Model {
  Name			  "mimo2"
  Version		  3.00
  SimParamPage		  "Solver"
  SampleTimeColors	  off
  InvariantConstants	  off
  WideVectorLines	  on
  ShowLineWidths	  off
  ShowPortDataTypes	  off
  StartTime		  "0.0"
  StopTime		  "50"
  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 21:19:07 2000"
  UpdateHistory		  "UpdateHistoryNever"
  ModifiedByFormat	  "%<Auto>"
  ModifiedDateFormat	  "%<Auto>"
  LastModifiedDate	  "Tue Jan 18 21:29:48 2000"
  ModelVersionFormat	  "1.%<AutoIncrement:7>"
  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		    "mimo2"
    Location		    [2, 72, 798, 539]
    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		      Inport
      Name		      "in1"
      Position		      [110, 91, 135, 119]
      ForegroundColor	      "blue"
      DropShadow	      on
      FontName		      "Arial"
      FontSize		      14
      Port		      "1"
      PortWidth		      "-1"
      SampleTime	      "-1"
      DataType		      "auto"
      SignalType	      "auto"
      Interpolate	      on
    }
    Block {
      BlockType		      Inport
      Name		      "in2"
      Position		      [85, 182, 110, 208]
      ForegroundColor	      "blue"
      DropShadow	      on
      FontName		      "Arial"
      FontSize		      14
      Port		      "2"
      PortWidth		      "-1"
      SampleTime	      "-1"
      DataType		      "auto"
      SignalType	      "auto"
      Interpolate	      on
    }
    Block {
      BlockType		      Demux
      Name		      "Demux"
      Ports		      [1, 2, 0, 0, 0]
      Position		      [385, 45, 445, 165]
      ForegroundColor	      "red"
      DropShadow	      on
      ShowName		      off
      FontName		      "Arial"
      FontSize		      14
      Outputs		      "2"
    }
    Block {
      BlockType		      Step
      Name		      "Di_1"
      Position		      [400, 288, 425, 312]
      BackgroundColor	      "cyan"
      DropShadow	      on
      FontName		      "Arial"
      FontSize		      14
      Time		      "20"
      Before		      "0"
      After		      "1"
      SampleTime	      "0"
    }
    Block {
      BlockType		      Step
      Name		      "Di_2"
      Position		      [470, 213, 495, 237]
      BackgroundColor	      "cyan"
      DropShadow	      on
      FontName		      "Arial"
      FontSize		      14
      Time		      "30"
      Before		      "0"
      After		      "-1"
      SampleTime	      "0"
    }
    Block {
      BlockType		      Mux
      Name		      "Mux"
      Ports		      [2, 1, 0, 0, 0]
      Position		      [645, 167, 690, 218]
      ForegroundColor	      "green"
      DropShadow	      on
      ShowName		      off
      FontName		      "Arial"
      FontSize		      14
      Inputs		      "2"
      DisplayOption	      "none"
    }
    Block {
      BlockType		      Mux
      Name		      "Mux1"
      Ports		      [2, 1, 0, 0, 0]
      Position		      [230, 150, 270, 270]
      ForegroundColor	      "red"
      DropShadow	      on
      ShowName		      off
      FontName		      "Arial"
      FontSize		      14
      Inputs		      "2"
      DisplayOption	      "none"
    }
    Block {
      BlockType		      SubSystem
      Name		      "Plant"
      Ports		      [4, 2, 0, 0, 0]
      Position		      [545, 46, 605, 254]
      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			"Plant"
	Location		[0, 42, 800, 576]
	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		  [80, 45, 100, 65]
	  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		  [30, 353, 50, 377]
	  ForegroundColor	  "blue"
	  DropShadow		  on
	  FontName		  "Arial"
	  FontSize		  14
	  Port			  "2"
	  PortWidth		  "-1"
	  SampleTime		  "-1"
	  DataType		  "auto"
	  SignalType		  "auto"
	  Interpolate		  on
	}
	Block {
	  BlockType		  Inport
	  Name			  "Inport"
	  Position		  [80, 395, 100, 415]
	  ForegroundColor	  "blue"
	  DropShadow		  on
	  FontName		  "Arial"
	  FontSize		  14
	  Port			  "3"
	  PortWidth		  "-1"
	  SampleTime		  "-1"
	  DataType		  "auto"
	  SignalType		  "auto"
	  Interpolate		  on
	}
	Block {
	  BlockType		  Inport
	  Name			  "Inport1"
	  Position		  [155, 430, 175, 450]
	  ForegroundColor	  "blue"
	  DropShadow		  on
	  FontName		  "Arial"
	  FontSize		  14
	  Port			  "4"
	  PortWidth		  "-1"
	  SampleTime		  "-1"
	  DataType		  "auto"
	  SignalType		  "auto"
	  Interpolate		  on
	}
	Block {
	  BlockType		  TransferFcn
	  Name			  "G_11(s)"
	  Position		  [355, 41, 450, 89]
	  DropShadow		  on
	  FontName		  "Arial"
	  FontSize		  14
	  Numerator		  "2"
	  Denominator		  "[1 2 0]"
	}
	Block {
	  BlockType		  TransferFcn
	  Name			  "G_12(s)"
	  Position		  [305, 163, 455, 217]
	  DropShadow		  on
	  FontName		  "Arial"
	  FontSize		  14
	  Numerator		  "-0.5"
	  Denominator		  "[1  2  ]"
	}
	Block {
	  BlockType		  TransferFcn
	  Name			  "G_21(s)"
	  Position		  [260, 251, 370, 299]
	  DropShadow		  on
	  FontName		  "Arial"
	  FontSize		  14
	  Numerator		  "1"
	  Denominator		  "[1 3 2]"
	}
	Block {
	  BlockType		  TransferFcn
	  Name			  "G_22(s)"
	  Position		  [350, 352, 445, 398]
	  DropShadow		  on
	  FontName		  "Arial"
	  FontSize		  14
	  Numerator		  "2"
	  Denominator		  "[1 3 2]"
	}
	Block {
	  BlockType		  Sum
	  Name			  "Sum1"
	  Ports			  [2, 1, 0, 0, 0]
	  Position		  [605, 55, 625, 90]
	  DropShadow		  on
	  ShowName		  off
	  FontName		  "Arial"
	  FontSize		  14
	  IconShape		  "rectangular"
	  Inputs		  "++"
	  SaturateOnIntegerOverflow on
	}
	Block {
	  BlockType		  Sum
	  Name			  "Sum3"
	  Ports			  [2, 1, 0, 0, 0]
	  Position		  [615, 350, 635, 385]
	  DropShadow		  on
	  ShowName		  off
	  FontName		  "Arial"
	  FontSize		  14
	  IconShape		  "rectangular"
	  Inputs		  "++"
	  SaturateOnIntegerOverflow on
	}
	Block {
	  BlockType		  Sum
	  Name			  "Sum4"
	  Ports			  [2, 1, 0, 0, 0]
	  Position		  [260, 356, 280, 389]
	  DropShadow		  on
	  ShowName		  off
	  FontName		  "Arial"
	  FontSize		  14
	  IconShape		  "rectangular"
	  Inputs		  "++"
	  SaturateOnIntegerOverflow on
	}
	Block {
	  BlockType		  Sum
	  Name			  "Sum5"
	  Ports			  [2, 1, 0, 0, 0]
	  Position		  [245, 45, 265, 80]
	  DropShadow		  on
	  ShowName		  off
	  FontName		  "Arial"
	  FontSize		  14
	  IconShape		  "rectangular"
	  Inputs		  "++"
	  SaturateOnIntegerOverflow on
	}
	Block {
	  BlockType		  Outport
	  Name			  "out_1"
	  Position		  [670, 65, 690, 85]
	  ForegroundColor	  "green"
	  DropShadow		  on
	  FontName		  "Arial"
	  FontSize		  14
	  Port			  "1"
	  OutputWhenDisabled	  "held"
	  InitialOutput		  "0"
	}
	Block {
	  BlockType		  Outport
	  Name			  "out_2"
	  Position		  [690, 360, 710, 380]
	  ForegroundColor	  "green"
	  DropShadow		  on
	  FontName		  "Arial"
	  FontSize		  14
	  Port			  "2"
	  OutputWhenDisabled	  "held"
	  InitialOutput		  "0"
	}
	Line {
	  SrcBlock		  "G_11(s)"
	  SrcPort		  1
	  DstBlock		  "Sum1"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Sum1"
	  SrcPort		  1
	  DstBlock		  "out_1"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "G_12(s)"
	  SrcPort		  1
	  Points		  [95, 0; 0, -110]
	  DstBlock		  "Sum1"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Sum5"
	  SrcPort		  1
	  DstBlock		  "G_11(s)"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "in_1"
	  SrcPort		  1
	  Points		  [54, 0]
	  Branch {
	    DstBlock		    "Sum5"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, 220]
	    DstBlock		    "G_21(s)"
	    DstPort		    1
	  }
	}
	Line {
	  SrcBlock		  "G_21(s)"
	  SrcPort		  1
	  Points		  [225, 0]
	  DstBlock		  "Sum3"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Sum3"
	  SrcPort		  1
	  DstBlock		  "out_2"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Sum4"
	  SrcPort		  1
	  DstBlock		  "G_22(s)"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "G_22(s)"
	  SrcPort		  1
	  DstBlock		  "Sum3"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Inport1"
	  SrcPort		  1
	  Points		  [45, 0; 0, -60]
	  DstBlock		  "Sum4"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "in_2"
	  SrcPort		  1
	  Points		  [89, 0]
	  Branch {
	    DstBlock		    "Sum4"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, -175]
	    DstBlock		    "G_12(s)"
	    DstPort		    1
	  }
	}
	Line {
	  SrcBlock		  "Inport"
	  SrcPort		  1
	  Points		  [20, 0; 0, -335]
	  DstBlock		  "Sum5"
	  DstPort		  2
	}
      }
    }
    Block {
      BlockType		      Step
      Name		      "Ref1"
      Position		      [25, 72, 50, 98]
      BackgroundColor	      "cyan"
      DropShadow	      on
      FontName		      "Arial"
      FontSize		      14
      Time		      "1"
      Before		      "0"
      After		      "1"
      SampleTime	      "0"
    }
    Block {
      BlockType		      Step
      Name		      "Ref2"
      Position		      [25, 287, 50, 313]
      BackgroundColor	      "cyan"
      DropShadow	      on
      FontName		      "Arial"
      FontSize		      14
      Time		      "10"
      Before		      "0"
      After		      "-1"
      SampleTime	      "0"
    }
    Block {
      BlockType		      Scope
      Name		      "Scope"
      Ports		      [1, 0, 0, 0, 0]
      Position		      [710, 168, 755, 222]
      BackgroundColor	      "green"
      DropShadow	      on
      ShowName		      off
      FontName		      "Arial"
      FontSize		      14
      Floating		      off
      Location		      [261, 201, 741, 515]
      Open		      off
      NumInputPorts	      "1"
      TickLabels	      "on"
      ZoomMode		      "on"
      List {
	ListType		AxesTitles
	axes1			"%<SignalLabel>"
      }
      Grid		      "on"
      TimeRange		      "50.000000"
      YMin		      "-2"
      YMax		      "2"
      SaveToWorkspace	      off
      SaveName		      "ScopeData"
      DataFormat	      "Matrix"
      LimitMaxRows	      on
      MaxRows		      "5000"
      Decimation	      "1"
      SampleInput	      off
      SampleTime	      "0"
    }
    Block {
      BlockType		      StateSpace
      Name		      "State-Space\nform"
      Position		      [290, 158, 350, 262]
      ForegroundColor	      "red"
      DropShadow	      on
      ShowName		      off
      FontName		      "Arial"
      FontSize		      14
      A			      "A-J*C-B*K"
      B			      "J"
      C			      "K"
      D			      "0*(B'*B)"
      X0		      "0"
      MaskType		      "Controller block"
      MaskDescription	      "Controller"
      MaskHelp		      "This controller is implemented as shown in sect"
"ion 11.5, in Princicples of Control Design"
      MaskPromptString	      "matrix A:|matrix B:|matrix C:|observer gain mat"
"rix J:|feedback gain matrix K: "
      MaskStyleString	      "edit,edit,edit,edit,edit"
      MaskTunableValueString  "on,on,on,on,on"
      MaskCallbackString      "||||"
      MaskEnableString	      "on,on,on,on,on"
      MaskVisibilityString    "on,on,on,on,on"
      MaskInitialization      "A=@1;B=@2;C=@3;J=@4;K=@5"
      MaskDisplay	      "disp('CONT')"
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "autoscale"
      MaskValueString	      "A|B|C|J|K"
    }
    Block {
      BlockType		      Sum
      Name		      "Sum"
      Ports		      [3, 1, 0, 0, 0]
      Position		      [180, 56, 205, 114]
      ForegroundColor	      "red"
      DropShadow	      on
      ShowName		      off
      FontName		      "Arial"
      FontSize		      14
      IconShape		      "rectangular"
      Inputs		      "-++"
      SaturateOnIntegerOverflow	on
    }
    Block {
      BlockType		      Sum
      Name		      "Sum2"
      Ports		      [3, 1, 0, 0, 0]
      Position		      [140, 210, 165, 270]
      ForegroundColor	      "red"
      DropShadow	      on
      ShowName		      off
      FontName		      "Arial"
      FontSize		      14
      IconShape		      "rectangular"
      Inputs		      "++-"
      SaturateOnIntegerOverflow	on
    }
    Block {
      BlockType		      ToWorkspace
      Name		      "cont1"
      Position		      [475, 33, 520, 57]
      BackgroundColor	      "green"
      DropShadow	      on
      ShowName		      off
      FontName		      "Arial"
      FontSize		      14
      VariableName	      "u1"
      Buffer		      "10000"
      Decimation	      "1"
      SampleTime	      "0"
      SaveFormat	      "Matrix"
    }
    Block {
      BlockType		      ToWorkspace
      Name		      "cont2"
      Position		      [480, 143, 525, 167]
      BackgroundColor	      "green"
      DropShadow	      on
      ShowName		      off
      FontName		      "Arial"
      FontSize		      14
      VariableName	      "u2"
      Buffer		      "10000"
      Decimation	      "1"
      SampleTime	      "0"
      SaveFormat	      "Matrix"
    }
    Block {
      BlockType		      ToWorkspace
      Name		      "dist1"
      Position		      [500, 289, 545, 311]
      BackgroundColor	      "green"
      DropShadow	      on
      ShowName		      off
      FontName		      "Arial"
      FontSize		      14
      VariableName	      "d1"
      Buffer		      "10000"
      Decimation	      "1"
      SampleTime	      "0"
      SaveFormat	      "Matrix"
    }
    Block {
      BlockType		      ToWorkspace
      Name		      "dist2"
      Position		      [555, 269, 600, 291]
      BackgroundColor	      "green"
      DropShadow	      on
      ShowName		      off
      FontName		      "Arial"
      FontSize		      14
      VariableName	      "d2"
      Buffer		      "10000"
      Decimation	      "1"
      SampleTime	      "0"
      SaveFormat	      "Matrix"
    }
    Block {
      BlockType		      ToWorkspace
      Name		      "plant1"
      Position		      [695, 123, 740, 147]
      BackgroundColor	      "green"
      DropShadow	      on
      ShowName		      off
      FontName		      "Arial"
      FontSize		      14
      VariableName	      "y1"
      Buffer		      "10000"
      Decimation	      "1"
      SampleTime	      "0"
      SaveFormat	      "Matrix"
    }
    Block {
      BlockType		      ToWorkspace
      Name		      "plant2"
      Position		      [690, 268, 735, 292]
      BackgroundColor	      "green"
      DropShadow	      on
      ShowName		      off
      FontName		      "Arial"
      FontSize		      14
      VariableName	      "y2"
      Buffer		      "10000"
      Decimation	      "1"
      SampleTime	      "0"
      SaveFormat	      "Matrix"
    }
    Block {
      BlockType		      ToWorkspace
      Name		      "ref_1"
      Position		      [15, 153, 60, 177]
      Orientation	      "left"
      BackgroundColor	      "green"
      DropShadow	      on
      ShowName		      off
      FontName		      "Arial"
      FontSize		      14
      VariableName	      "r1"
      Buffer		      "10000"
      Decimation	      "1"
      SampleTime	      "0"
      SaveFormat	      "Matrix"
    }
    Block {
      BlockType		      ToWorkspace
      Name		      "ref_2"
      Position		      [15, 228, 60, 252]
      Orientation	      "left"
      BackgroundColor	      "green"
      DropShadow	      on
      ShowName		      off
      FontName		      "Arial"
      FontSize		      14
      VariableName	      "r2"
      Buffer		      "10000"
      Decimation	      "1"
      SampleTime	      "0"
      SaveFormat	      "Matrix"
    }
    Block {
      BlockType		      Outport
      Name		      "out1"
      Position		      [715, 19, 735, 41]
      ForegroundColor	      "green"
      DropShadow	      on
      FontName		      "Arial"
      FontSize		      14
      Port		      "1"
      OutputWhenDisabled      "held"
      InitialOutput	      "0"
    }
    Block {
      BlockType		      Outport
      Name		      "out2"
      Position		      [695, 327, 720, 353]
      ForegroundColor	      "green"
      DropShadow	      on
      FontName		      "Arial"
      FontSize		      14
      Port		      "2"
      OutputWhenDisabled      "held"
      InitialOutput	      "0"
    }
    Line {
      SrcBlock		      "Mux"
      SrcPort		      1
      DstBlock		      "Scope"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Plant"
      SrcPort		      2
      Points		      [20, 0; 0, 5]
      Branch {
	DstBlock		"Mux"
	DstPort			2
      }
      Branch {
	Points			[0, 70; 45, 0]
	Branch {
	  DstBlock		  "plant2"
	  DstPort		  1
	}
	Branch {
	  Points		  [-10, 0; 0, 50]
	  Branch {
	    Points		    [0, 10; -540, 0]
	    DstBlock		    "Sum2"
	    DstPort		    3
	  }
	  Branch {
	    Points		    [0, 10]
	    DstBlock		    "out2"
	    DstPort		    1
	  }
	}
      }
    }
    Line {
      SrcBlock		      "Plant"
      SrcPort		      1
      Points		      [20, 0; 0, 35]
      Branch {
	DstBlock		"Mux"
	DstPort			1
      }
      Branch {
	Points			[45, 0]
	Branch {
	  DstBlock		  "plant1"
	  DstPort		  1
	}
	Branch {
	  Points		  [0, -105]
	  Branch {
	    Points		    [0, -10; -510, 0]
	    DstBlock		    "Sum"
	    DstPort		    1
	  }
	  Branch {
	    DstBlock		    "out1"
	    DstPort		    1
	  }
	}
      }
    }
    Line {
      SrcBlock		      "Sum2"
      SrcPort		      1
      DstBlock		      "Mux1"
      DstPort		      2
    }
    Line {
      SrcBlock		      "in1"
      SrcPort		      1
      DstBlock		      "Sum"
      DstPort		      3
    }
    Line {
      SrcBlock		      "Sum"
      SrcPort		      1
      Points		      [5, 0]
      DstBlock		      "Mux1"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Ref1"
      SrcPort		      1
      Points		      [105, 0]
      Branch {
	DstBlock		"Sum"
	DstPort			2
      }
      Branch {
	Points			[-77, 0; 0, 80]
	DstBlock		"ref_1"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Mux1"
      SrcPort		      1
      DstBlock		      "State-Space\nform"
      DstPort		      1
    }
    Line {
      SrcBlock		      "State-Space\nform"
      SrcPort		      1
      Points		      [15, 0]
      DstBlock		      "Demux"
      DstPort		      1
    }
    Line {
      SrcBlock		      "in2"
      SrcPort		      1
      Points		      [5, 0; 0, 25]
      DstBlock		      "Sum2"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Ref2"
      SrcPort		      1
      Points		      [30, 0; 0, -60; -10, 0]
      Branch {
	DstBlock		"ref_2"
	DstPort			1
      }
      Branch {
	DstBlock		"Sum2"
	DstPort			2
      }
    }
    Line {
      SrcBlock		      "Di_1"
      SrcPort		      1
      Points		      [15, 0; 0, -10]
      Branch {
	Points			[0, 10]
	DstBlock		"dist1"
	DstPort			1
      }
      Branch {
	Points			[0, -115]
	DstBlock		"Plant"
	DstPort			3
      }
    }
    Line {
      SrcBlock		      "Demux"
      SrcPort		      2
      Points		      [0, 0]
      Branch {
	Points			[80, 0]
	DstBlock		"Plant"
	DstPort			2
      }
      Branch {
	Points			[15, 0]
	DstBlock		"cont2"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Demux"
      SrcPort		      1
      Points		      [10, 0]
      Branch {
	DstBlock		"Plant"
	DstPort			1
      }
      Branch {
	DstBlock		"cont1"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Di_2"
      SrcPort		      1
      Points		      [15, 0]
      Branch {
	DstBlock		"Plant"
	DstPort			4
      }
      Branch {
	Points			[0, 55]
	DstBlock		"dist2"
	DstPort			1
      }
    }
    Annotation {
      Position		      [322, 407]
      VerticalAlignment	      "top"
      ForegroundColor	      "red"
      Text		      "FOR OTHER CASES, THE USER MUST PROVIDE VALUES F"
"OR THE MATRICES A,B,C,J AND K\nREQUIRED BY THE CONTROLLER (DOUBLE CLICK ON BL"
"OCK CONT)"
      DropShadow	      on
      FontName		      "Arial"
      FontSize		      14
    }
    Annotation {
      Position		      [287, 357]
      VerticalAlignment	      "top"
      ForegroundColor	      "blue"
      Text		      "MIMO CONTROL LOOP BASED ON OBSERVER PLUS STATE "
"ESTIMATE FEEDBACK\n(load first the MATLAB data file mimo2.mat)  "
      DropShadow	      on
      FontName		      "Arial"
      FontSize		      14
    }
    Annotation {
      Position		      [727, 409]
      Text		      "Input and output ports \nhave been added \nto u"
"se the linmod command"
    }
  }
}