Model {
  Name			  "mnpq"
  Version		  3.00
  SimParamPage		  "Solver"
  SampleTimeColors	  off
  InvariantConstants	  off
  WideVectorLines	  off
  ShowLineWidths	  off
  ShowPortDataTypes	  off
  StartTime		  "0.0"
  StopTime		  "20"
  SolverMode		  "SingleTasking"
  Solver		  "ode45"
  RelTol		  "1e-3"
  AbsTol		  "1e-3"
  Refine		  "1"
  MaxStep		  ".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 19:55:48 2000"
  UpdateHistory		  "UpdateHistoryNever"
  ModifiedByFormat	  "%<Auto>"
  ModifiedDateFormat	  "%<Auto>"
  LastModifiedDate	  "Tue Jan 18 19:58:38 2000"
  ModelVersionFormat	  "1.%<AutoIncrement: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		    "mnpq"
    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		      SubSystem
      Name		      "Disturbance"
      Ports		      [0, 1, 0, 0, 0]
      Position		      [240, 64, 340, 96]
      BackgroundColor	      "cyan"
      DropShadow	      on
      ShowName		      off
      FontName		      "Arial"
      FontSize		      14
      ShowPortLabels	      off
      MaskType		      "Input disturbance"
      MaskDescription	      "disturbance"
      MaskHelp		      "This block generates a signal with average valu"
"e Kc and a varying component amplified by Kv"
      MaskPromptString	      "Amplitude  of constant component:|Amplitude  of"
" varying component:"
      MaskStyleString	      "edit,edit"
      MaskTunableValueString  "on,on"
      MaskCallbackString      "|"
      MaskEnableString	      "on,on"
      MaskVisibilityString    "on,on"
      MaskInitialization      "Kc=@1;Kv=@2;"
      MaskDisplay	      "disp('Disturbance')"
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "autoscale"
      MaskValueString	      "1|0.5"
      System {
	Name			"Disturbance"
	Location		[194, 204, 665, 438]
	Open			off
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"cyan"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"usletter"
	PaperUnits		"inches"
	ZoomFactor		"100"
	AutoZoom		on
	Block {
	  BlockType		  SubSystem
	  Name			  "Band-Limited\nWhite Noise"
	  Ports			  [0, 1, 0, 0, 0]
	  Position		  [75, 67, 120, 103]
	  BackgroundColor	  "blue"
	  DropShadow		  on
	  FontName		  "Arial"
	  FontSize		  14
	  ShowPortLabels	  off
	  MaskType		  "Continuous White Noise."
	  MaskDescription	  "White noise for continuous (s-domain) syste"
"ms.\nBand-limited using zero-order-hold."
	  MaskHelp		  "Implemented using white noise into Zero-Ord"
"er Hold block. The seed and power can be vectors of the same length to produc"
"e a vector of white noise sources. For faster simulation, set sample time to "
"the highest value possible but in accordance with the fastest dynamics of sys"
"tem."
	  MaskPromptString	  "Noise Power:|Sample Time:|Seed"
	  MaskStyleString	  "edit,edit,edit"
	  MaskTunableValueString  "on,on,on"
	  MaskCallbackString	  "||"
	  MaskEnableString	  "on,on,on"
	  MaskVisibilityString	  "on,on,on"
	  MaskInitialization	  "Cov = @1; Ts = @2; seed = @3; r = rand(1,12"
"); r2 = [r(1),r;r,r(12)]; t =[1:13;1:13];"
	  MaskDisplay		  "plot(t(:),r2(:))"
	  MaskIconFrame		  on
	  MaskIconOpaque	  on
	  MaskIconRotate	  "none"
	  MaskIconUnits		  "autoscale"
	  MaskValueString	  "[0.1]|0.1|[23341]"
	  System {
	    Name		    "Band-Limited\nWhite Noise"
	    Location		    [56, 339, 341, 468]
	    Open		    off
	    ModelBrowserVisibility  off
	    ModelBrowserWidth	    200
	    ScreenColor		    "blue"
	    PaperOrientation	    "landscape"
	    PaperPositionMode	    "auto"
	    PaperType		    "usletter"
	    PaperUnits		    "inches"
	    ZoomFactor		    "100"
	    AutoZoom		    on
	    Block {
	      BlockType		      Gain
	      Name		      "Gain"
	      Position		      [155, 31, 195, 69]
	      Gain		      "[sqrt(Cov)]/[sqrt(Ts)]"
	      SaturateOnIntegerOverflow	on
	    }
	    Block {
	      BlockType		      RandomNumber
	      Name		      "White Noise"
	      Position		      [25, 40, 45, 60]
	      Mean		      "0"
	      Variance		      "1"
	      Seed		      "seed"
	      SampleTime	      "0"
	    }
	    Block {
	      BlockType		      ZeroOrderHold
	      Name		      "Zero-Order\nHold"
	      Position		      [85, 34, 120, 66]
	      SampleTime	      "Ts"
	    }
	    Block {
	      BlockType		      Outport
	      Name		      "Out_1"
	      Position		      [230, 40, 250, 60]
	      Port		      "1"
	      OutputWhenDisabled      "held"
	      InitialOutput	      "0"
	    }
	    Line {
	      SrcBlock		      "White Noise"
	      SrcPort		      1
	      DstBlock		      "Zero-Order\nHold"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "Gain"
	      SrcPort		      1
	      DstBlock		      "Out_1"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "Zero-Order\nHold"
	      SrcPort		      1
	      DstBlock		      "Gain"
	      DstPort		      1
	    }
	  }
	}
	Block {
	  BlockType		  Step
	  Name			  "Dist-const"
	  Position		  [60, 144, 95, 176]
	  BackgroundColor	  "blue"
	  DropShadow		  on
	  FontName		  "Arial"
	  FontSize		  14
	  Time			  "0"
	  Before		  "0"
	  After			  "1"
	  SampleTime		  "0"
	}
	Block {
	  BlockType		  ZeroPole
	  Name			  "Filter"
	  Position		  [150, 63, 210, 107]
	  ForegroundColor	  "blue"
	  DropShadow		  on
	  FontName		  "Arial"
	  FontSize		  14
	  Zeros			  "z"
	  Poles			  "p"
	  Gain			  "k"
	  MaskType		  "buttap"
	  MaskDescription	  "Analog Butterworth low pass filter.\n\n(Req"
"uires Signal Processing Toolbox)"
	  MaskHelp		  "Butterworth low pass filter using MATLAB's "
"butter command."
	  MaskPromptString	  "Cutoff frequency (rad/sec)|Order"
	  MaskStyleString	  "edit,edit"
	  MaskTunableValueString  "on,on"
	  MaskCallbackString	  "|"
	  MaskEnableString	  "on,on"
	  MaskVisibilityString	  "on,on"
	  MaskInitialization	  "[z,p,k]=buttap(@2); z=@1*z; p=@1*p; k=real("
"prod(-p)); [num,den]=zp2tf(z,p,k); w=logspace(log10(@1/10),log10(10*@1),20); "
"h=freqs(num,den,w); "
	  MaskDisplay		  "plot(20*log10(w),20*log10(abs(h)))"
	  MaskIconFrame		  on
	  MaskIconOpaque	  on
	  MaskIconRotate	  "none"
	  MaskIconUnits		  "autoscale"
	  MaskValueString	  "4|6"
	}
	Block {
	  BlockType		  Gain
	  Name			  "Gain1"
	  Position		  [165, 138, 225, 182]
	  ForegroundColor	  "blue"
	  DropShadow		  on
	  ShowName		  off
	  FontName		  "Arial"
	  FontSize		  14
	  Gain			  "Kc"
	  SaturateOnIntegerOverflow on
	}
	Block {
	  BlockType		  Gain
	  Name			  "Gain2"
	  Position		  [235, 64, 305, 106]
	  ForegroundColor	  "blue"
	  DropShadow		  on
	  ShowName		  off
	  FontName		  "Arial"
	  FontSize		  14
	  Gain			  "Kv"
	  SaturateOnIntegerOverflow on
	}
	Block {
	  BlockType		  Sum
	  Name			  "Sum5"
	  Ports			  [2, 1, 0, 0, 0]
	  Position		  [345, 116, 365, 174]
	  ForegroundColor	  "blue"
	  DropShadow		  on
	  ShowName		  off
	  FontName		  "Arial"
	  FontSize		  14
	  IconShape		  "rectangular"
	  Inputs		  "++"
	  SaturateOnIntegerOverflow on
	}
	Block {
	  BlockType		  Outport
	  Name			  "out_1"
	  Position		  [395, 133, 420, 157]
	  ForegroundColor	  "green"
	  DropShadow		  on
	  FontName		  "Arial"
	  FontSize		  14
	  Port			  "1"
	  OutputWhenDisabled	  "held"
	  InitialOutput		  "0"
	}
	Line {
	  SrcBlock		  "Gain2"
	  SrcPort		  1
	  Points		  [5, 0; 0, 45]
	  DstBlock		  "Sum5"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Filter"
	  SrcPort		  1
	  DstBlock		  "Gain2"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Gain1"
	  SrcPort		  1
	  DstBlock		  "Sum5"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Band-Limited\nWhite Noise"
	  SrcPort		  1
	  DstBlock		  "Filter"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Sum5"
	  SrcPort		  1
	  DstBlock		  "out_1"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Dist-const"
	  SrcPort		  1
	  DstBlock		  "Gain1"
	  DstPort		  1
	}
      }
    }
    Block {
      BlockType		      TransferFcn
      Name		      "Go(s)"
      Position		      [195, 197, 305, 253]
      Orientation	      "left"
      ForegroundColor	      "red"
      DropShadow	      on
      FontName		      "Arial"
      FontSize		      14
      Numerator		      "[-0.2 2]"
      Denominator	      "[1 4 3]"
    }
    Block {
      BlockType		      TransferFcn
      Name		      "Plant"
      Position		      [445, 99, 530, 171]
      BackgroundColor	      "yellow"
      DropShadow	      on
      ShowName		      off
      FontName		      "Arial"
      FontSize		      14
      Numerator		      "[-0.2 2]"
      Denominator	      "conv([1 4 3],[tau 1])"
      MaskType		      "plant"
      MaskDescription	      "plant"
      MaskHelp		      "Plant with unmodelled dynamics. Enter tau=0 for"
" perfect modelling"
      MaskPromptString	      " unmodelled time constant tau:"
      MaskStyleString	      "edit"
      MaskTunableValueString  "on"
      MaskEnableString	      "on"
      MaskVisibilityString    "on"
      MaskInitialization      "tau=@1;"
      MaskDisplay	      "disp('PLANT')"
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "autoscale"
      MaskValueString	      "0"
    }
    Block {
      BlockType		      TransferFcn
      Name		      "Q(s)"
      Position		      [175, 114, 275, 176]
      ForegroundColor	      "red"
      DropShadow	      on
      ShowName		      off
      FontName		      "Arial"
      FontSize		      14
      Numerator		      "nq"
      Denominator	      "dq"
      MaskType		      "Q(s)"
      MaskDescription	      "Q(s)"
      MaskPromptString	      "numerator of Q(s):|denominator of Q(s):"
      MaskStyleString	      "edit,edit"
      MaskTunableValueString  "on,on"
      MaskCallbackString      "|"
      MaskEnableString	      "on,on"
      MaskVisibilityString    "on,on"
      MaskInitialization      "nq=@1;dq=@2;"
      MaskDisplay	      "disp('Q(s)')"
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "autoscale"
      MaskValueString	      "[8 32 24]|[1 4 16]"
    }
    Block {
      BlockType		      Step
      Name		      "Ref"
      Position		      [40, 116, 75, 144]
      BackgroundColor	      "cyan"
      DropShadow	      on
      FontName		      "Arial"
      FontSize		      14
      Time		      "1"
      Before		      "0"
      After		      "1"
      SampleTime	      "0"
    }
    Block {
      BlockType		      Scope
      Name		      "Scope3"
      Ports		      [1, 0, 0, 0, 0]
      Position		      [505, 9, 545, 61]
      BackgroundColor	      "green"
      DropShadow	      on
      ShowName		      off
      FontName		      "Arial"
      FontSize		      14
      Floating		      off
      Location		      [469, 200, 800, 514]
      Open		      off
      NumInputPorts	      "1"
      TickLabels	      "on"
      ZoomMode		      "on"
      List {
	ListType		AxesTitles
	axes1			"%<SignalLabel>"
      }
      Grid		      "on"
      TimeRange		      "20.000000"
      YMin		      "-2.000000"
      YMax		      "2.000000"
      SaveToWorkspace	      off
      SaveName		      "ScopeData"
      DataFormat	      "Matrix"
      LimitMaxRows	      on
      MaxRows		      "5000"
      Decimation	      "1"
      SampleInput	      off
      SampleTime	      "0"
    }
    Block {
      BlockType		      Scope
      Name		      "Scope4"
      Ports		      [1, 0, 0, 0, 0]
      Position		      [615, 109, 655, 161]
      BackgroundColor	      "green"
      DropShadow	      on
      ShowName		      off
      FontName		      "Arial"
      FontSize		      14
      Floating		      off
      Location		      [464, 200, 795, 514]
      Open		      off
      NumInputPorts	      "1"
      TickLabels	      "on"
      ZoomMode		      "on"
      List {
	ListType		AxesTitles
	axes1			"%<SignalLabel>"
      }
      Grid		      "on"
      TimeRange		      "20.000000"
      YMin		      "-2.000000"
      YMax		      "2.000000"
      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		      [120, 119, 140, 166]
      ForegroundColor	      "red"
      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		      [120, 244, 140, 291]
      Orientation	      "left"
      ForegroundColor	      "red"
      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		      [400, 109, 420, 156]
      BackgroundColor	      "yellow"
      DropShadow	      on
      ShowName		      off
      FontName		      "Arial"
      FontSize		      14
      IconShape		      "rectangular"
      Inputs		      "++"
      SaturateOnIntegerOverflow	on
    }
    Block {
      BlockType		      ToWorkspace
      Name		      "To Workspace"
      Position		      [620, 184, 670, 206]
      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		      [135, 19, 185, 41]
      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 Workspace2"
      Position		      [410, 24, 460, 46]
      BackgroundColor	      "green"
      DropShadow	      on
      ShowName		      off
      FontName		      "Arial"
      FontSize		      14
      VariableName	      "d"
      Buffer		      "10000"
      Decimation	      "1"
      SampleTime	      "0"
      SaveFormat	      "Matrix"
    }
    Line {
      SrcBlock		      "Sum"
      SrcPort		      1
      DstBlock		      "Q(s)"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Go(s)"
      SrcPort		      1
      Points		      [-35, 0]
      DstBlock		      "Sum3"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Sum3"
      SrcPort		      1
      Points		      [-20, 0; 0, -115]
      DstBlock		      "Sum"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Q(s)"
      SrcPort		      1
      Points		      [112, 0]
      Branch {
	DstBlock		"Sum4"
	DstPort			2
      }
      Branch {
	Points			[-55, 0; 0, 80]
	DstBlock		"Go(s)"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Plant"
      SrcPort		      1
      Points		      [50, 0]
      Branch {
	DstBlock		"Scope4"
	DstPort			1
      }
      Branch {
	Points			[-10, 0; 0, 60; 10, 0]
	Branch {
	  Points		  [-10, 0; 0, 85]
	  DstBlock		  "Sum3"
	  DstPort		  2
	}
	Branch {
	  DstBlock		  "To Workspace"
	  DstPort		  1
	}
      }
    }
    Line {
      SrcBlock		      "Sum4"
      SrcPort		      1
      DstBlock		      "Plant"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Disturbance"
      SrcPort		      1
      Points		      [32, 0]
      Branch {
	Points			[-12, 0; 0, 40; 30, 0]
	Branch {
	  DstBlock		  "Sum4"
	  DstPort		  1
	}
	Branch {
	  Points		  [-30, 0; 0, -40; 125, 0]
	  DstBlock		  "Scope3"
	  DstPort		  1
	}
      }
      Branch {
	Points			[0, -45]
	DstBlock		"To Workspace2"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Ref"
      SrcPort		      1
      Points		      [0, 0]
      Branch {
	DstBlock		"Sum"
	DstPort			1
      }
      Branch {
	Points			[15, 0; 0, -100]
	DstBlock		"To Workspace1"
	DstPort			1
      }
    }
    Annotation {
      Position		      [352, 317]
      VerticalAlignment	      "top"
      ForegroundColor	      "blue"
      Text		      "SCHEMATIC TO EVALUATE DISTURBANCE COMPENSATION "
"AND  ROBUSTNESS\nIN THE IMC CONTROL OF A NON MINIMUM PHASE PLANT "
      DropShadow	      on
      FontName		      "Arial"
      FontSize		      14
    }
    Annotation {
      Position		      [372, 362]
      VerticalAlignment	      "top"
      ForegroundColor	      "red"
      Text		      "THE USER CAN PROVIDE HIS (HER) OWN CONTROLLER ("
"DOUBLE CLICK ON BOX Q(s))"
      DropShadow	      on
      FontName		      "Arial"
      FontSize		      14
    }
    Annotation {
      Position		      [367, 397]
      VerticalAlignment	      "top"
      ForegroundColor	      "red"
      Text		      "SELECT THE UNMODELLED TIME CONSTANT tau (DOUBLE"
" CLICK ON BOX PLANT)"
      DropShadow	      on
      FontName		      "Arial"
      FontSize		      14
    }
  }
}