Model {
  Name			  "PIAWUP"
  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		  "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 20:43:42 2000"
  UpdateHistory		  "UpdateHistoryNever"
  ModifiedByFormat	  "%<Auto>"
  ModifiedDateFormat	  "%<Auto>"
  LastModifiedDate	  "Tue Jan 18 20:45:48 2000"
  ModelVersionFormat	  "1.%<AutoIncrement:2>"
  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		    "PIAWUP"
    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		      Step
      Name		      "Dist"
      Position		      [520, 100, 550, 130]
      BackgroundColor	      "cyan"
      DropShadow	      on
      FontName		      "Arial"
      FontSize		      14
      Time		      "10"
      Before		      "0"
      After		      "-1"
      SampleTime	      "0"
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    Block {
      BlockType		      Mux
      Name		      "Mux"
      Ports		      [2, 1, 0, 0, 0]
      Position		      [660, 45, 705, 85]
      ForegroundColor	      "green"
      DropShadow	      on
      ShowName		      off
      FontName		      "Arial"
      FontSize		      14
      Inputs		      "2"
      DisplayOption	      "none"
    }
    Block {
      BlockType		      TransferFcn
      Name		      "Plant"
      Position		      [460, 174, 550, 236]
      BackgroundColor	      "yellow"
      DropShadow	      on
      FontName		      "Arial"
      FontSize		      14
      Numerator		      "2"
      Denominator	      "[1 3 2]"
    }
    Block {
      BlockType		      ToWorkspace
      Name		      "Planta"
      Position		      [690, 182, 730, 208]
      BackgroundColor	      "green"
      DropShadow	      on
      ShowName		      off
      FontName		      "Arial"
      FontSize		      14
      VariableName	      "y"
      Buffer		      "6000"
      Decimation	      "1"
      SampleTime	      "0"
      SaveFormat	      "Matrix"
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    Block {
      BlockType		      Step
      Name		      "Ref"
      Position		      [25, 179, 55, 211]
      BackgroundColor	      "cyan"
      DropShadow	      on
      FontName		      "Arial"
      FontSize		      14
      Time		      "1"
      Before		      "0"
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      SampleTime	      "0"
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    Block {
      BlockType		      Saturate
      Name		      "Saturation"
      Position		      [375, 185, 415, 225]
      BackgroundColor	      "yellow"
      DropShadow	      on
      ShowName		      off
      FontName		      "Arial"
      FontSize		      14
      UpperLimit	      "3"
      LowerLimit	      "-3"
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    Block {
      BlockType		      Scope
      Name		      "Scope"
      Ports		      [1, 0, 0, 0, 0]
      Position		      [730, 40, 775, 90]
      BackgroundColor	      "green"
      DropShadow	      on
      ShowName		      off
      FontName		      "Arial"
      FontSize		      14
      Floating		      off
      Location		      [250, 280, 795, 594]
      Open		      off
      NumInputPorts	      "1"
      TickLabels	      "on"
      ZoomMode		      "on"
      List {
	ListType		AxesTitles
	axes1			"%<SignalLabel>"
      }
      Grid		      "on"
      TimeRange		      "20.000000"
      YMin		      "-1.2"
      YMax		      "1.2"
      SaveToWorkspace	      off
      SaveName		      "ScopeData"
      DataFormat	      "Matrix"
      LimitMaxRows	      on
      MaxRows		      "5000"
      Decimation	      "1"
      SampleInput	      off
      SampleTime	      "0"
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    Block {
      BlockType		      SubSystem
      Name		      "Subsystem"
      Ports		      [1, 1, 0, 0, 0]
      Position		      [180, 170, 290, 240]
      ForegroundColor	      "red"
      DropShadow	      on
      ShowName		      off
      FontName		      "Arial"
      FontSize		      14
      ShowPortLabels	      off
      MaskType		      "Controller with anti wind up feature"
      MaskDescription	      "Controller"
      MaskHelp		      "Linear controller with ONE pole at s=0"
      MaskPromptString	      "Controller numerator nc:|Controller denominator"
" dc:| Saturation level sat:"
      MaskStyleString	      "edit,edit,edit"
      MaskTunableValueString  "on,on,on"
      MaskCallbackString      "||"
      MaskEnableString	      "on,on,on"
      MaskVisibilityString    "on,on,on"
      MaskInitialization      "nc=@1;dc=@2;sat=@3;"
      MaskDisplay	      "disp('C(s)-AWUP')"
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "autoscale"
      MaskValueString	      "[50 150 100]|[1 13 0]|3"
      System {
	Name			"Subsystem"
	Location		[0, 42, 800, 576]
	Open			off
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"white"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"usletter"
	PaperUnits		"inches"
	ZoomFactor		"100"
	AutoZoom		on
	Block {
	  BlockType		  Inport
	  Name			  "in_1"
	  Position		  [10, 71, 35, 99]
	  ForegroundColor	  "blue"
	  DropShadow		  on
	  FontName		  "Arial"
	  FontSize		  14
	  Port			  "1"
	  PortWidth		  "-1"
	  SampleTime		  "-1"
	  DataType		  "auto"
	  SignalType		  "auto"
	  Interpolate		  on
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	Block {
	  BlockType		  Abs
	  Name			  "Abs"
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	  Orientation		  "left"
	  ForegroundColor	  "red"
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	  ShowName		  off
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	Block {
	  BlockType		  Constant
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	  ForegroundColor	  "blue"
	  DropShadow		  on
	  ShowName		  off
	  FontName		  "Arial"
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	  Value			  "sat"
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	Block {
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	  Orientation		  "left"
	  ForegroundColor	  "blue"
	  DropShadow		  on
	  ShowName		  off
	  FontName		  "Arial"
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	Block {
	  BlockType		  Constant
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	  Orientation		  "left"
	  ForegroundColor	  "blue"
	  DropShadow		  on
	  ShowName		  off
	  FontName		  "Arial"
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	Block {
	  BlockType		  TransferFcn
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	  Position		  [255, 177, 525, 263]
	  ForegroundColor	  "red"
	  DropShadow		  on
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	  FontName		  "Arial"
	  FontSize		  14
	  Numerator		  "nc(length(nc))/dc(length(dc)-1)"
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	Block {
	  BlockType		  TransferFcn
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	  ForegroundColor	  "red"
	  DropShadow		  on
	  NamePlacement		  "alternate"
	  FontName		  "Arial"
	  FontSize		  14
	  Numerator		  "nc(1:length(nc)-1)-[0 dc(1:length(dc)-2)]*n"
"c(length(nc))/dc(length(dc)-1)"
	  Denominator		  "dc(1: length(dc)-1)"
	}
	Block {
	  BlockType		  Product
	  Name			  "Product"
	  Ports			  [2, 1, 0, 0, 0]
	  Position		  [200, 199, 220, 241]
	  ForegroundColor	  "red"
	  DropShadow		  on
	  ShowName		  off
	  FontName		  "Arial"
	  FontSize		  14
	  Inputs		  "2"
	  SaturateOnIntegerOverflow on
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	Block {
	  BlockType		  Sum
	  Name			  "Sum1"
	  Ports			  [2, 1, 0, 0, 0]
	  Position		  [365, 293, 385, 382]
	  Orientation		  "left"
	  ForegroundColor	  "red"
	  DropShadow		  on
	  ShowName		  off
	  FontName		  "Arial"
	  FontSize		  14
	  IconShape		  "rectangular"
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	Block {
	  BlockType		  Sum
	  Name			  "Sum3"
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	  Position		  [595, 43, 625, 207]
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	  FontName		  "Arial"
	  FontSize		  14
	  IconShape		  "rectangular"
	  Inputs		  "++"
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	Block {
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	  Orientation		  "left"
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	  FontSize		  14
	  Threshold		  "0"
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	Block {
	  BlockType		  Outport
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	  FontName		  "Arial"
	  FontSize		  14
	  Port			  "1"
	  OutputWhenDisabled	  "held"
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	  Points		  [-45, 0; 0, -110]
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	Line {
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	  DstBlock		  "Sum1"
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	Line {
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	Line {
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	  Points		  [30, 0]
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	    DstBlock		    "out_1"
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	  Branch {
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	    DstBlock		    "Abs"
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	  Points		  [35, 0; 0, -55]
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	    DstBlock		    "Product"
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	Annotation {
	  Position		  [702, 62]
	  VerticalAlignment	  "top"
	  ForegroundColor	  "green"
	  Text			  "Controller\n output"
	  FontName		  "Arial"
	  FontSize		  14
	}
	Annotation {
	  Position		  [72, 55]
	  VerticalAlignment	  "top"
	  ForegroundColor	  "blue"
	  Text			  "error"
	  FontName		  "Arial"
	  FontSize		  14
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    Block {
      BlockType		      Sum
      Name		      "Sum"
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      Position		      [135, 184, 155, 226]
      ForegroundColor	      "red"
      DropShadow	      on
      ShowName		      off
      FontName		      "Arial"
      FontSize		      14
      IconShape		      "rectangular"
      Inputs		      "+-"
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    Block {
      BlockType		      Sum
      Name		      "Sum2"
      Ports		      [2, 1, 0, 0, 0]
      Position		      [600, 174, 620, 216]
      BackgroundColor	      "yellow"
      DropShadow	      on
      ShowName		      off
      FontName		      "Arial"
      FontSize		      14
      IconShape		      "rectangular"
      Inputs		      "++"
      SaturateOnIntegerOverflow	on
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    Block {
      BlockType		      ToWorkspace
      Name		      "control"
      Position		      [360, 98, 400, 122]
      BackgroundColor	      "green"
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      ShowName		      off
      FontName		      "Arial"
      FontSize		      14
      VariableName	      "u"
      Buffer		      "6000"
      Decimation	      "1"
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      FontSize		      14
      VariableName	      "r"
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      Points		      [20, 0; 0, 70]
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      DstBlock		      "Plant"
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      DstBlock		      "Subsystem"
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      Points		      [35, 0]
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      Points		      [10, 0]
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	DstBlock		"control"
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      SrcPort		      1
      DstBlock		      "Scope"
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    Annotation {
      Position		      [387, 337]
      VerticalAlignment	      "top"
      ForegroundColor	      "blue"
      Text		      "CONTROLLER  FREEZING INTEGRAL ACTION TO AVOID W"
"IND-UP, \nWHEN ITS OUTPUT  SATURATES "
      DropShadow	      on
      FontName		      "Arial"
      FontSize		      14
    }
    Annotation {
      Position		      [387, 382]
      VerticalAlignment	      "top"
      ForegroundColor	      "red"
      Text		      "TO SET THE CONTROLLER PARAMETERS, DOUBLE CLICK "
"ON THE BOX C(s)-AWUP.\nWARNING: YOU MAST INSERT LEADING ZEROS IN THE NUMERATO"
"R VECTOR, IF NECESSARY,\nTO MAKE IT OF THE SAME LENGTH AS THE DENOMINATOR."
      DropShadow	      on
      FontName		      "Arial"
      FontSize		      14
    }
    Annotation {
      Position		      [502, 262]
      VerticalAlignment	      "top"
      Text		      "(linear part)"
      FontName		      "Arial"
      FontSize		      14
    }
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}