits "centimeters" TiledPaperMargins [1.270000, 1.270000, 1.270000, 1.270000] TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" Block { BlockType Inport Name "r'" SID "86" Position [95, 178, 125, 192] ZOrder -1 IconDisplay "Port number" } Block { BlockType Inport Name "r''" SID "87" Position [95, 378, 125, 392] ZOrder -2 Port "2" IconDisplay "Port number" } Block { BlockType Inport Name "C" SID "88" Position [95, 318, 125, 332] ZOrder -3 Port "3" IconDisplay "Port number" } Block { BlockType Product Name "Divide" SID "89" Ports [3, 1] Position [155, 380, 185, 450] ZOrder -4 Inputs "**/" InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" RndMeth "Floor" SaturateOnIntegerOverflow off } Block { BlockType Product Name "Divide1" SID "90" Ports [3, 1] Position [155, 171, 195, 239] ZOrder -5 Inputs "**/" InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" RndMeth "Floor" SaturateOnIntegerOverflow off } Block { BlockType Product Name "Divide2" SID "91" Ports [2, 1] Position [310, 197, 340, 228] ZOrder -6 Inputs "*/" InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" RndMeth "Floor" SaturateOnIntegerOverflow off } Block { BlockType Sum Name "Sum2" SID "92" Ports [2, 1] Position [225, 315, 245, 335] ZOrder -7 ShowName off IconShape "round" Inputs "|++" InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Sum Name "Sum3" SID "93" Ports [2, 1] Position [240, 195, 260, 215] ZOrder -8 ShowName off IconShape "round" Inputs "|++" InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Constant Name "g" SID "94" Position [95, 435, 125, 465] ZOrder -9 ShowName off Value "b" } Block { BlockType Constant Name "g1" SID "95" Position [60, 195, 90, 225] ZOrder -10 ShowName off Value "Cr" } Block { BlockType Constant Name "g2" SID "96" Position [95, 255, 125, 285] ZOrder -11 ShowName off Value "b" } Block { BlockType Constant Name "g3" SID "97" Position [255, 260, 285, 290] ZOrder -12 ShowName off Value "b" } Block { BlockType Constant Name "g4" SID "98" Position [50, 400, 80, 430] ZOrder -13 ShowName off Value "J" } Block { BlockType Outport Name "T" SID "99" Position [385, 208, 415, 222] ZOrder -14 IconDisplay "Port number" } Line { ZOrder 1 SrcBlock "r''" SrcPort 1 Points [10, 0] DstBlock "Divide" DstPort 1 } Line { ZOrder 2 SrcBlock "C" SrcPort 1 DstBlock "Sum2" DstPort 1 } Line { ZOrder 3 SrcBlock "Divide" SrcPort 1 Points [45, 0] DstBlock "Sum2" DstPort 2 } Line { ZOrder 4 SrcBlock "r'" SrcPort 1 DstBlock "Divide1" DstPort 1 } Line { ZOrder 5 SrcBlock "g1" SrcPort 1 Points [30, 0; 0, -5] DstBlock "Divide1" DstPort 2 } Line { ZOrder 6 SrcBlock "g2" SrcPort 1 Points [5, 0; 0, -45] DstBlock "Divide1" DstPort 3 } Line { ZOrder 7 SrcBlock "Divide1" SrcPort 1 DstBlock "Sum3" DstPort 1 } Line { ZOrder 8 SrcBlock "Sum2" SrcPort 1 DstBlock "Sum3" DstPort 2 } Line { ZOrder 9 SrcBlock "Sum3" SrcPort 1 DstBlock "Divide2" DstPort 1 } Line { ZOrder 10 SrcBlock "g3" SrcPort 1 Points [5, 0] DstBlock "Divide2" DstPort 2 } Line { ZOrder 11 SrcBlock "Divide2" SrcPort 1 DstBlock "T" DstPort 1 } Line { ZOrder 12 SrcBlock "g" SrcPort 1 Points [5, 0; 0, -10] DstBlock "Divide" DstPort 3 } Line { ZOrder 13 SrcBlock "g4" SrcPort 1 DstBlock "Divide" DstPort 2 } } } Block { BlockType Outport Name "d" SID "100" Position [860, 353, 890, 367] ZOrder -11 IconDisplay "Port number" } Block { BlockType Outport Name "r" SID "101" Position [855, 113, 885, 127] ZOrder -12 Port "2" IconDisplay "Port number" } Block { BlockType Outport Name "Theta" SID "102" Position [855, 48, 885, 62] ZOrder -13 Port "3" IconDisplay "Port number" } Block { BlockType Outport Name "d'" SID "103" Position [860, 408, 890, 422] ZOrder -14 Port "4" IconDisplay "Port number" } Block { BlockType Outport Name "r'" SID "104" Position [855, 298, 885, 312] ZOrder -15 Port "5" IconDisplay "Port number" } Block { BlockType Outport Name "Theta'" SID "105" Position [855, 78, 885, 92] ZOrder -16 Port "6" IconDisplay "Port number" } Line { ZOrder 1 SrcBlock "Eq_r" SrcPort 2 Points [5, 0] Branch { ZOrder 2 Points [45, 0; 0, -25] Branch { ZOrder 3 Points [0, -45; -195, 0] DstBlock "Eq_Theta" DstPort 3 } Branch { ZOrder 4 Points [60, 0] DstBlock "T" DstPort 1 } } Branch { ZOrder 5 Points [0, 100] DstBlock "r'" DstPort 1 } } Line { ZOrder 6 SrcBlock "Eq_r" SrcPort 1 Points [0, -30] Branch { ZOrder 7 Points [0, -15; -155, 0; 0, -60] DstBlock "Eq_Theta" DstPort 2 } Branch { ZOrder 8 Points [90, 0; 0, -40] DstBlock "r" DstPort 1 } } Line { ZOrder 9 SrcBlock "Eq_d" SrcPort 3 Points [40, 0; 0, 35; -200, 0; 0, -165] Branch { ZOrder 32 Points [0, -130] DstBlock "Eq_Theta" DstPort 1 } Branch { ZOrder 11 DstBlock "Eq_r" DstPort 2 } } Line { ZOrder 12 SrcBlock "Eq_d" SrcPort 2 Points [5, 0; 0, 110] DstBlock "d'" DstPort 1 } Line { ZOrder 13 SrcBlock "Eq_Theta" SrcPort 1 Points [0, -10] Branch { ZOrder 14 Points [0, -10; -220, 0; 0, 155] Branch { ZOrder 15 Points [-25, 0; 0, 125] DstBlock "Eq_d" DstPort 3 } Branch { ZOrder 16 Points [0, 10] DstBlock "Eq_r" DstPort 3 } } Branch { ZOrder 17 DstBlock "Theta" DstPort 1 } } Line { ZOrder 18 SrcBlock "Eq_Theta" SrcPort 2 Points [30, 0] Branch { ZOrder 19 Points [0, -55; -290, 0; 0, 195] DstBlock "Eq_r" DstPort 4 } Branch { ZOrder 20 DstBlock "Theta'" DstPort 1 } } Line { ZOrder 21 SrcBlock "Eq_r" SrcPort 3 Points [110, 0] DstBlock "T" DstPort 2 } Line { ZOrder 22 SrcBlock "F" SrcPort 1 DstBlock "Saturation" DstPort 1 } Line { ZOrder 23 SrcBlock "T" SrcPort 1 Points [25, 0; 0, 240; -405, 0] DstBlock "Eq_d" DstPort 2 } Line { ZOrder 24 SrcBlock "Eq_d" SrcPort 1 Points [110, 0; 0, 75] DstBlock "d" DstPort 1 } Line { ZOrder 25 SrcBlock "Saturation" SrcPort 1 DstBlock "Eq_d" DstPort 1 } Line { ZOrder 26 SrcBlock "Saturation1" SrcPort 1 Points [20, 0] Branch { ZOrder 27 DstBlock "Eq_r" DstPort 1 } Branch { ZOrder 28 Points [0, 80] DstBlock "T" DstPort 3 } } Line { ZOrder 29 SrcBlock "Constant2" SrcPort 1 DstBlock "Sum2" DstPort 1 } Line { ZOrder 30 SrcBlock "Sum2" SrcPort 1 DstBlock "Saturation1" DstPort 1 } Line { ZOrder 31 SrcBlock "C + C0" SrcPort 1 DstBlock "Sum2" DstPort 2 } } } Block { BlockType Integrator Name "Integrator" SID "213" Ports [1, 1] Position [205, 45, 235, 75] ZOrder 292 } Block { BlockType ManualSwitch Name "Manual Switch" SID "214" Position [-40, 52, -10, 88] ZOrder 298 } Block { BlockType ManualSwitch Name "Manual Switch1" SID "215" Position [-25, -38, 5, -2] ZOrder 299 CurrentSetting "0" } Block { BlockType Mux Name "Mux" SID "194" Ports [6, 1] Position [795, -37, 800, 137] ZOrder 1 ShowName off Inputs "6" DisplayOption "bar" } Block { BlockType Mux Name "Mux1" SID "204" Ports [6, 1] Position [740, 218, 755, 472] ZOrder 11 BlockMirror on NamePlacement "alternate" ShowName off Inputs "6" DisplayOption "bar" } Block { BlockType Mux Name "Mux2" SID "222" Ports [2, 1] Position [320, -9, 325, 84] ZOrder 301 ShowName off Inputs "2" DisplayOption "bar" } Block { BlockType Scope Name "Scope" SID "223" Ports [1] Position [1040, -11, 1070, 21] ZOrder 302 ScopeSpecificationString "Simulink.scopes.TimeScopeBlockCfg('CurrentConfiguration', extmgr.ConfigurationSet(extm" "gr.Configuration('Core','General UI',true),extmgr.Configuration('Core','Source UI',true),extmgr.Configuration('S" "ources','WiredSimulink',true),extmgr.Configuration('Visuals','Time Domain',true,'SerializedDisplays',{struct('Mi" "nYLimReal','-25.32552','MaxYLimReal','20.14308','YLabelReal','','MinYLimMag','0.00000','MaxYLimMag','25.32552','" "LegendVisibility','off','XGrid',true,'YGrid',true,'PlotMagPhase',false,'AxesColor',[0 0 0],'AxesTickColor',[0.68" "6274509803922 0.686274509803922 0.686274509803922],'ColorOrder',[1 1 0.0666666666666667;0.0745098039215686 0.623" "529411764706 1;1 0.411764705882353 0.16078431372549;0.392156862745098 0.831372549019608 0.0745098039215686;0.717" "647058823529 0.274509803921569 1;0.0588235294117647 1 1;1 0.0745098039215686 0.650980392156863],'Title','%','LinePropertiesCache',{{}},'UserDefinedChannelNames',{{}},'NumLines',6,'LineNames',{{'Grue_NL/1','Grue_" "NL/2','Grue_NL/3','Grue_NL/4','Grue_NL/5','Grue_NL/6'}},'ShowContent',true,'Placement',1)},'DisplayPropertyDefau" "lts',struct('MinYLimReal','-25.32552','MaxYLimReal','20.14308','YLabelReal','','MinYLimMag','0.00000','MaxYLimMa" "g','25.32552','LegendVisibility','off','XGrid',true,'YGrid',true,'PlotMagPhase',false,'AxesColor',[0 0 0],'AxesT" "ickColor',[0.686274509803922 0.686274509803922 0.686274509803922],'ColorOrder',[0.0745098039215686 0.62352941176" "4706 1;1 0.411764705882353 0.16078431372549;1 1 0.0666666666666667;0.717647058823529 0.274509803921569 1;0.39215" "6862745098 0.831372549019608 0.0745098039215686;0.0588235294117647 1 1;1 0.0745098039215686 0.650980392156863]))" ",extmgr.Configuration('Tools','Plot Navigation',true),extmgr.Configuration('Tools','Measurements',true,'Version'" ",'2018b')),'Version','2018b','VisibleAtModelOpen','on')" NumInputPorts "1" Floating off } Block { BlockType Step Name "Step" SID "216" Position [-135, 75, -105, 105] ZOrder 297 SampleTime "0" } Block { BlockType Step Name "Step1" SID "217" Position [-135, -10, -105, 20] ZOrder 300 After "20" SampleTime "0" } Block { BlockType ToWorkspace Name "To Workspace" SID "224" Ports [1] Position [875, -15, 935, 15] ZOrder 303 VariableName "simout" MaxDataPoints "inf" SaveFormat "Timeseries" Save2DSignal "3-D array (concatenate along third dimension)" FixptAsFi on SampleTime "-1" } Block { BlockType Constant Name "Zero" SID "218" Position [-135, 35, -105, 65] ZOrder 295 Value "0" OutDataTypeStr "Inherit: Inherit via back propagation" } Block { BlockType Constant Name "Zero1" SID "219" Position [-135, -55, -105, -25] ZOrder 296 Value "0" OutDataTypeStr "Inherit: Inherit via back propagation" } Line { ZOrder 2 SrcBlock "Grue_NL" SrcPort 1 DstBlock "Mux" DstPort 1 } Line { ZOrder 3 SrcBlock "Grue_NL" SrcPort 2 DstBlock "Mux" DstPort 2 } Line { ZOrder 4 SrcBlock "Grue_NL" SrcPort 3 DstBlock "Mux" DstPort 3 } Line { ZOrder 5 SrcBlock "Grue_NL" SrcPort 4 DstBlock "Mux" DstPort 4 } Line { ZOrder 6 SrcBlock "Grue_NL" SrcPort 5 DstBlock "Mux" DstPort 5 } Line { ZOrder 7 SrcBlock "Grue_NL" SrcPort 6 DstBlock "Mux" DstPort 6 } Line { ZOrder 11 SrcBlock "Add" SrcPort 1 DstBlock "Demux" DstPort 1 } Line { ZOrder 12 SrcBlock "Gain" SrcPort 1 Points [-80, 0] DstBlock "Add" DstPort 2 } Line { ZOrder 13 SrcBlock "Add1" SrcPort 1 DstBlock "Grue_NL" DstPort 1 } Line { ZOrder 14 SrcBlock "Demux" SrcPort 1 DstBlock "Add1" DstPort 2 } Line { ZOrder 15 SrcBlock "Add2" SrcPort 1 DstBlock "Grue_NL" DstPort 2 } Line { ZOrder 17 SrcBlock "Constant" SrcPort 1 Points [0, 20] DstBlock "Add1" DstPort 1 } Line { ZOrder 19 SrcBlock "Constant1" SrcPort 1 Points [0, -20] DstBlock "Add2" DstPort 2 } Line { ZOrder 20 SrcBlock "Demux" SrcPort 2 DstBlock "Add2" DstPort 1 } Line { ZOrder 26 SrcBlock "Mux1" SrcPort 1 DstBlock "Gain" DstPort 1 } Line { ZOrder 27 SrcBlock "Demux1" SrcPort 1 DstBlock "Add3" DstPort 2 } Line { ZOrder 28 SrcBlock "Constant2" SrcPort 1 Points [0, 5] DstBlock "Add3" DstPort 1 } Line { ZOrder 30 SrcBlock "Add3" SrcPort 1 Points [-35, 0; 0, 5] DstBlock "Mux1" DstPort 1 } Line { ZOrder 31 SrcBlock "Demux1" SrcPort 2 DstBlock "Add4" DstPort 2 } Line { ZOrder 32 SrcBlock "Add4" SrcPort 1 Points [-33, 0; 0, 5] DstBlock "Mux1" DstPort 2 } Line { ZOrder 33 SrcBlock "Constant3" SrcPort 1 Points [0, 45] DstBlock "Add4" DstPort 1 } Line { ZOrder 34 SrcBlock "Demux1" SrcPort 3 DstBlock "Mux1" DstPort 3 } Line { ZOrder 35 SrcBlock "Demux1" SrcPort 4 DstBlock "Mux1" DstPort 4 } Line { ZOrder 36 SrcBlock "Demux1" SrcPort 5 Points [-120, 0] Branch { ZOrder 50 Points [0, 81; -835, 0; 0, -401] DstBlock "Add5" DstPort 2 } Branch { ZOrder 49 DstBlock "Mux1" DstPort 5 } } Line { ZOrder 37 SrcBlock "Demux1" SrcPort 6 DstBlock "Mux1" DstPort 6 } Line { ZOrder 52 SrcBlock "Integrator" SrcPort 1 DstBlock "Mux2" DstPort 2 } Line { ZOrder 39 SrcBlock "Gain2" SrcPort 1 Points [16, 0; 0, -20] DstBlock "Integrator" DstPort 1 } Line { ZOrder 40 SrcBlock "Step" SrcPort 1 Points [9, 0; 0, -10] DstBlock "Manual Switch" DstPort 2 } Line { ZOrder 41 SrcBlock "Zero1" SrcPort 1 Points [35, 0; 0, 10] DstBlock "Manual Switch1" DstPort 1 } Line { ZOrder 42 SrcBlock "Step1" SrcPort 1 Points [35, 0; 0, -15] DstBlock "Manual Switch1" DstPort 2 } Line { ZOrder 44 SrcBlock "Manual Switch1" SrcPort 1 Points [88, 0; 0, 35] DstBlock "Gain1" DstPort 1 } Line { ZOrder 45 SrcBlock "Zero" SrcPort 1 Points [27, 0; 0, 10] DstBlock "Manual Switch" DstPort 1 } Line { ZOrder 46 SrcBlock "Manual Switch" SrcPort 1 DstBlock "Add5" DstPort 1 } Line { ZOrder 47 SrcBlock "Add5" SrcPort 1 DstBlock "Gain2" DstPort 1 } Line { ZOrder 51 SrcBlock "Gain1" SrcPort 1 DstBlock "Mux2" DstPort 1 } Line { ZOrder 53 SrcBlock "Mux2" SrcPort 1 DstBlock "Add" DstPort 1 } Line { ZOrder 8 SrcBlock "Mux" SrcPort 1 Points [60, 0] Branch { ZOrder 61 Points [0, -50] DstBlock "To Workspace" DstPort 1 } Branch { ZOrder 60 Points [97, 0] Branch { ZOrder 55 Points [0, -45] DstBlock "Scope" DstPort 1 } Branch { ZOrder 54 Points [38, 0] DstBlock "Demux1" DstPort 1 } } } Annotation { SID "220" Name "Delta d_c" Position [-32, -62, 12, -47] InternalMargins [0, 0, 0, 0] HorizontalAlignment "left" VerticalAlignment "top" ZOrder -1 } Annotation { SID "221" Name "c" Position [-31, 35, -19, 50] InternalMargins [0, 0, 0, 0] FixedHeight on FixedWidth on HorizontalAlignment "left" VerticalAlignment "top" ZOrder -2 } } }