Model { Name "cint" Version 3.00 SimParamPage "Solver" SampleTimeColors off InvariantConstants off WideVectorLines on ShowLineWidths on ShowPortDataTypes off StartTime "0.0" StopTime "10.0" SolverMode "Auto" Solver "ode45" RelTol "1e-3" AbsTol "0.001" Refine "1" MaxStep "0.1" InitialStep "auto" FixedStep "auto" MaxOrder 5 OutputOption "RefineOutputTimes" OutputTimes "[]" LoadExternalInput off ExternalInput "[t, u]" SaveTime on TimeSaveName "t" SaveState off StateSaveName "xout" SaveOutput on OutputSaveName "yout" LoadInitialState off InitialState "xInitial" SaveFinalState off FinalStateName "xFinal" SaveFormat "Matrix" LimitMaxRows off MaxRows "1000" Decimation "1" AlgebraicLoopMsg "warning" MinStepSizeMsg "warning" UnconnectedInputMsg "warning" UnconnectedOutputMsg "warning" UnconnectedLineMsg "warning" InheritedTsInSrcMsg "warning" IntegerOverflowMsg "warning" UnnecessaryDatatypeConvMsg "none" Int32ToFloatConvMsg "warning" SignalLabelMismatchMsg "none" ConsistencyChecking "off" ZeroCross on SimulationMode "normal" BlockDataTips on BlockParametersDataTip on BlockAttributesDataTip off BlockPortWidthsDataTip off BlockDescriptionStringDataTip off BlockMaskParametersDataTip off ToolBar on StatusBar on BrowserShowLibraryLinks off BrowserLookUnderMasks off OptimizeBlockIOStorage on BufferReuse on BooleanDataType off RTWSystemTargetFile "grt.tlc" RTWInlineParameters off RTWRetainRTWFile off RTWTemplateMakefile "grt_default_tmf" RTWMakeCommand "make_rtw" RTWGenerateCodeOnly off ExtModeMexFile "ext_comm" ExtModeBatchMode off ExtModeTrigType "manual" ExtModeTrigMode "oneshot" 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 off Created "Sun Jan 09 17:41:14 2000" UpdateHistory "UpdateHistoryNever" ModifiedByFormat "%" ModifiedDateFormat "%" LastModifiedDate "Wed Jan 19 21:25:08 2000" ModelVersionFormat "1.%" ConfigurationManager "none" BlockDefaults { Orientation "right" ForegroundColor "black" BackgroundColor "white" DropShadow off NamePlacement "normal" FontName "Helvetica" FontSize 10 FontWeight "normal" FontAngle "normal" ShowName on } 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 "cint" Location [79, 85, 763, 499] Open on ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "automatic" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" AutoZoom on ReportName "simulink-default.rpt" Block { BlockType Gain Name "Gain" Position [85, 225, 115, 255] Orientation "up" ForegroundColor "red" DropShadow on ShowName off FontName "Arial" FontSize 14 Gain "-1" SaturateOnIntegerOverflow on } Block { BlockType Integrator Name "Integrator" Ports [1, 1, 0, 0, 0] Position [475, 100, 505, 130] ForegroundColor "red" DropShadow on ShowName off FontName "Arial" FontSize 14 ExternalReset "none" InitialConditionSource "internal" InitialCondition "0" LimitOutput off UpperSaturationLimit "inf" LowerSaturationLimit "-inf" ShowSaturationPort off ShowStatePort off AbsoluteTolerance "auto" } Block { BlockType Mux Name "Mux1" Ports [2, 1, 0, 0, 0] Position [315, 46, 320, 84] DropShadow on ShowName off FontName "Arial" FontSize 14 Inputs "2" DisplayOption "bar" } Block { BlockType Mux Name "Mux2" Ports [2, 1, 0, 0, 0] Position [225, 260, 230, 300] Orientation "left" ForegroundColor "red" DropShadow on NamePlacement "alternate" ShowName off FontName "Arial" FontSize 14 Inputs "2" DisplayOption "bar" } Block { BlockType Scope Name "Scope" Ports [1, 0, 0, 0, 0] Position [445, 144, 475, 176] BackgroundColor "green" DropShadow on ShowName off FontName "Arial" FontSize 14 Floating off Location [204, 324, 644, 567] Open off NumInputPorts "1" TickLabels "OneTimeTick" ZoomMode "on" List { ListType AxesTitles axes1 "%" } Grid "on" TimeRange "auto" YMin "-5" YMax "5" SaveToWorkspace off SaveName "ScopeData" DataFormat "StructureWithTime" LimitMaxRows on MaxRows "5000" Decimation "1" SampleInput off SampleTime "0" } Block { BlockType SubSystem Name "Subsystem" Ports [1, 1, 0, 0, 0] Position [230, 95, 285, 145] BackgroundColor "yellow" DropShadow on ShowName off FontName "Arial" FontSize 14 ShowPortLabels off MaskPromptString "A:|B:|C:" MaskStyleString "edit,edit,edit" MaskTunableValueString "on,on,on" MaskCallbackString "||" MaskEnableString "on,on,on" MaskVisibilityString "on,on,on" MaskVariables "A=@1;B=@2;C=@3;" MaskDisplay "disp('PLANT')" MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskIconUnits "autoscale" MaskValueString "A|B|C" System { Name "Subsystem" Location [304, 148, 534, 234] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "automatic" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" AutoZoom on Block { BlockType Inport Name "In1" Position [25, 38, 55, 52] Port "1" PortWidth "-1" SampleTime "-1" DataType "auto" SignalType "auto" Interpolate on } Block { BlockType StateSpace Name "State-Space" Position [90, 28, 150, 62] ShowName off A "A" B "B" C "C" D "0*C*B" X0 "0" } Block { BlockType Outport Name "Out1" Position [175, 38, 205, 52] Port "1" OutputWhenDisabled "held" InitialOutput "[]" } Line { SrcBlock "In1" SrcPort 1 DstBlock "State-Space" DstPort 1 } Line { SrcBlock "State-Space" SrcPort 1 DstBlock "Out1" DstPort 1 } } } Block { BlockType SubSystem Name "Subsystem1" Ports [1, 1, 0, 0, 0] Position [160, 165, 210, 215] ForegroundColor "red" DropShadow on ShowName off FontName "Arial" FontSize 14 ShowPortLabels off MaskPromptString "A:|B:|C:|J:" MaskStyleString "edit,edit,edit,edit" MaskTunableValueString "on,on,on,on" MaskCallbackString "|||" MaskEnableString "on,on,on,on" MaskVisibilityString "on,on,on,on" MaskVariables "A=@1;B=@2;C=@3;J=@4;" MaskInitialization "AT1=A-J*C; CT1=eye(size(A)); BT1=B;" MaskDisplay "disp('T_1')" MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskIconUnits "autoscale" MaskValueString "A|B|C|J" System { Name "Subsystem1" Location [245, 214, 475, 304] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "automatic" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" AutoZoom on Block { BlockType Inport Name "In1" Position [25, 38, 55, 52] Port "1" PortWidth "-1" SampleTime "-1" DataType "auto" SignalType "auto" Interpolate on } Block { BlockType StateSpace Name "State-Space1" Position [90, 28, 150, 62] DropShadow on ShowName off A "AT1" B "BT1" C "CT1" D "0*BT1" X0 "0" } Block { BlockType Outport Name "Out1" Position [175, 38, 205, 52] Port "1" OutputWhenDisabled "held" InitialOutput "[]" } Line { SrcBlock "In1" SrcPort 1 DstBlock "State-Space1" DstPort 1 } Line { SrcBlock "State-Space1" SrcPort 1 DstBlock "Out1" DstPort 1 } } } Block { BlockType SubSystem Name "Subsystem2" Ports [1, 1, 0, 0, 0] Position [310, 165, 360, 215] Orientation "left" ForegroundColor "red" DropShadow on ShowName off FontName "Arial" FontSize 14 ShowPortLabels off MaskPromptString "A:|C:|J:" MaskStyleString "edit,edit,edit" MaskTunableValueString "on,on,on" MaskCallbackString "||" MaskEnableString "on,on,on" MaskVisibilityString "on,on,on" MaskVariables "A=@1;C=@2;J=@3;" MaskInitialization "AT2=A-J*C;BT2=J;CT2=eye(size(A));\n" MaskDisplay "disp('T_2')" MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskIconUnits "autoscale" MaskValueString "A|C|J" System { Name "Subsystem2" Location [386, 218, 616, 300] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "automatic" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" AutoZoom on Block { BlockType Inport Name "In1" Position [175, 38, 205, 52] Orientation "left" Port "1" PortWidth "-1" SampleTime "-1" DataType "auto" SignalType "auto" Interpolate on } Block { BlockType StateSpace Name "State-Space2" Position [80, 30, 140, 60] Orientation "left" DropShadow on NamePlacement "alternate" ShowName off A "AT2" B "BT2" C "CT2" D "0* BT2" X0 "0" } Block { BlockType Outport Name "Out1" Position [25, 38, 55, 52] Orientation "left" Port "1" OutputWhenDisabled "held" InitialOutput "[]" } Line { SrcBlock "In1" SrcPort 1 DstBlock "State-Space2" DstPort 1 } Line { SrcBlock "State-Space2" SrcPort 1 DstBlock "Out1" DstPort 1 } } } Block { BlockType Sum Name "Sum" Ports [2, 1, 0, 0, 0] Position [255, 205, 275, 225] Orientation "down" ForegroundColor "red" DropShadow on NamePlacement "alternate" ShowName off FontName "Arial" FontSize 14 IconShape "rectangular" Inputs "++" SaturateOnIntegerOverflow off } Block { BlockType Sum Name "Sum1" Ports [2, 1, 0, 0, 0] Position [420, 105, 440, 125] ForegroundColor "red" DropShadow on ShowName off FontName "Arial" FontSize 14 IconShape "rectangular" Inputs "+-" SaturateOnIntegerOverflow off } Block { BlockType ToWorkspace Name "To Workspace" Position [425, 190, 480, 210] BackgroundColor "green" DropShadow on ShowName off FontName "Arial" FontSize 14 VariableName "y" Buffer "inf" Decimation "1" SampleTime "-1" SaveFormat "Matrix" } Block { BlockType ToWorkspace Name "To Workspace1" Position [60, 70, 120, 90] Orientation "left" BackgroundColor "green" DropShadow on NamePlacement "alternate" ShowName off FontName "Arial" FontSize 14 VariableName "u" Buffer "inf" Decimation "1" SampleTime "-1" SaveFormat "Matrix" } Block { BlockType ToWorkspace Name "To Workspace3" Position [480, 55, 540, 75] BackgroundColor "green" DropShadow on ShowName off FontName "Arial" FontSize 14 VariableName "r" Buffer "inf" Decimation "1" SampleTime "-1" SaveFormat "Matrix" } Block { BlockType Reference Name "b" Ports [1, 1, 0, 0, 0] Position [155, 265, 185, 295] Orientation "left" ForegroundColor "red" DropShadow on NamePlacement "alternate" ShowName off FontName "Arial" FontSize 14 SourceBlock "simulink3/Math/Matrix\nGain" SourceType "Matrix Gain" K "K" } Block { BlockType Step Name "ref1" Position [230, 15, 260, 45] BackgroundColor "lightBlue" DropShadow on FontName "Arial" FontSize 14 Time "0" Before "0" After "1" SampleTime "0" } Block { BlockType Step Name "ref2" Position [175, 55, 205, 85] BackgroundColor "lightBlue" DropShadow on FontName "Arial" FontSize 14 Time "5" Before "0" After "-1" SampleTime "0" } Line { SrcBlock "Subsystem" SrcPort 1 Points [100, 0] Branch { DstBlock "Sum1" DstPort 2 } Branch { Points [0, 40] Branch { Points [15, 0] Branch { DstBlock "Scope" DstPort 1 } Branch { Points [0, 40] DstBlock "To Workspace" DstPort 1 } } Branch { Points [0, 30] DstBlock "Subsystem2" DstPort 1 } } } Line { SrcBlock "Subsystem1" SrcPort 1 DstBlock "Sum" DstPort 1 } Line { SrcBlock "Subsystem2" SrcPort 1 DstBlock "Sum" DstPort 2 } Line { SrcBlock "Sum1" SrcPort 1 DstBlock "Integrator" DstPort 1 } Line { SrcBlock "Sum" SrcPort 1 Points [0, 40] DstBlock "Mux2" DstPort 1 } Line { SrcBlock "Integrator" SrcPort 1 Points [20, 0; 0, 175] DstBlock "Mux2" DstPort 2 } Line { SrcBlock "Mux2" SrcPort 1 DstBlock "b" DstPort 1 } Line { SrcBlock "ref2" SrcPort 1 Points [90, 0] DstBlock "Mux1" DstPort 2 } Line { SrcBlock "Mux1" SrcPort 1 Points [75, 0; 0, 5] Branch { Points [0, 40] DstBlock "Sum1" DstPort 1 } Branch { Points [0, -5] DstBlock "To Workspace3" DstPort 1 } } Line { SrcBlock "ref1" SrcPort 1 Points [35, 0] DstBlock "Mux1" DstPort 1 } Line { SrcBlock "b" SrcPort 1 Points [-50, 0] DstBlock "Gain" DstPort 1 } Line { SrcBlock "Gain" SrcPort 1 Points [0, -100; 40, 0] Branch { Points [0, 70] DstBlock "Subsystem1" DstPort 1 } Branch { Points [15, 0] Branch { DstBlock "Subsystem" DstPort 1 } Branch { Points [0, -40] DstBlock "To Workspace1" DstPort 1 } } } Annotation { Position [306, 341] ForegroundColor "blue" Text "CONTROLLER BASED ON STATE ESTIMATE FEEDBACK WIT" "H INTEGRATION\nBEFORE RUNNING THIS SIMULATION, THE USER MUST ASSIGN VALUES T" "O THE PLANT STATE SPACE\nMATRICES A,B,C AND TO THE OBSERVER AND STATE GAINS J" " AND K, RESPECTIVELY." DropShadow on FontName "Arial" FontSize 12 } } }