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"Dialog" OutputWhenDisabled "held" InitialOutput "[]" MustResolveToSignalObject off OutputWhenUnConnected off OutputWhenUnconnectedValue "0" VectorParamsAs1DForOutWhenUnconnected off } Block { BlockType Scope DefaultConfigurationName "Simulink.scopes.TimeScopeBlockCfg" } Block { BlockType StateSpace A "1" B "1" C "1" D "1" InitialCondition "0.0" AbsoluteTolerance "auto" ContinuousStateAttributes "''" Realization "auto" } 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" } } System { Name "Grue_L" 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 "122" ReportName "simulink-default.rpt" SIDHighWatermark "326" Block { BlockType Sum Name "Add" SID "298" Ports [2, 1] Position [230, 77, 260, 108] ZOrder 180 Inputs "+-" InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Sum Name "Add1" SID "310" Ports [2, 1] Position [-110, 117, -80, 148] ZOrder 192 Inputs "+-" InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Demux Name "Demux" SID "311" Ports [1, 6] Position [535, 278, 540, 412] ZOrder 193 BlockMirror on NamePlacement "alternate" ShowName off Outputs "6" DisplayOption "bar" } Block { BlockType Demux Name "Demux1" SID "295" Ports [1, 2] Position [345, 16, 350, 169] ZOrder 6 ShowName off Outputs "2" DisplayOption "bar" } Block { BlockType Gain Name "Gain" SID "299" Position [395, 242, 460, 288] ZOrder 181 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 "301" Position [50, 12, 85, 58] ZOrder 183 Gain "eta" ParamDataTypeStr "Inherit: Inherit via internal rule" OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Gain Name "Gain2" SID "309" Position [-40, 117, 0, 153] ZOrder 191 Gain "-1/Ti" ParamDataTypeStr "Inherit: Inherit via internal rule" OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType SubSystem Name "Grue_L" SID "278" Ports [2, 1] Position [415, 18, 495, 167] ZOrder -1 RequestExecContextInheritance off System { Name "Grue_L" Location [683, 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 "100" Block { BlockType Inport Name "Delta F" SID "281" Position [30, 98, 60, 112] ZOrder -1 IconDisplay "Port number" } Block { BlockType Inport Name "Delta C" SID "284" Position [25, 148, 55, 162] ZOrder -2 Port "2" IconDisplay "Port number" } Block { BlockType Mux Name "Mux1" SID "233" Ports [2, 1] Position [95, 81, 100, 179] ZOrder -4 ShowName off Inputs "2" DisplayOption "bar" } Block { BlockType StateSpace Name "Syst. linéaire" SID "232" Ports [1, 1] Position [160, 113, 220, 147] ZOrder -5 A "[0 0 0 1 0 0 ; 0 0 0 0 1 0 ; 0 0 0 0 0 1 ; 0 0 m*g/Mc -Cd/Mc 0 0 ; 0 0 0 0 -Cr/(b^2*(J/b^2+m)) 0 ; 0 0 -g/R*" "(1+m/Mc) Cd/(Mc*R) 0 0]" B "[0 0 ; 0 0 ; 0 0 ; 1/Mc 0 ; 0 -1/(b*(J/b^2+m)) ; -1/(R*Mc) 0 ];" C "eye(6)" D "zeros(6,2)" InitialCondition "0" } Block { BlockType Outport Name "x" SID "293" Position [315, 123, 345, 137] ZOrder 3 IconDisplay "Port number" } Line { ZOrder 1 SrcBlock "Mux1" SrcPort 1 DstBlock "Syst. linéaire" DstPort 1 } Line { ZOrder 2 SrcBlock "Delta F" SrcPort 1 DstBlock "Mux1" DstPort 1 } Line { ZOrder 4 SrcBlock "Delta C" SrcPort 1 DstBlock "Mux1" DstPort 2 } Line { ZOrder 18 SrcBlock "Syst. linéaire" SrcPort 1 DstBlock "x" DstPort 1 } } } Block { BlockType Integrator Name "Integrator" SID "307" Ports [1, 1] Position [30, 120, 60, 150] ZOrder 189 } Block { BlockType ManualSwitch Name "Manual Switch" SID "318" Position [-200, 107, -170, 143] ZOrder 287 } Block { BlockType ManualSwitch Name "Manual Switch1" SID "320" Position [-185, 17, -155, 53] ZOrder 289 CurrentSetting "0" } Block { BlockType Mux Name "Mux" SID "302" Ports [2, 1] Position [115, -7, 120, 177] ZOrder 184 ShowName off Inputs "2" DisplayOption "bar" } Block { BlockType Scope Name "Scope" SID "306" Ports [1] Position [655, 79, 685, 111] ZOrder 188 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','-6.78846','MaxYLimReal','24.26725','YLabelReal','','MinYLimMag','0.00000','MaxYLimMag','24.26725','L" "egendVisibility','off','XGrid',true,'YGrid',true,'PlotMagPhase',false,'AxesColor',[0 0 0],'AxesTickColor',[0.686" "274509803922 0.686274509803922 0.686274509803922],'ColorOrder',[1 1 0.0666666666666667;0.0745098039215686 0.6235" "29411764706 1;1 0.411764705882353 0.16078431372549;0.392156862745098 0.831372549019608 0.0745098039215686;0.7176" "47058823529 0.274509803921569 1;0.0588235294117647 1 1;1 0.0745098039215686 0.650980392156863],'Title','%','LinePropertiesCache',{{}},'UserDefinedChannelNames',{{}},'NumLines',6,'LineNames',{{'Grue_L:1','Grue_L:" "2','Grue_L:3','Grue_L:4','Grue_L:5','Grue_L:6'}},'ShowContent',true,'Placement',1)},'DisplayPropertyDefaults',st" "ruct('MinYLimReal','-6.78846','MaxYLimReal','24.26725','YLabelReal','','MinYLimMag','0.00000','MaxYLimMag','24.2" "6725','LegendVisibility','off','XGrid',true,'YGrid',true,'PlotMagPhase',false,'AxesColor',[0 0 0],'AxesTickColor" "',[0.686274509803922 0.686274509803922 0.686274509803922],'ColorOrder',[0.0745098039215686 0.623529411764706 1;1" " 0.411764705882353 0.16078431372549;1 1 0.0666666666666667;0.717647058823529 0.274509803921569 1;0.3921568627450" "98 0.831372549019608 0.0745098039215686;0.0588235294117647 1 1;1 0.0745098039215686 0.650980392156863])),extmgr." "Configuration('Tools','Plot Navigation',true,'OnceAtStop',false,'PreviousZoomMode','ZoomY','PreviousAutoscale','" "XY'),extmgr.Configuration('Tools','Measurements',true,'Version','2018b')),'Version','2018b','Position',[403 180 " "550 414])" NumInputPorts "1" Floating off } Block { BlockType Step Name "Step" SID "315" Position [-295, 130, -265, 160] ZOrder 284 SampleTime "0" } Block { BlockType Step Name "Step1" SID "321" Position [-295, 45, -265, 75] ZOrder 290 After "20" SampleTime "0" } Block { BlockType ToWorkspace Name "To Workspace" SID "325" Ports [1] Position [590, 5, 650, 35] ZOrder 292 VariableName "simout" MaxDataPoints "inf" SaveFormat "Timeseries" Save2DSignal "3-D array (concatenate along third dimension)" FixptAsFi on SampleTime "-1" } Block { BlockType ToWorkspace Name "To Workspace1" SID "326" Ports [1] Position [590, -50, 650, -20] ZOrder 293 VariableName "simin" MaxDataPoints "inf" SaveFormat "Timeseries" Save2DSignal "3-D array (concatenate along third dimension)" FixptAsFi on SampleTime "-1" } Block { BlockType Constant Name "Zero" SID "313" Position [-295, 90, -265, 120] ZOrder 282 Value "0" OutDataTypeStr "Inherit: Inherit via back propagation" } Block { BlockType Constant Name "Zero1" SID "314" Position [-295, 0, -265, 30] ZOrder 283 Value "0" OutDataTypeStr "Inherit: Inherit via back propagation" } Line { ZOrder 12 SrcBlock "Demux1" SrcPort 1 DstBlock "Grue_L" DstPort 1 } Line { ZOrder 13 SrcBlock "Demux1" SrcPort 2 DstBlock "Grue_L" DstPort 2 } Line { ZOrder 20 SrcBlock "Gain" SrcPort 1 Points [-239, 0; 0, -165] DstBlock "Add" DstPort 2 } Line { ZOrder 15 SrcBlock "Add" SrcPort 1 Points [18, 0] Branch { ZOrder 59 Points [0, -130] DstBlock "To Workspace1" DstPort 1 } Branch { ZOrder 58 DstBlock "Demux1" DstPort 1 } } Line { ZOrder 22 SrcBlock "Mux" SrcPort 1 DstBlock "Add" DstPort 1 } Line { ZOrder 23 SrcBlock "Gain1" SrcPort 1 Points [9, 0; 0, 5] DstBlock "Mux" DstPort 1 } Line { ZOrder 10 SrcBlock "Grue_L" SrcPort 1 Points [79, 0] Branch { ZOrder 57 Points [0, -75] DstBlock "To Workspace" DstPort 1 } Branch { ZOrder 56 Points [14, 0] Branch { ZOrder 55 Points [0, 170; -13, 0] Branch { ZOrder 44 Points [0, 80] DstBlock "Demux" DstPort 1 } Branch { ZOrder 43 DstBlock "Gain" DstPort 1 } } Branch { ZOrder 33 DstBlock "Scope" DstPort 1 } } } Line { ZOrder 36 SrcBlock "Gain2" SrcPort 1 DstBlock "Integrator" DstPort 1 } Line { ZOrder 37 SrcBlock "Integrator" SrcPort 1 Points [23, 0; 0, -5] DstBlock "Mux" DstPort 2 } Line { ZOrder 39 SrcBlock "Add1" SrcPort 1 DstBlock "Gain2" DstPort 1 } Line { ZOrder 42 SrcBlock "Demux" SrcPort 5 Points [-655, 0] DstBlock "Add1" DstPort 2 } Line { ZOrder 50 SrcBlock "Step" SrcPort 1 Points [9, 0; 0, -10] DstBlock "Manual Switch" DstPort 2 } Line { ZOrder 48 SrcBlock "Manual Switch" SrcPort 1 DstBlock "Add1" DstPort 1 } Line { ZOrder 49 SrcBlock "Zero" SrcPort 1 Points [27, 0; 0, 10] DstBlock "Manual Switch" DstPort 1 } Line { ZOrder 52 SrcBlock "Manual Switch1" SrcPort 1 DstBlock "Gain1" DstPort 1 } Line { ZOrder 53 SrcBlock "Zero1" SrcPort 1 Points [35, 0; 0, 10] DstBlock "Manual Switch1" DstPort 1 } Line { ZOrder 54 SrcBlock "Step1" SrcPort 1 Points [35, 0; 0, -15] DstBlock "Manual Switch1" DstPort 2 } Annotation { SID "324" Name "c" Position [-191, 90, -179, 105] InternalMargins [0, 0, 0, 0] FixedHeight on FixedWidth on HorizontalAlignment "left" VerticalAlignment "top" } Annotation { SID "322" Name "Delta d_c" Position [-192, -7, -148, 8] InternalMargins [0, 0, 0, 0] HorizontalAlignment "left" VerticalAlignment "top" } Annotation { SID "312" Name "Delta_r" Position [433, 356, 468, 371] InternalMargins [0, 0, 0, 0] HorizontalAlignment "left" VerticalAlignment "top" } } }