Model {
  Name			  "dead1"
  Version		  3.00
  SimParamPage		  "Solver"
  SampleTimeColors	  off
  InvariantConstants	  off
  WideVectorLines	  off
  ShowLineWidths	  off
  ShowPortDataTypes	  off
  StartTime		  "0.0"
  StopTime		  "40"
  SolverMode		  "SingleTasking"
  Solver		  "ode45"
  RelTol		  "1e-3"
  AbsTol		  "1e-3"
  Refine		  "1"
  MaxStep		  "0.010"
  InitialStep		  "auto"
  FixedStep		  "auto"
  MaxOrder		  5
  OutputOption		  "RefineOutputTimes"
  OutputTimes		  "[]"
  LoadExternalInput	  off
  ExternalInput		  "[t, u]"
  SaveTime		  on
  TimeSaveName		  "t"
  SaveState		  off
  StateSaveName		  "xout"
  SaveOutput		  off
  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		  "Tue Jan 18 20:16:31 2000"
  UpdateHistory		  "UpdateHistoryNever"
  ModifiedByFormat	  "%<Auto>"
  ModifiedDateFormat	  "%<Auto>"
  LastModifiedDate	  "Tue Jan 18 20:20:18 2000"
  ModelVersionFormat	  "1.%<AutoIncrement:4>"
  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		    "dead1"
    Location		    [2, 74, 802, 560]
    Open		    on
    ModelBrowserVisibility  off
    ModelBrowserWidth	    200
    ScreenColor		    "white"
    PaperOrientation	    "landscape"
    PaperPositionMode	    "auto"
    PaperType		    "usletter"
    PaperUnits		    "inches"
    ZoomFactor		    "100"
    AutoZoom		    on
    ReportName		    "simulink-default.rpt"
    Block {
      BlockType		      TransferFcn
      Name		      "Controller"
      Position		      [210, 121, 360, 189]
      ForegroundColor	      "red"
      DropShadow	      on
      FontName		      "Arial"
      FontSize		      14
      Numerator		      "[1 3.29 2.57]"
      Denominator	      "[1 7 0]"
    }
    Block {
      BlockType		      Lookup
      Name		      "Coulombic\nFriction"
      Position		      [400, 130, 455, 180]
      ForegroundColor	      "red"
      DropShadow	      on
      ShowName		      off
      FontName		      "Arial"
      FontSize		      14
      InputValues	      "[-1,0,0,1]"
      OutputValues	      "[-gain-ini -ini ini gain+ini]"
      MaskType		      "Coulombic Friction"
      MaskDescription	      "Coulombic Friction\ny = sign(x) * (Gain * abs(x"
") + Offset)"
      MaskHelp		      "This block has a discontinuity\\nat zero and a "
"linear gain afterward.\\ny= sign(x)*(Gain*abs(x)+Offset)"
      MaskPromptString	      "Offset discontinuity at zero:|Gain:"
      MaskStyleString	      "edit,edit"
      MaskTunableValueString  "on,on"
      MaskCallbackString      "|"
      MaskEnableString	      "on,on"
      MaskVisibilityString    "on,on"
      MaskVariables	      "ini=@1;gain=@2;"
      MaskInitialization      "x=max(ini,gain+ini);"
      MaskDisplay	      "plot([-1 0 0 1],[-gain-ini, -ini, ini, gain+ini"
"],[-1 1],[0 0],[0 0],[-x,x])"
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "autoscale"
      MaskValueString	      "dz|1"
    }
    Block {
      BlockType		      Step
      Name		      "Dist"
      Position		      [405, 211, 440, 239]
      BackgroundColor	      "cyan"
      DropShadow	      on
      FontName		      "Arial"
      FontSize		      14
      Time		      "10"
      Before		      "0"
      After		      "1"
      SampleTime	      "0"
    }
    Block {
      BlockType		      Mux
      Name		      "Mux"
      Ports		      [2, 1, 0, 0, 0]
      Position		      [655, 16, 705, 69]
      ForegroundColor	      "green"
      DropShadow	      on
      ShowName		      off
      FontName		      "Arial"
      FontSize		      14
      Inputs		      "2"
      DisplayOption	      "none"
    }
    Block {
      BlockType		      SubSystem
      Name		      "Process "
      Ports		      [2, 1, 0, 0, 0]
      Position		      [535, 120, 595, 260]
      BackgroundColor	      "yellow"
      DropShadow	      on
      ShowName		      off
      FontName		      "Arial"
      FontSize		      14
      ShowPortLabels	      off
      MaskType		      "Plant"
      MaskDisplay	      "disp('PLANT')"
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "autoscale"
      System {
	Name			"Process "
	Location		[268, 366, 696, 537]
	Open			off
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"yellow"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"usletter"
	PaperUnits		"inches"
	ZoomFactor		"100"
	AutoZoom		on
	Block {
	  BlockType		  Inport
	  Name			  "in_1"
	  Position		  [35, 55, 55, 75]
	  ForegroundColor	  "blue"
	  DropShadow		  on
	  FontName		  "Arial"
	  FontSize		  14
	  Port			  "1"
	  PortWidth		  "-1"
	  SampleTime		  "-1"
	  DataType		  "auto"
	  SignalType		  "auto"
	  Interpolate		  on
	}
	Block {
	  BlockType		  Inport
	  Name			  "in_2"
	  Position		  [35, 100, 55, 120]
	  ForegroundColor	  "blue"
	  DropShadow		  on
	  FontName		  "Arial"
	  FontSize		  14
	  Port			  "2"
	  PortWidth		  "-1"
	  SampleTime		  "-1"
	  DataType		  "auto"
	  SignalType		  "auto"
	  Interpolate		  on
	}
	Block {
	  BlockType		  DeadZone
	  Name			  "Dead Zone"
	  Position		  [90, 52, 120, 78]
	  ForegroundColor	  "blue"
	  DropShadow		  on
	  FontName		  "Arial"
	  FontSize		  14
	  LowerValue		  "-dz"
	  UpperValue		  "dz"
	}
	Block {
	  BlockType		  TransferFcn
	  Name			  "G2"
	  Position		  [280, 69, 320, 111]
	  DropShadow		  on
	  FontName		  "Arial"
	  FontSize		  14
	  Numerator		  "[2]"
	  Denominator		  "[1  0]"
	}
	Block {
	  BlockType		  TransferFcn
	  Name			  "G3"
	  Position		  [160, 44, 200, 86]
	  DropShadow		  on
	  FontName		  "Arial"
	  FontSize		  14
	  Numerator		  "4"
	  Denominator		  "[1  2]"
	}
	Block {
	  BlockType		  Sum
	  Name			  "Sum"
	  Ports			  [2, 1, 0, 0, 0]
	  Position		  [225, 43, 250, 132]
	  DropShadow		  on
	  ShowName		  off
	  FontName		  "Arial"
	  FontSize		  14
	  IconShape		  "rectangular"
	  Inputs		  "++"
	  SaturateOnIntegerOverflow on
	}
	Block {
	  BlockType		  Outport
	  Name			  "out_1"
	  Position		  [385, 80, 405, 100]
	  ForegroundColor	  "green"
	  DropShadow		  on
	  FontName		  "Arial"
	  FontSize		  14
	  Port			  "1"
	  OutputWhenDisabled	  "held"
	  InitialOutput		  "0"
	}
	Line {
	  SrcBlock		  "G2"
	  SrcPort		  1
	  DstBlock		  "out_1"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "in_1"
	  SrcPort		  1
	  DstBlock		  "Dead Zone"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Dead Zone"
	  SrcPort		  1
	  DstBlock		  "G3"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Sum"
	  SrcPort		  1
	  DstBlock		  "G2"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "G3"
	  SrcPort		  1
	  DstBlock		  "Sum"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "in_2"
	  SrcPort		  1
	  DstBlock		  "Sum"
	  DstPort		  2
	}
      }
    }
    Block {
      BlockType		      SignalGenerator
      Name		      "Ref"
      Position		      [20, 125, 60, 155]
      BackgroundColor	      "cyan"
      DropShadow	      on
      FontName		      "Arial"
      FontSize		      14
      WaveForm		      "square"
      Amplitude		      "1.000000"
      Frequency		      "0.100000"
      Units		      "rad/sec"
    }
    Block {
      BlockType		      Scope
      Name		      "Scope"
      Ports		      [1, 0, 0, 0, 0]
      Position		      [730, 16, 770, 74]
      BackgroundColor	      "green"
      DropShadow	      on
      ShowName		      off
      FontName		      "Arial"
      FontSize		      14
      Floating		      off
      Location		      [6, 271, 733, 576]
      Open		      off
      NumInputPorts	      "1"
      TickLabels	      "on"
      ZoomMode		      "on"
      List {
	ListType		AxesTitles
	axes1			"%<SignalLabel>"
      }
      Grid		      "on"
      TimeRange		      "40.000000"
      YMin		      "-2"
      YMax		      "2"
      SaveToWorkspace	      off
      SaveName		      "ScopeData"
      DataFormat	      "Matrix"
      LimitMaxRows	      on
      MaxRows		      "5000"
      Decimation	      "1"
      SampleInput	      off
      SampleTime	      "0"
    }
    Block {
      BlockType		      Sum
      Name		      "Sum"
      Ports		      [2, 1, 0, 0, 0]
      Position		      [140, 127, 160, 178]
      ForegroundColor	      "red"
      DropShadow	      on
      ShowName		      off
      FontName		      "Arial"
      FontSize		      14
      IconShape		      "rectangular"
      Inputs		      "+-"
      SaturateOnIntegerOverflow	on
    }
    Block {
      BlockType		      ToWorkspace
      Name		      "To Workspace"
      Position		      [660, 176, 715, 204]
      BackgroundColor	      "green"
      DropShadow	      on
      ShowName		      off
      FontName		      "Arial"
      FontSize		      14
      VariableName	      "y"
      Buffer		      "10000"
      Decimation	      "1"
      SampleTime	      "0"
      SaveFormat	      "Matrix"
    }
    Block {
      BlockType		      ToWorkspace
      Name		      "To Workspace1"
      Position		      [235, 71, 290, 99]
      BackgroundColor	      "green"
      DropShadow	      on
      ShowName		      off
      FontName		      "Arial"
      FontSize		      14
      VariableName	      "r"
      Buffer		      "10000"
      Decimation	      "1"
      SampleTime	      "0"
      SaveFormat	      "Matrix"
    }
    Block {
      BlockType		      ToWorkspace
      Name		      "To Workspace3"
      Position		      [520, 71, 575, 99]
      BackgroundColor	      "green"
      DropShadow	      on
      ShowName		      off
      FontName		      "Arial"
      FontSize		      14
      VariableName	      "u"
      Buffer		      "10000"
      Decimation	      "1"
      SampleTime	      "0"
      SaveFormat	      "Matrix"
    }
    Line {
      SrcBlock		      "Sum"
      SrcPort		      1
      DstBlock		      "Controller"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Controller"
      SrcPort		      1
      DstBlock		      "Coulombic\nFriction"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Process "
      SrcPort		      1
      Points		      [10, 0]
      Branch {
	Points			[0, 120; -505, 0; 0, -145]
	DstBlock		"Sum"
	DstPort			2
      }
      Branch {
	Points			[24, 0]
	Branch {
	  DstBlock		  "To Workspace"
	  DstPort		  1
	}
	Branch {
	  Points		  [-10, 0; 0, -135]
	  DstBlock		  "Mux"
	  DstPort		  2
	}
      }
    }
    Line {
      SrcBlock		      "Dist"
      SrcPort		      1
      DstBlock		      "Process "
      DstPort		      2
    }
    Line {
      SrcBlock		      "Coulombic\nFriction"
      SrcPort		      1
      Points		      [29, 0]
      Branch {
	DstBlock		"Process "
	DstPort			1
      }
      Branch {
	Points			[0, -70]
	DstBlock		"To Workspace3"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Mux"
      SrcPort		      1
      DstBlock		      "Scope"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Ref"
      SrcPort		      1
      Points		      [14, 0]
      Branch {
	Points			[16, 0]
	Branch {
	  DstBlock		  "Sum"
	  DstPort		  1
	}
	Branch {
	  Points		  [0, -55]
	  DstBlock		  "To Workspace1"
	  DstPort		  1
	}
      }
      Branch {
	Points			[0, -110]
	DstBlock		"Mux"
	DstPort			1
      }
    }
    Annotation {
      Position		      [347, 332]
      VerticalAlignment	      "top"
      ForegroundColor	      "blue"
      Text		      "LOOP TO EVALUATE  DEADZONE COMPENSATION "
      DropShadow	      on
      FontName		      "Arial"
      FontSize		      14
    }
    Annotation {
      Position		      [347, 367]
      VerticalAlignment	      "top"
      ForegroundColor	      "red"
      Text		      "THE USER SHOULD ASSIGN  A VALUE TO THE VARIABLE"
" dz "
      DropShadow	      on
      FontName		      "Arial"
      FontSize		      14
    }
  }
}