Model {
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  Version		  3.00
  SimParamPage		  "Solver"
  SampleTimeColors	  off
  InvariantConstants	  off
  WideVectorLines	  off
  ShowLineWidths	  off
  ShowPortDataTypes	  off
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  StopTime		  "20"
  SolverMode		  "SingleTasking"
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  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
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  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"
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  ExtModeTrigHoldOff	  0
  ExtModeTrigDelay	  0
  ExtModeTrigDirection	  "rising"
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  ExtModeArchiveMode	  "off"
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  ExtModeIncDirWhenArm	  off
  ExtModeAddSuffixToVar	  off
  ExtModeWriteAllDataToWs off
  ExtModeArmWhenConnect	  off
  Created		  "Tue Jan 18 20:45:58 2000"
  UpdateHistory		  "UpdateHistoryNever"
  ModifiedByFormat	  "%<Auto>"
  ModifiedDateFormat	  "%<Auto>"
  LastModifiedDate	  "Tue Jan 18 21:00:58 2000"
  ModelVersionFormat	  "1.%<AutoIncrement:5>"
  ConfigurationManager	  "none"
  BlockDefaults {
    Orientation		    "right"
    ForegroundColor	    "black"
    BackgroundColor	    "white"
    DropShadow		    off
    NamePlacement	    "normal"
    FontName		    "Helvetica"
    FontSize		    10
    FontWeight		    "normal"
    FontAngle		    "normal"
    ShowName		    on
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  AnnotationDefaults {
    HorizontalAlignment	    "center"
    VerticalAlignment	    "middle"
    ForegroundColor	    "black"
    BackgroundColor	    "white"
    DropShadow		    off
    FontName		    "Helvetica"
    FontSize		    10
    FontWeight		    "normal"
    FontAngle		    "normal"
  }
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    FontName		    "Helvetica"
    FontSize		    9
    FontWeight		    "normal"
    FontAngle		    "normal"
  }
  System {
    Name		    "QAWUP"
    Location		    [2, 74, 789, 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		      [530, 80, 560, 110]
      BackgroundColor	      "cyan"
      DropShadow	      on
      FontName		      "Arial"
      FontSize		      14
      Time		      "10"
      Before		      "0"
      After		      "-1"
      SampleTime	      "0"
    }
    Block {
      BlockType		      Gain
      Name		      "Gain"
      Position		      [230, 165, 275, 205]
      ForegroundColor	      "red"
      DropShadow	      on
      ShowName		      off
      FontName		      "Arial"
      FontSize		      14
      Gain		      "qi"
      SaturateOnIntegerOverflow	on
    }
    Block {
      BlockType		      TransferFcn
      Name		      "Go"
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      DropShadow	      on
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      FontSize		      14
      Numerator		      "2"
      Denominator	      "[1 3 2]"
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    Block {
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    Block {
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      DropShadow	      on
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      Denominator	      "[1 3 2]"
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    Block {
      BlockType		      ToWorkspace
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      VariableName	      "y"
      Buffer		      "6000"
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    Block {
      BlockType		      Step
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      FontSize		      14
      Time		      "1"
      Before		      "0"
      After		      "1"
      SampleTime	      "0"
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    Block {
      BlockType		      Saturate
      Name		      "Saturation"
      Position		      [450, 165, 490, 205]
      BackgroundColor	      "yellow"
      DropShadow	      on
      ShowName		      off
      FontName		      "Arial"
      FontSize		      14
      UpperLimit	      "sat"
      LowerLimit	      "-sat"
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    Block {
      BlockType		      Saturate
      Name		      "Saturation1"
      Position		      [300, 165, 340, 205]
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      DropShadow	      on
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      FontName		      "Arial"
      FontSize		      14
      UpperLimit	      "sat"
      LowerLimit	      "-sat"
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    Block {
      BlockType		      Scope
      Name		      "Scope"
      Ports		      [1, 0, 0, 0, 0]
      Position		      [700, 85, 745, 145]
      Orientation	      "left"
      BackgroundColor	      "green"
      DropShadow	      on
      NamePlacement	      "alternate"
      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>"
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      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"
    }
    Block {
      BlockType		      Sum
      Name		      "Sum"
      Ports		      [2, 1, 0, 0, 0]
      Position		      [120, 144, 140, 191]
      ForegroundColor	      "red"
      DropShadow	      on
      ShowName		      off
      FontName		      "Arial"
      FontSize		      14
      IconShape		      "rectangular"
      Inputs		      "+-"
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    Block {
      BlockType		      Sum
      Name		      "Sum1"
      Ports		      [2, 1, 0, 0, 0]
      Position		      [690, 269, 710, 316]
      ForegroundColor	      "red"
      DropShadow	      on
      ShowName		      off
      FontName		      "Arial"
      FontSize		      14
      IconShape		      "rectangular"
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    Block {
      BlockType		      Sum
      Name		      "Sum2"
      Ports		      [2, 1, 0, 0, 0]
      Position		      [630, 149, 650, 196]
      BackgroundColor	      "yellow"
      DropShadow	      on
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      FontSize		      14
      IconShape		      "rectangular"
      Inputs		      "++"
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    Block {
      BlockType		      Sum
      Name		      "Sum3"
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      FontSize		      14
      IconShape		      "rectangular"
      Inputs		      "+-"
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    Block {
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      Name		      "[Q(s)]^(-1) - (qi)^(-1)"
      Position		      [185, 259, 350, 311]
      Orientation	      "left"
      ForegroundColor	      "red"
      DropShadow	      on
      ShowName		      off
      FontName		      "Arial"
      FontSize		      14
      Numerator		      "nqi"
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      MaskStyleString	      "edit,edit"
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      MaskCallbackString      "|"
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      MaskVisibilityString    "on,on"
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      MaskDisplay	      "disp('[Q(s)]^(-1) - (qi)^(-1)')"
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      MaskIconUnits	      "autoscale"
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      VariableName	      "u"
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    Block {
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      VariableName	      "r"
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      Points		      [15, 0; 0, 90; -645, 0; 0, -205]
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      Points		      [12, 0]
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	Points			[35, 0]
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    Annotation {
      Position		      [342, 402]
      VerticalAlignment	      "top"
      ForegroundColor	      "blue"
      Text		      "IMC ARCHITECTURE WITH ANTI WIND-UP MECHANISM"
      DropShadow	      on
      FontName		      "Arial"
      FontSize		      14
    }
    Annotation {
      Position		      [397, 436]
      VerticalAlignment	      "top"
      ForegroundColor	      "red"
      Text		      "NOTE THAT qi, nqi(s) AND dqi(s) CAN BE OBTAINED"
" USING MATLAB FUNCTION awup.m, \n[qi,nqi,dqi]=awup(nq,dq), THE READER MUST PR"
"OVIDE nq and dq. ALSO ASIGN A VALUE TO \nTHE SATURATION LEVEL sat"
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}