Model { Name "doppiopendoloControllato" Version 5.0 SaveDefaultBlockParams on SampleTimeColors off LibraryLinkDisplay "none" WideLines off ShowLineDimensions off ShowPortDataTypes off ShowLoopsOnError on IgnoreBidirectionalLines off ShowStorageClass off ExecutionOrder off RecordCoverage off CovPath "/" CovSaveName "covdata" CovMetricSettings "dw" CovNameIncrementing off CovHtmlReporting on covSaveCumulativeToWorkspaceVar on CovSaveSingleToWorkspaceVar on CovCumulativeVarName "covCumulativeData" CovCumulativeReport off DataTypeOverride "UseLocalSettings" MinMaxOverflowLogging "UseLocalSettings" MinMaxOverflowArchiveMode "Overwrite" BlockNameDataTip off BlockParametersDataTip off BlockDescriptionStringDataTip off ToolBar on StatusBar on BrowserShowLibraryLinks off BrowserLookUnderMasks off Created "Mon Nov 22 13:41:06 2004" UpdateHistory "UpdateHistoryNever" ModifiedByFormat "%" LastModifiedBy "luca" ModifiedDateFormat "%" LastModifiedDate "Tue Nov 23 19:15:41 2004" ModelVersionFormat "1.%" ConfigurationManager "None" SimParamPage "Solver" LinearizationMsg "none" Profile off ParamWorkspaceSource "MATLABWorkspace" AccelSystemTargetFile "accel.tlc" AccelTemplateMakefile "accel_default_tmf" AccelMakeCommand "make_rtw" TryForcingSFcnDF off ExtModeMexFile "ext_comm" 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 ExtModeSkipDownloadWhenConnect off ExtModeLogAll on ExtModeAutoUpdateStatusClock on BufferReuse on RTWExpressionDepthLimit 5 SimulationMode "normal" Solver "ode45" SolverMode "Auto" StartTime "0.0" StopTime "5" 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" SignalLoggingName "sigsOut" ConsistencyChecking "none" ArrayBoundsChecking "none" AlgebraicLoopMsg "warning" BlockPriorityViolationMsg "warning" MinStepSizeMsg "warning" InheritedTsInSrcMsg "warning" DiscreteInheritContinuousMsg "warning" MultiTaskRateTransMsg "error" SingleTaskRateTransMsg "none" CheckForMatrixSingularity "none" IntegerOverflowMsg "warning" Int32ToFloatConvMsg "warning" ParameterDowncastMsg "error" ParameterOverflowMsg "error" ParameterPrecisionLossMsg "warning" UnderSpecifiedDataTypeMsg "none" UnnecessaryDatatypeConvMsg "none" VectorMatrixConversionMsg "none" InvalidFcnCallConnMsg "error" SignalLabelMismatchMsg "none" UnconnectedInputMsg "warning" UnconnectedOutputMsg "warning" UnconnectedLineMsg "warning" SfunCompatibilityCheckMsg "none" RTWInlineParameters off BlockReductionOpt on BooleanDataType on ConditionallyExecuteInputs on ParameterPooling on OptimizeBlockIOStorage on ZeroCross on AssertionControl "UseLocalSettings" ProdHWDeviceType "Microprocessor" ProdHWWordLengths "8,16,32,32" RTWSystemTargetFile "grt.tlc" RTWTemplateMakefile "grt_default_tmf" RTWMakeCommand "make_rtw" RTWGenerateCodeOnly off RTWRetainRTWFile off TLCProfiler off TLCDebug off TLCCoverage off TLCAssertion off BlockDefaults { Orientation "right" ForegroundColor "black" BackgroundColor "white" DropShadow off NamePlacement "normal" FontName "Helvetica" FontSize 10 FontWeight "normal" FontAngle "normal" ShowName on } BlockParameterDefaults { Block { BlockType Constant Value "1" VectorParams1D on ShowAdditionalParam off OutDataTypeMode "Inherit from 'Constant value'" OutDataType "sfix(16)" ConRadixGroup "Use specified scaling" OutScaling "2^0" } Block { BlockType Gain Gain "1" Multiplication "Element-wise(K.*u)" ShowAdditionalParam off 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 } Block { BlockType Inport Port "1" PortDimensions "-1" SampleTime "-1" ShowAdditionalParam off LatchInput off DataType "auto" OutDataType "sfix(16)" OutScaling "2^0" SignalType "auto" SamplingMode "auto" Interpolate on } Block { BlockType Integrator ExternalReset "none" InitialConditionSource "internal" InitialCondition "0" LimitOutput off UpperSaturationLimit "inf" LowerSaturationLimit "-inf" ShowSaturationPort off ShowStatePort off AbsoluteTolerance "auto" ZeroCross on } Block { BlockType Mux Inputs "4" DisplayOption "none" } Block { BlockType Outport Port "1" OutputWhenDisabled "held" InitialOutput "[]" } Block { BlockType Scope Floating off 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 "0" } Block { BlockType Sin SineType "Time based" Amplitude "1" Bias "0" Frequency "1" Phase "0" Samples "10" Offset "0" SampleTime "-1" VectorParams1D on } Block { BlockType Step Time "1" Before "0" After "1" SampleTime "-1" VectorParams1D on ZeroCross on } Block { BlockType SubSystem ShowPortLabels on Permissions "ReadWrite" RTWSystemCode "Auto" RTWFcnNameOpts "Auto" RTWFileNameOpts "Auto" SimViewingDevice off DataTypeOverride "UseLocalSettings" MinMaxOverflowLogging "UseLocalSettings" } Block { BlockType Sum IconShape "rectangular" Inputs "++" ShowAdditionalParam off InputSameDT on OutDataTypeMode "Same as first input" OutDataType "sfix(16)" OutScaling "2^0" LockScale off RndMeth "Floor" SaturateOnIntegerOverflow on } Block { BlockType TransferFcn Numerator "[1]" Denominator "[1 2 1]" AbsoluteTolerance "auto" Realization "auto" } Block { BlockType Trigonometry Operator "sin" OutputSignalType "auto" } } 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 "doppiopendoloControllato" Location [62, 74, 996, 683] Open on ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" ReportName "simulink-default.rpt" Block { BlockType Constant Name "Constant1" Position [645, 393, 665, 417] Value "theta2_0" } Block { BlockType Constant Name "Constant2" Position [480, 250, 500, 270] Orientation "left" NamePlacement "alternate" Value "theta1_0" } Block { BlockType Constant Name "Constant3" Position [145, 285, 165, 305] Orientation "left" NamePlacement "alternate" Value "theta2_0" } Block { BlockType Gain Name "Gain12" Position [785, 345, 815, 375] Gain "180/pi" } Block { BlockType Mux Name "Mux" Ports [2, 1] Position [755, 341, 760, 379] ShowName off Inputs "2" DisplayOption "bar" } Block { BlockType Scope Name "Scope" Ports [1] Position [840, 304, 870, 336] Location [504, 361, 828, 600] Open off NumInputPorts "1" ZoomMode "xonly" List { ListType AxesTitles axes1 "%" } List { ListType SelectedSignals axes1 "" } DataFormat "StructureWithTime" } Block { BlockType Sin Name "Sine Wave" Position [210, 75, 240, 105] Orientation "down" NamePlacement "alternate" SineType "Time based" Amplitude "d1" Bias "d0" Frequency "10" SampleTime "0" } Block { BlockType Sin Name "Sine Wave1" Position [205, 300, 235, 330] Orientation "down" NamePlacement "alternate" SineType "Time based" Amplitude "d1" Bias "d0" Frequency "10" SampleTime "0" } Block { BlockType Step Name "Step3" Position [15, 360, 45, 390] Time "0" After "r/180*pi" SampleTime "0" } Block { BlockType SubSystem Name "Subsystem" Ports [1, 2] Position [305, 139, 395, 201] TreatAsAtomicUnit off Port { PortNumber 1 Name "theta2" PropagatedSignals "theta2" TestPoint off LinearAnalysisOutput off LinearAnalysisInput off RTWStorageClass "Auto" DataLogging off DataLoggingNameMode "SignalName" DataLoggingDecimateData off DataLoggingDecimation "2" DataLoggingLimitDataPoints off DataLoggingMaxPoints "5000" } System { Name "Subsystem" Location [93, 114, 890, 507] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" Block { BlockType Inport Name "u" Position [25, 123, 55, 137] } Block { BlockType Constant Name "Constant" Position [60, 25, 90, 55] Orientation "down" NamePlacement "alternate" Value "u0" } Block { BlockType Gain Name "Gain" Position [295, 215, 325, 245] Orientation "left" NamePlacement "alternate" Gain "k" } Block { BlockType Gain Name "Gain1" Position [220, 165, 250, 195] Orientation "left" NamePlacement "alternate" Gain "b" } Block { BlockType Gain Name "Gain13" Position [190, 95, 220, 125] Gain "1/J1" Port { PortNumber 1 Name "theta1_acc" TestPoint off LinearAnalysisOutput off LinearAnalysisInput off RTWStorageClass "Auto" DataLogging off DataLoggingNameMode "SignalName" DataLoggingDecimateData off DataLoggingDecimation "2" DataLoggingLimitDataPoints off DataLoggingMaxPoints "5000" } } Block { BlockType Gain Name "Gain14" Position [520, 112, 545, 138] Gain "1/J2" Port { PortNumber 1 Name "theta2 acc" TestPoint off LinearAnalysisOutput off LinearAnalysisInput off RTWStorageClass "Auto" DataLogging off DataLoggingNameMode "SignalName" DataLoggingDecimateData off DataLoggingDecimation "2" DataLoggingLimitDataPoints off DataLoggingMaxPoints "5000" } } Block { BlockType Gain Name "Gain2" Position [200, 30, 260, 70] Orientation "left" NamePlacement "alternate" Gain "m1*l1*g" } Block { BlockType Gain Name "Gain5" Position [525, 40, 555, 70] Orientation "left" NamePlacement "alternate" Gain "m2*l2*g" } Block { BlockType Integrator Name "Integrator" Ports [1, 1] Position [280, 95, 310, 125] Port { PortNumber 1 Name "theta1 vel" TestPoint off LinearAnalysisOutput off LinearAnalysisInput off RTWStorageClass "Auto" DataLogging off DataLoggingNameMode "SignalName" DataLoggingDecimateData off DataLoggingDecimation "2" DataLoggingLimitDataPoints off DataLoggingMaxPoints "5000" } } Block { BlockType Integrator Name "Integrator1" Ports [1, 1] Position [370, 95, 400, 125] InitialCondition "theta1_0" Port { PortNumber 1 Name "theta1 " TestPoint off LinearAnalysisOutput off LinearAnalysisInput off RTWStorageClass "Auto" DataLogging off DataLoggingNameMode "SignalName" DataLoggingDecimateData off DataLoggingDecimation "2" DataLoggingLimitDataPoints off DataLoggingMaxPoints "5000" } } Block { BlockType Integrator Name "Integrator2" Ports [1, 1] Position [605, 110, 635, 140] Port { PortNumber 1 Name "theta2 vel" TestPoint off LinearAnalysisOutput off LinearAnalysisInput off RTWStorageClass "Auto" DataLogging off DataLoggingNameMode "SignalName" DataLoggingDecimateData off DataLoggingDecimation "2" DataLoggingLimitDataPoints off DataLoggingMaxPoints "5000" } } Block { BlockType Integrator Name "Integrator3" Ports [1, 1] Position [705, 110, 735, 140] InitialCondition "theta2_0" Port { PortNumber 1 Name "theta2" TestPoint off LinearAnalysisOutput off LinearAnalysisInput off RTWStorageClass "Auto" DataLogging off DataLoggingNameMode "SignalName" DataLoggingDecimateData off DataLoggingDecimation "2" DataLoggingLimitDataPoints off DataLoggingMaxPoints "5000" } } Block { BlockType Sum Name "Sum" Ports [4, 1] Position [145, 88, 170, 132] ShowName off Inputs "---+" InputSameDT off OutDataTypeMode "Inherit via internal rule" } Block { BlockType Sum Name "Sum1" Ports [3, 1] Position [485, 106, 505, 144] ShowName off Inputs "-++" InputSameDT off OutDataTypeMode "Inherit via internal rule" } Block { BlockType Sum Name "Sum2" Ports [2, 1] Position [375, 220, 395, 240] Orientation "left" NamePlacement "alternate" ShowName off Inputs "+-" InputSameDT off OutDataTypeMode "Inherit via internal rule" } Block { BlockType Sum Name "Sum3" Ports [2, 1] Position [310, 170, 330, 190] Orientation "left" NamePlacement "alternate" ShowName off Inputs "+-" InputSameDT off OutDataTypeMode "Inherit via internal rule" } Block { BlockType Sum Name "Sum4" Ports [2, 1] Position [90, 115, 110, 135] ShowName off InputSameDT off OutDataTypeMode "Inherit via internal rule" } Block { BlockType Trigonometry Name "Trigonometric\nFunction" Ports [1, 1] Position [320, 35, 350, 65] Orientation "left" NamePlacement "alternate" } Block { BlockType Trigonometry Name "Trigonometric\nFunction1" Ports [1, 1] Position [625, 40, 655, 70] Orientation "left" NamePlacement "alternate" } Block { BlockType Outport Name "theta2" Position [740, 255, 770, 270] Orientation "down" } Block { BlockType Outport Name "theta1" Position [440, 20, 470, 40] NamePlacement "alternate" Port "2" } Line { Name "theta1 vel" Labels [0, 0] SrcBlock "Integrator" SrcPort 1 Points [-5, 0; 35, 0] Branch { DstBlock "Integrator1" DstPort 1 } Branch { DstBlock "Sum3" DstPort 1 } } Line { Name "theta2 vel" Labels [0, 0] SrcBlock "Integrator2" SrcPort 1 Points [0, 0; 30, 0] Branch { DstBlock "Integrator3" DstPort 1 } Branch { Points [0, 60] DstBlock "Sum3" DstPort 2 } } Line { Name "theta1 " SrcBlock "Integrator1" SrcPort 1 Points [0, 0; 15, 0] Branch { Labels [1, 0] Points [0, 115] DstBlock "Sum2" DstPort 1 } Branch { Points [0, -60] Branch { Labels [1, 0] DstBlock "Trigonometric\nFunction" DstPort 1 } Branch { Points [0, -20] DstBlock "theta1" DstPort 1 } } } Line { Name "theta2" Labels [0, 0] SrcBlock "Integrator3" SrcPort 1 Points [0, 0; 15, 0] Branch { Labels [1, 0] Points [0, 110] Branch { DstBlock "Sum2" DstPort 2 } Branch { DstBlock "theta2" DstPort 1 } } Branch { Points [0, -70] DstBlock "Trigonometric\nFunction1" DstPort 1 } } Line { SrcBlock "Sum2" SrcPort 1 DstBlock "Gain" DstPort 1 } Line { SrcBlock "Gain" SrcPort 1 Points [0, 0; -10, 0] Branch { Points [-160, 0; 0, -115] DstBlock "Sum" DstPort 3 } Branch { Points [0, 25; 190, 0] DstBlock "Sum1" DstPort 3 } } Line { SrcBlock "Sum3" SrcPort 1 DstBlock "Gain1" DstPort 1 } Line { SrcBlock "Gain1" SrcPort 1 Points [0, 0; -15, 0] Branch { Points [-70, 0] DstBlock "Sum" DstPort 2 } Branch { Points [0, 185; 255, 0; 0, -240] DstBlock "Sum1" DstPort 2 } } Line { SrcBlock "Trigonometric\nFunction" SrcPort 1 DstBlock "Gain2" DstPort 1 } Line { SrcBlock "Gain2" SrcPort 1 Points [-65, 0] DstBlock "Sum" DstPort 1 } Line { SrcBlock "Trigonometric\nFunction1" SrcPort 1 DstBlock "Gain5" DstPort 1 } Line { SrcBlock "Gain5" SrcPort 1 Points [-50, 0] DstBlock "Sum1" DstPort 1 } Line { SrcBlock "Constant" SrcPort 1 DstBlock "Sum4" DstPort 1 } Line { SrcBlock "Sum4" SrcPort 1 DstBlock "Sum" DstPort 4 } Line { SrcBlock "Sum" SrcPort 1 DstBlock "Gain13" DstPort 1 } Line { Name "theta1_acc" Labels [0, 0] SrcBlock "Gain13" SrcPort 1 DstBlock "Integrator" DstPort 1 } Line { SrcBlock "Sum1" SrcPort 1 DstBlock "Gain14" DstPort 1 } Line { Name "theta2 acc" Labels [0, 0] SrcBlock "Gain14" SrcPort 1 DstBlock "Integrator2" DstPort 1 } Line { SrcBlock "u" SrcPort 1 DstBlock "Sum4" DstPort 2 } } } Block { BlockType SubSystem Name "Subsystem1" Ports [1, 2] Position [305, 349, 390, 411] TreatAsAtomicUnit off Port { PortNumber 1 Name "theta2" PropagatedSignals "theta2" TestPoint off LinearAnalysisOutput off LinearAnalysisInput off RTWStorageClass "Auto" DataLogging off DataLoggingNameMode "SignalName" DataLoggingDecimateData off DataLoggingDecimation "2" DataLoggingLimitDataPoints off DataLoggingMaxPoints "5000" } System { Name "Subsystem1" Location [16, 267, 855, 574] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" Block { BlockType Inport Name "u" Position [25, 118, 55, 132] } Block { BlockType Gain Name "Gain3" Position [240, 215, 270, 245] Orientation "left" NamePlacement "alternate" Gain "k" } Block { BlockType Gain Name "Gain4" Position [165, 165, 195, 195] Orientation "left" NamePlacement "alternate" Gain "b" } Block { BlockType Gain Name "Gain6" Position [135, 95, 165, 125] Gain "1/J1" Port { PortNumber 1 Name "theta1_acc" TestPoint off LinearAnalysisOutput off LinearAnalysisInput off RTWStorageClass "Auto" DataLogging off DataLoggingNameMode "SignalName" DataLoggingDecimateData off DataLoggingDecimation "2" DataLoggingLimitDataPoints off DataLoggingMaxPoints "5000" } } Block { BlockType Gain Name "Gain7" Position [465, 112, 490, 138] Gain "1/J2" Port { PortNumber 1 Name "theta2 acc" TestPoint off LinearAnalysisOutput off LinearAnalysisInput off RTWStorageClass "Auto" DataLogging off DataLoggingNameMode "SignalName" DataLoggingDecimateData off DataLoggingDecimation "2" DataLoggingLimitDataPoints off DataLoggingMaxPoints "5000" } } Block { BlockType Gain Name "Gain8" Position [145, 30, 205, 70] Orientation "left" NamePlacement "alternate" Gain "m1*l1*g" } Block { BlockType Gain Name "Gain9" Position [470, 40, 500, 70] Orientation "left" NamePlacement "alternate" Gain "m2*l2*g" } Block { BlockType Integrator Name "Integrator4" Ports [1, 1] Position [225, 95, 255, 125] Port { PortNumber 1 Name "theta1 vel" TestPoint off LinearAnalysisOutput off LinearAnalysisInput off RTWStorageClass "Auto" DataLogging off DataLoggingNameMode "SignalName" DataLoggingDecimateData off DataLoggingDecimation "2" DataLoggingLimitDataPoints off DataLoggingMaxPoints "5000" } } Block { BlockType Integrator Name "Integrator5" Ports [1, 1] Position [315, 95, 345, 125] Port { PortNumber 1 Name "theta1 " TestPoint off LinearAnalysisOutput off LinearAnalysisInput off RTWStorageClass "Auto" DataLogging off DataLoggingNameMode "SignalName" DataLoggingDecimateData off DataLoggingDecimation "2" DataLoggingLimitDataPoints off DataLoggingMaxPoints "5000" } } Block { BlockType Integrator Name "Integrator6" Ports [1, 1] Position [550, 110, 580, 140] Port { PortNumber 1 Name "theta2 vel" TestPoint off LinearAnalysisOutput off LinearAnalysisInput off RTWStorageClass "Auto" DataLogging off DataLoggingNameMode "SignalName" DataLoggingDecimateData off DataLoggingDecimation "2" DataLoggingLimitDataPoints off DataLoggingMaxPoints "5000" } } Block { BlockType Integrator Name "Integrator7" Ports [1, 1] Position [650, 110, 680, 140] Port { PortNumber 1 Name "theta2" TestPoint off LinearAnalysisOutput off LinearAnalysisInput off RTWStorageClass "Auto" DataLogging off DataLoggingNameMode "SignalName" DataLoggingDecimateData off DataLoggingDecimation "2" DataLoggingLimitDataPoints off DataLoggingMaxPoints "5000" } } Block { BlockType Sum Name "Sum5" Ports [4, 1] Position [90, 88, 115, 132] ShowName off Inputs "+--+" InputSameDT off OutDataTypeMode "Inherit via internal rule" } Block { BlockType Sum Name "Sum6" Ports [3, 1] Position [430, 106, 450, 144] ShowName off Inputs "+++" InputSameDT off OutDataTypeMode "Inherit via internal rule" } Block { BlockType Sum Name "Sum7" Ports [2, 1] Position [320, 220, 340, 240] Orientation "left" NamePlacement "alternate" ShowName off Inputs "+-" InputSameDT off OutDataTypeMode "Inherit via internal rule" } Block { BlockType Sum Name "Sum8" Ports [2, 1] Position [255, 170, 275, 190] Orientation "left" NamePlacement "alternate" ShowName off Inputs "+-" InputSameDT off OutDataTypeMode "Inherit via internal rule" } Block { BlockType Outport Name "theta2" Position [770, 117, 800, 133] } Block { BlockType Outport Name "theta1" Position [390, 17, 420, 33] Port "2" } Line { Name "theta1 vel" Labels [0, 0] SrcBlock "Integrator4" SrcPort 1 Points [-5, 0; 35, 0] Branch { DstBlock "Integrator5" DstPort 1 } Branch { DstBlock "Sum8" DstPort 1 } } Line { Name "theta2 vel" Labels [0, 0] SrcBlock "Integrator6" SrcPort 1 Points [0, 0; 30, 0] Branch { DstBlock "Integrator7" DstPort 1 } Branch { Points [0, 60] DstBlock "Sum8" DstPort 2 } } Line { Name "theta1 " SrcBlock "Integrator5" SrcPort 1 Points [0, 0; 15, 0] Branch { Labels [1, 0] Points [0, 115] DstBlock "Sum7" DstPort 1 } Branch { Points [0, -60] Branch { Labels [1, 0] DstBlock "Gain8" DstPort 1 } Branch { Points [0, -25] DstBlock "theta1" DstPort 1 } } } Line { SrcBlock "Sum7" SrcPort 1 DstBlock "Gain3" DstPort 1 } Line { SrcBlock "Gain3" SrcPort 1 Points [0, 0; -10, 0] Branch { Points [-160, 0; 0, -115] DstBlock "Sum5" DstPort 3 } Branch { Points [0, 25; 190, 0] DstBlock "Sum6" DstPort 3 } } Line { SrcBlock "Sum8" SrcPort 1 DstBlock "Gain4" DstPort 1 } Line { SrcBlock "Gain4" SrcPort 1 Points [0, 0; -15, 0] Branch { Points [-70, 0] DstBlock "Sum5" DstPort 2 } Branch { Points [0, 20; 255, 0; 0, -75] DstBlock "Sum6" DstPort 2 } } Line { SrcBlock "Gain8" SrcPort 1 Points [-65, 0] DstBlock "Sum5" DstPort 1 } Line { SrcBlock "Gain9" SrcPort 1 Points [-50, 0] DstBlock "Sum6" DstPort 1 } Line { SrcBlock "Sum5" SrcPort 1 DstBlock "Gain6" DstPort 1 } Line { Name "theta1_acc" Labels [0, 0] SrcBlock "Gain6" SrcPort 1 DstBlock "Integrator4" DstPort 1 } Line { SrcBlock "Sum6" SrcPort 1 DstBlock "Gain7" DstPort 1 } Line { Name "theta2 acc" Labels [0, 0] SrcBlock "Gain7" SrcPort 1 DstBlock "Integrator6" DstPort 1 } Line { Name "theta2" Labels [0, 0] SrcBlock "Integrator7" SrcPort 1 Points [0, 0; 30, 0] Branch { Points [0, -70] DstBlock "Gain9" DstPort 1 } Branch { Points [0, 110] DstBlock "Sum7" DstPort 2 } Branch { DstBlock "theta2" DstPort 1 } } Line { SrcBlock "u" SrcPort 1 DstBlock "Sum5" DstPort 4 } } } Block { BlockType Sum Name "Sum" Ports [3, 1] Position [245, 154, 265, 186] ShowName off Inputs "++-" InputSameDT off OutDataTypeMode "Inherit via internal rule" } Block { BlockType Sum Name "Sum1" Ports [3, 1] Position [260, 365, 280, 395] ShowName off Inputs "++-" InputSameDT off OutDataTypeMode "Inherit via internal rule" } Block { BlockType Sum Name "Sum2" Ports [2, 1] Position [75, 160, 95, 180] ShowName off Inputs "+-" InputSameDT off OutDataTypeMode "Inherit via internal rule" } Block { BlockType Sum Name "Sum3" Ports [2, 1] Position [90, 370, 110, 390] ShowName off Inputs "+-" InputSameDT off OutDataTypeMode "Inherit via internal rule" } Block { BlockType Sum Name "Sum4" Ports [2, 1] Position [415, 245, 435, 265] Orientation "left" NamePlacement "alternate" ShowName off Inputs "+-" InputSameDT off OutDataTypeMode "Inherit via internal rule" } Block { BlockType Sum Name "Sum6" Ports [2, 1] Position [90, 275, 110, 295] Orientation "left" NamePlacement "alternate" ShowName off Inputs "+-" InputSameDT off OutDataTypeMode "Inherit via internal rule" } Block { BlockType Sum Name "Sum9" Ports [2, 1] Position [700, 360, 720, 380] NamePlacement "alternate" ShowName off InputSameDT off OutDataTypeMode "Inherit via internal rule" } Block { BlockType TransferFcn Name "Transfer Fcn" Position [130, 150, 190, 190] Numerator "numC2" Denominator "denC2" } Block { BlockType TransferFcn Name "Transfer Fcn1" Position [325, 235, 385, 275] Orientation "left" NamePlacement "alternate" Numerator "numC1" Denominator "denC1" } Block { BlockType TransferFcn Name "Transfer Fcn2" Position [145, 360, 205, 400] Numerator "numC2" Denominator "denC2" } Block { BlockType TransferFcn Name "Transfer Fcn3" Position [340, 445, 400, 485] Orientation "left" NamePlacement "alternate" Numerator "numC1" Denominator "denC1" } Block { BlockType Outport Name "Out1" Position [835, 153, 865, 167] } Line { SrcBlock "Constant1" SrcPort 1 Points [15, 0] DstBlock "Sum9" DstPort 2 } Line { SrcBlock "Mux" SrcPort 1 DstBlock "Gain12" DstPort 1 } Line { SrcBlock "Gain12" SrcPort 1 Points [0, -40] Branch { DstBlock "Scope" DstPort 1 } Branch { DstBlock "Out1" DstPort 1 } } Line { Name "theta2" SrcBlock "Subsystem" SrcPort 1 Points [155, 0] Branch { Points [185, 0] DstBlock "Mux" DstPort 1 } Branch { Points [0, 125] DstBlock "Sum6" DstPort 1 } } Line { Name "theta2" Labels [0, 0] SrcBlock "Subsystem1" SrcPort 1 Points [195, 0] Branch { DstBlock "Sum9" DstPort 1 } Branch { Points [0, 180; -515, 0] DstBlock "Sum3" DstPort 2 } } Line { SrcBlock "Sum" SrcPort 1 DstBlock "Subsystem" DstPort 1 } Line { SrcBlock "Transfer Fcn1" SrcPort 1 Points [-100, 0; 0, -75] DstBlock "Sum" DstPort 3 } Line { SrcBlock "Sum2" SrcPort 1 DstBlock "Transfer Fcn" DstPort 1 } Line { SrcBlock "Sine Wave" SrcPort 1 Points [0, 50] DstBlock "Sum" DstPort 1 } Line { SrcBlock "Transfer Fcn" SrcPort 1 DstBlock "Sum" DstPort 2 } Line { SrcBlock "Transfer Fcn3" SrcPort 1 Points [-100, 0; 0, -75] DstBlock "Sum1" DstPort 3 } Line { SrcBlock "Sum3" SrcPort 1 DstBlock "Transfer Fcn2" DstPort 1 } Line { SrcBlock "Sine Wave1" SrcPort 1 Points [0, 35] DstBlock "Sum1" DstPort 1 } Line { SrcBlock "Transfer Fcn2" SrcPort 1 DstBlock "Sum1" DstPort 2 } Line { SrcBlock "Step3" SrcPort 1 Points [15, 0] Branch { DstBlock "Sum3" DstPort 1 } Branch { Points [-15, 0; 0, -210] DstBlock "Sum2" DstPort 1 } } Line { SrcBlock "Sum1" SrcPort 1 DstBlock "Subsystem1" DstPort 1 } Line { SrcBlock "Subsystem1" SrcPort 2 Points [30, 0; 0, 70] DstBlock "Transfer Fcn3" DstPort 1 } Line { SrcBlock "Subsystem" SrcPort 2 Points [70, 0; 0, 65] DstBlock "Sum4" DstPort 1 } Line { SrcBlock "Sum4" SrcPort 1 DstBlock "Transfer Fcn1" DstPort 1 } Line { SrcBlock "Constant2" SrcPort 1 DstBlock "Sum4" DstPort 2 } Line { SrcBlock "Sum6" SrcPort 1 Points [-25, 0] DstBlock "Sum2" DstPort 2 } Line { SrcBlock "Constant3" SrcPort 1 Points [0, -5] DstBlock "Sum6" DstPort 2 } Line { SrcBlock "Sum9" SrcPort 1 DstBlock "Mux" DstPort 2 } } }