Model {
  Name			  "softloop1"
  Version		  3.00
  SimParamPage		  "Solver"
  SampleTimeColors	  off
  InvariantConstants	  off
  WideVectorLines	  on
  ShowLineWidths	  off
  ShowPortDataTypes	  off
  StartTime		  "0.0"
  StopTime		  "25"
  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 21:08:16 2000"
  UpdateHistory		  "UpdateHistoryNever"
  ModifiedByFormat	  "%<Auto>"
  ModifiedDateFormat	  "%<Auto>"
  LastModifiedDate	  "Tue Jan 18 21:13:46 2000"
  ModelVersionFormat	  "1.%<AutoIncrement:3>"
  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"
  }
  LineDefaults {
    FontName		    "Helvetica"
    FontSize		    9
    FontWeight		    "normal"
    FontAngle		    "normal"
  }
  System {
    Name		    "softloop1"
    Location		    [2, 74, 802, 558]
    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		      [545, 14, 595, 66]
      Orientation	      "left"
      BackgroundColor	      "cyan"
      DropShadow	      on
      FontName		      "Arial"
      FontSize		      14
      ShowPortLabels	      off
      MaskType		      "Pulse disturbance"
      MaskDescription	      "Pulse"
      MaskHelp		      "This block generates a (one shot) pulse"
      MaskPromptString	      "pulse amplitude:|initial time:|pulse duration:"
      MaskStyleString	      "edit,edit,edit"
      MaskTunableValueString  "on,on,on"
      MaskCallbackString      "||"
      MaskEnableString	      "on,on,on"
      MaskVisibilityString    "on,on,on"
      MaskInitialization      "D=@1;ti=@2;dt=@3;"
      MaskDisplay	      "disp('PULSE')"
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "autoscale"
      MaskValueString	      "0|5|10"
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	Name			"Disturbance"
	Location		[116, 184, 629, 455]
	Open			off
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"white"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"usletter"
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	ZoomFactor		"100"
	AutoZoom		on
	Block {
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	  DropShadow		  on
	  FontName		  "Arial"
	  FontSize		  14
	  Time			  "ti"
	  Before		  "0"
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	  SampleTime		  "0"
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	Block {
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	  FontName		  "Arial"
	  FontSize		  14
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	  BlockType		  Sum
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	  ShowName		  off
	  FontName		  "Arial"
	  FontSize		  14
	  IconShape		  "rectangular"
	  Inputs		  "++"
	  SaturateOnIntegerOverflow on
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	Block {
	  BlockType		  Outport
	  Name			  "out_1"
	  Position		  [345, 85, 365, 105]
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	  FontSize		  14
	  Port			  "1"
	  OutputWhenDisabled	  "held"
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	Line {
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	  Points		  [63, 0; 0, 55]
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	Line {
	  SrcBlock		  "Dist2"
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	  DstBlock		  "Sum2"
	  DstPort		  2
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    Block {
      BlockType		      TransferFcn
      Name		      "Linear\ncontroller"
      Position		      [215, 74, 295, 136]
      ForegroundColor	      "red"
      DropShadow	      on
      FontName		      "Arial"
      FontSize		      14
      Numerator		      "9*dplin"
      Denominator	      "conv(nplin,[1 4 0])"
      MaskType		      "Controller"
      MaskDescription	      "Plant linear model"
      MaskPromptString	      "plant model numerator nplin:|plant model denomi"
"nator dplin:"
      MaskStyleString	      "edit,edit"
      MaskTunableValueString  "on,on"
      MaskCallbackString      "|"
      MaskEnableString	      "on,on"
      MaskVisibilityString    "on,on"
      MaskInitialization      "nplin=@1;dplin=@2;"
      MaskDisplay	      "disp('CONT')"
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "autoscale"
      MaskValueString	      "1.13|[1 3 1.55]"
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    Block {
      BlockType		      Mux
      Name		      "Mux"
      Ports		      [2, 1, 0, 0, 0]
      Position		      [615, 173, 665, 217]
      ForegroundColor	      "green"
      DropShadow	      on
      ShowName		      off
      FontName		      "Arial"
      FontSize		      14
      Inputs		      "2"
      DisplayOption	      "none"
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    Block {
      BlockType		      SubSystem
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      Position		      [400, 268, 465, 322]
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      FontSize		      14
      ShowPortLabels	      off
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      MaskIconRotate	      "none"
      MaskIconUnits	      "autoscale"
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	Name			"Nonlinear \nplant model "
	Location		[4, 131, 808, 649]
	Open			off
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"white"
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	AutoZoom		on
	Block {
	  BlockType		  Inport
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	  ForegroundColor	  "blue"
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	  FontName		  "Arial"
	  FontSize		  14
	  Port			  "1"
	  PortWidth		  "-1"
	  SampleTime		  "-1"
	  DataType		  "auto"
	  SignalType		  "auto"
	  Interpolate		  on
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	Block {
	  BlockType		  Fcn
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	  FontName		  "Arial"
	  FontSize		  14
	  Expr			  "(u[2])^3+u[2]"
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	Block {
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	Block {
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	  DropShadow		  on
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	  FontName		  "Arial"
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	Block {
	  BlockType		  Integrator
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	  BackgroundColor	  "yellow"
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	  ShowName		  off
	  FontName		  "Arial"
	  FontSize		  14
	  ExternalReset		  "none"
	  InitialConditionSource  "internal"
	  InitialCondition	  "0"
	  LimitOutput		  off
	  UpperSaturationLimit	  "inf"
	  LowerSaturationLimit	  "-inf"
	  ShowSaturationPort	  off
	  ShowStatePort		  off
	  AbsoluteTolerance	  "auto"
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	Block {
	  BlockType		  Integrator
	  Name			  "Integrator1"
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	Block {
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	Block {
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	Block {
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	Block {
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	  SaveFormat		  "Matrix"
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	Block {
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	  FontSize		  14
	  VariableName		  "x2m"
	  Buffer		  "10000"
	  Decimation		  "1"
	  SampleTime		  "0"
	  SaveFormat		  "Matrix"
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	Block {
	  BlockType		  Outport
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	  FontSize		  14
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	Line {
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	  DstBlock		  "Integrator1"
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	Line {
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	  Points		  [35, 0; 0, -35]
	  DstBlock		  "Sum"
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	Line {
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	  Points		  [55, 0]
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	    Branch {
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	    Branch {
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      FontName		      "Arial"
      FontSize		      14
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	Block {
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	  FontName		  "Arial"
	  FontSize		  14
	  Expr			  "(u[2])^3+u[2]"
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	Block {
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	Block {
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	  Position		  [505, 150, 540, 180]
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	  FontSize		  14
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	  UpperSaturationLimit	  "inf"
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	Block {
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	  FontName		  "Arial"
	  FontSize		  14
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	  AbsoluteTolerance	  "auto"
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	Block {
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	  Position		  [170, 145, 215, 185]
	  DropShadow		  on
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	  FontName		  "Arial"
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	  Inputs		  "2"
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	  FontName		  "Arial"
	  FontSize		  14
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	  DisplayOption		  "none"
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	Block {
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	  Position		  [150, 355, 195, 395]
	  DropShadow		  on
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	  FontName		  "Arial"
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	  Inputs		  "2"
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	Block {
	  BlockType		  Sum
	  Name			  "Sum"
	  Ports			  [2, 1, 0, 0, 0]
	  Position		  [500, 218, 525, 307]
	  DropShadow		  on
	  ShowName		  off
	  FontName		  "Arial"
	  FontSize		  14
	  IconShape		  "rectangular"
	  Inputs		  "++"
	  SaturateOnIntegerOverflow on
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	Block {
	  BlockType		  ToWorkspace
	  Name			  "state1"
	  Position		  [485, 85, 535, 105]
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	  Ports			  [2, 1, 0, 0, 0]
	  Position		  [390, 58, 420, 82]
	  ForegroundColor	  "magenta"
	  DropShadow		  on
	  FontName		  "Arial"
	  FontSize		  14
	  Inputs		  "2"
	  SaturateOnIntegerOverflow on
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	Block {
	  BlockType		  Sum
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	  IconShape		  "rectangular"
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	Block {
	  BlockType		  SubSystem
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	  System {
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	    PaperType		    "usletter"
	    PaperUnits		    "inches"
	    ZoomFactor		    "100"
	    AutoZoom		    on
	    Block {
	      BlockType		      Inport
	      Name		      "in_1"
	      Position		      [90, 135, 110, 155]
	      ForegroundColor	      "blue"
	      DropShadow	      on
	      FontName		      "Arial"
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	      Port		      "1"
	      PortWidth		      "-1"
	      SampleTime	      "-1"
	      DataType		      "auto"
	      SignalType	      "auto"
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	    Block {
	      BlockType		      Fcn
	      Name		      "Fcn2"
	      Position		      [195, 99, 515, 191]
	      BackgroundColor	      "magenta"
	      DropShadow	      on
	      ShowName		      off
	      FontName		      "Arial"
	      FontSize		      14
	      Expr		      "9/((1+3*(u[2])^2)*(1+0.1*(u[1])^2))"
	    }
	    Block {
	      BlockType		      Outport
	      Name		      "out_1"
	      Position		      [570, 135, 590, 155]
	      ForegroundColor	      "green"
	      DropShadow	      on
	      FontName		      "Arial"
	      FontSize		      14
	      Port		      "1"
	      OutputWhenDisabled      "held"
	      InitialOutput	      "0"
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	    Line {
	      SrcBlock		      "in_1"
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	    Line {
	      SrcBlock		      "Fcn2"
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	      DstPort		      1
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	    Annotation {
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	      VerticalAlignment	      "top"
	      ForegroundColor	      "red"
	      Text		      "WARNING: THE INPUT SHOULD BE A VECTOR W"
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	      DropShadow	      on
	      FontName		      "Arial"
	      FontSize		      14
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	Block {
	  BlockType		  SubSystem
	  Name			  "b(x)"
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	  Orientation		  "left"
	  ForegroundColor	  "magenta"
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	  System {
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	    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		      [40, 225, 60, 245]
	      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		      Fcn
	      Name		      "Fcn"
	      Position		      [100, 201, 615, 269]
	      BackgroundColor	      "magenta"
	      DropShadow	      on
	      ShowName		      off
	      FontName		      "Arial"
	      FontSize		      14
	      Expr		      "(7*u[1]-5*(u[2])^3-6*u[1]*(u[2])^2+u[2]"
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	    Block {
	      BlockType		      Outport
	      Name		      "out_1"
	      Position		      [670, 225, 690, 245]
	      ForegroundColor	      "green"
	      DropShadow	      on
	      FontName		      "Arial"
	      FontSize		      14
	      Port		      "1"
	      OutputWhenDisabled      "held"
	      InitialOutput	      "0"
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	    Line {
	      SrcBlock		      "in_1"
	      SrcPort		      1
	      DstBlock		      "Fcn"
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	    Line {
	      SrcBlock		      "Fcn"
	      SrcPort		      1
	      DstBlock		      "out_1"
	      DstPort		      1
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	    Annotation {
	      Position		      [372, 82]
	      VerticalAlignment	      "top"
	      ForegroundColor	      "red"
	      Text		      "WARNING: THE INPUT SHOULD BE A VECTOR W"
"ITH 2 COMPONENTS"
	      DropShadow	      on
	      FontName		      "Arial"
	      FontSize		      14
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	Block {
	  BlockType		  Outport
	  Name			  "out_1"
	  Position		  [505, 59, 525, 81]
	  ForegroundColor	  "green"
	  DropShadow		  on
	  FontName		  "Arial"
	  FontSize		  14
	  Port			  "1"
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	Line {
	  SrcBlock		  "OBSERVER"
	  SrcPort		  1
	  Points		  [-114, 0]
	  Branch {
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	    DstPort		    1
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	  Branch {
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	    DstBlock		    "[a(x)]^{-1}"
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	Line {
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	  Points		  [41, 0]
	  Branch {
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	  Branch {
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	    DstBlock		    "OBSERVER"
	    DstPort		    1
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	Line {
	  SrcBlock		  "[a(x)]^{-1}"
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	  Points		  [40, 0; 0, -60]
	  DstBlock		  "Product"
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	Line {
	  SrcBlock		  "b(x)"
	  SrcPort		  1
	  Points		  [-25, 0; 0, -200]
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	Line {
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	}
	Line {
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	  DstBlock		  "Sum"
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      }
    }
    Block {
      BlockType		      SubSystem
      Name		      "Reference"
      Ports		      [0, 1, 0, 0, 0]
      Position		      [20, 66, 70, 114]
      BackgroundColor	      "cyan"
      DropShadow	      on
      FontName		      "Arial"
      FontSize		      14
      ShowPortLabels	      off
      MaskType		      "Reference"
      MaskDescription	      "Reference"
      MaskHelp		      "This block generates  a square wave with a user"
" defined mean value."
      MaskPromptString	      "mean value Ro:|square wave frequency   fsw  [ra"
"d/s]:| amplitude square wave  asw:"
      MaskStyleString	      "edit,edit,edit"
      MaskTunableValueString  "on,on,on"
      MaskCallbackString      "||"
      MaskEnableString	      "on,on,on"
      MaskVisibilityString    "on,on,on"
      MaskInitialization      "Ro=@1;fsw=@2;asw=@3;"
      MaskDisplay	      "disp('REF')"
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "autoscale"
      MaskValueString	      "2|0.3|1"
      System {
	Name			"Reference"
	Location		[125, 159, 780, 337]
	Open			off
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"white"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"usletter"
	PaperUnits		"inches"
	ZoomFactor		"100"
	AutoZoom		on
	Block {
	  BlockType		  Clock
	  Name			  "Clock"
	  Position		  [40, 91, 65, 119]
	  BackgroundColor	  "cyan"
	  DropShadow		  on
	  FontName		  "Arial"
	  FontSize		  14
	  DisplayTime		  off
	  Decimation		  "10"
	}
	Block {
	  BlockType		  Fcn
	  Name			  "Fcn"
	  Position		  [200, 71, 350, 139]
	  BackgroundColor	  "cyan"
	  DropShadow		  on
	  FontName		  "Arial"
	  FontSize		  14
	  Expr			  "sin(u[1]*fsw)"
	}
	Block {
	  BlockType		  Sum
	  Name			  "Sum2"
	  Ports			  [2, 1, 0, 0, 0]
	  Position		  [525, 58, 545, 122]
	  BackgroundColor	  "cyan"
	  DropShadow		  on
	  ShowName		  off
	  FontName		  "Arial"
	  FontSize		  14
	  IconShape		  "rectangular"
	  Inputs		  "++"
	  SaturateOnIntegerOverflow on
	}
	Block {
	  BlockType		  Step
	  Name			  "reference mean value"
	  Position		  [120, 12, 155, 38]
	  BackgroundColor	  "cyan"
	  DropShadow		  on
	  FontName		  "Arial"
	  FontSize		  14
	  Time			  "0"
	  Before		  "0"
	  After			  "Ro"
	  SampleTime		  "0"
	}
	Block {
	  BlockType		  Relay
	  Name			  "sign+amplification"
	  Position		  [395, 76, 455, 134]
	  BackgroundColor	  "cyan"
	  FontName		  "Arial"
	  FontSize		  14
	  OnSwitchValue		  "0"
	  OffSwitchValue	  "0"
	  OnOutputValue		  "asw"
	  OffOutputValue	  "-asw"
	}
	Block {
	  BlockType		  Outport
	  Name			  "out_1"
	  Position		  [580, 76, 605, 104]
	  ForegroundColor	  "green"
	  DropShadow		  on
	  FontName		  "Arial"
	  FontSize		  14
	  Port			  "1"
	  OutputWhenDisabled	  "held"
	  InitialOutput		  "0"
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	Line {
	  SrcBlock		  "sign+amplification"
	  SrcPort		  1
	  DstBlock		  "Sum2"
	  DstPort		  2
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	Line {
	  SrcBlock		  "Fcn"
	  SrcPort		  1
	  DstBlock		  "sign+amplification"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Clock"
	  SrcPort		  1
	  DstBlock		  "Fcn"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Sum2"
	  SrcPort		  1
	  DstBlock		  "out_1"
	  DstPort		  1
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	Line {
	  SrcBlock		  "reference mean value"
	  SrcPort		  1
	  Points		  [335, 0; 0, 50]
	  DstBlock		  "Sum2"
	  DstPort		  1
	}
      }
    }
    Block {
      BlockType		      Scope
      Name		      "Scope2"
      Ports		      [1, 0, 0, 0, 0]
      Position		      [705, 160, 760, 230]
      BackgroundColor	      "green"
      DropShadow	      on
      ShowName		      off
      FontName		      "Arial"
      FontSize		      14
      Floating		      off
      Location		      [275, 280, 725, 594]
      Open		      off
      NumInputPorts	      "1"
      TickLabels	      "on"
      ZoomMode		      "on"
      List {
	ListType		AxesTitles
	axes1			"%<SignalLabel>"
      }
      Grid		      "on"
      TimeRange		      "25.000000"
      YMin		      "-4"
      YMax		      "4"
      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		      [130, 78, 150, 127]
      ForegroundColor	      "red"
      DropShadow	      on
      ShowName		      off
      FontName		      "Arial"
      FontSize		      14
      IconShape		      "rectangular"
      Inputs		      "+-"
      SaturateOnIntegerOverflow	on
    }
    Block {
      BlockType		      Sum
      Name		      "Sum1"
      Ports		      [2, 1, 0, 0, 0]
      Position		      [135, 268, 155, 317]
      ForegroundColor	      "red"
      DropShadow	      on
      ShowName		      off
      FontName		      "Arial"
      FontSize		      14
      IconShape		      "rectangular"
      Inputs		      "+-"
      SaturateOnIntegerOverflow	on
    }
    Block {
      BlockType		      Sum
      Name		      "Sum2"
      Ports		      [2, 1, 0, 0, 0]
      Position		      [575, 258, 595, 307]
      ForegroundColor	      "red"
      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		      [405, 208, 425, 252]
      BackgroundColor	      "yellow"
      DropShadow	      on
      ShowName		      off
      FontName		      "Arial"
      FontSize		      14
      IconShape		      "rectangular"
      Inputs		      "++"
      SaturateOnIntegerOverflow	on
    }
    Block {
      BlockType		      Sum
      Name		      "Sum6"
      Ports		      [2, 1, 0, 0, 0]
      Position		      [415, 73, 435, 117]
      BackgroundColor	      "yellow"
      DropShadow	      on
      ShowName		      off
      FontName		      "Arial"
      FontSize		      14
      IconShape		      "rectangular"
      Inputs		      "++"
      SaturateOnIntegerOverflow	on
    }
    Block {
      BlockType		      ToWorkspace
      Name		      "control"
      Position		      [230, 205, 270, 235]
      Orientation	      "left"
      BackgroundColor	      "green"
      DropShadow	      on
      ShowName		      off
      FontName		      "Arial"
      FontSize		      14
      VariableName	      "unl"
      Buffer		      "10000"
      Decimation	      "1"
      SampleTime	      "0"
      SaveFormat	      "Matrix"
    }
    Block {
      BlockType		      ToWorkspace
      Name		      "control1"
      Position		      [285, 21, 325, 49]
      Orientation	      "left"
      BackgroundColor	      "green"
      DropShadow	      on
      ShowName		      off
      FontName		      "Arial"
      FontSize		      14
      VariableName	      "ul"
      Buffer		      "10000"
      Decimation	      "1"
      SampleTime	      "0"
      SaveFormat	      "Matrix"
    }
    Block {
      BlockType		      ToWorkspace
      Name		      "plant"
      Position		      [630, 80, 670, 110]
      BackgroundColor	      "green"
      DropShadow	      on
      ShowName		      off
      FontName		      "Arial"
      FontSize		      14
      VariableName	      "yl"
      Buffer		      "20000"
      Decimation	      "1"
      SampleTime	      "0"
      SaveFormat	      "Matrix"
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    Block {
      BlockType		      ToWorkspace
      Name		      "plant2"
      Position		      [625, 235, 665, 265]
      BackgroundColor	      "green"
      DropShadow	      on
      ShowName		      off
      FontName		      "Arial"
      FontSize		      14
      VariableName	      "ynl"
      Buffer		      "20000"
      Decimation	      "1"
      SampleTime	      "0"
      SaveFormat	      "Matrix"
    }
    Block {
      BlockType		      ToWorkspace
      Name		      "ref"
      Position		      [145, 27, 185, 53]
      BackgroundColor	      "green"
      DropShadow	      on
      ShowName		      off
      FontName		      "Arial"
      FontSize		      14
      VariableName	      "r"
      Buffer		      "20000"
      Decimation	      "1"
      SampleTime	      "0"
      SaveFormat	      "Matrix"
    }
    Line {
      SrcBlock		      "Sum"
      SrcPort		      1
      DstBlock		      "Linear\ncontroller"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Plant"
      SrcPort		      1
      Points		      [15, 0]
      Branch {
	Points			[0, 86; -430, 0]
	DstBlock		"Sum"
	DstPort			2
      }
      Branch {
	Points			[42, 0]
	Branch {
	  DstBlock		  "plant"
	  DstPort		  1
	}
	Branch {
	  Points		  [0, 90]
	  DstBlock		  "Mux"
	  DstPort		  1
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      }
    }
    Line {
      SrcBlock		      "Nonlinear \nplant model "
      SrcPort		      1
      DstBlock		      "Sum2"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Sum1"
      SrcPort		      1
      DstBlock		      "Q-BLOCK"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Sum2"
      SrcPort		      1
      Points		      [10, 0; 0, 65; -515, 0; 0, -45]
      DstBlock		      "Sum1"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Q-BLOCK"
      SrcPort		      1
      Points		      [5, 0]
      Branch {
	Points			[50, 0; 0, -75]
	DstBlock		"control"
	DstPort			1
      }
      Branch {
	Points			[110, 0]
	Branch {
	  DstBlock		  "Nonlinear \nplant model "
	  DstPort		  1
	}
	Branch {
	  Points		  [0, -55]
	  DstBlock		  "Sum5"
	  DstPort		  2
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      }
    }
    Line {
      SrcBlock		      "Sum5"
      SrcPort		      1
      DstBlock		      "Plant "
      DstPort		      1
    }
    Line {
      SrcBlock		      "Plant "
      SrcPort		      1
      Points		      [15, 0; 0, 40]
      Branch {
	DstBlock		"Sum2"
	DstPort			1
      }
      Branch {
	Points			[0, -35; 30, 0; 0, 15]
	Branch {
	  DstBlock		  "plant2"
	  DstPort		  1
	}
	Branch {
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	  DstBlock		  "Mux"
	  DstPort		  2
	}
      }
    }
    Line {
      SrcBlock		      "Mux"
      SrcPort		      1
      DstBlock		      "Scope2"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Reference"
      SrcPort		      1
      Points		      [-3, 0]
      Branch {
	Points			[25, 0]
	Branch {
	  DstBlock		  "Sum"
	  DstPort		  1
	}
	Branch {
	  Points		  [0, 190]
	  DstBlock		  "Sum1"
	  DstPort		  1
	}
      }
      Branch {
	Points			[25, 0; 0, -50]
	DstBlock		"ref"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Sum6"
      SrcPort		      1
      DstBlock		      "Plant"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Disturbance"
      SrcPort		      1
      Points		      [-155, 0; 0, 45]
      Branch {
	DstBlock		"Sum6"
	DstPort			1
      }
      Branch {
	Points			[0, 135]
	DstBlock		"Sum5"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Linear\ncontroller"
      SrcPort		      1
      Points		      [62, 0]
      Branch {
	DstBlock		"Sum6"
	DstPort			2
      }
      Branch {
	Points			[0, -70]
	DstBlock		"control1"
	DstPort			1
      }
    }
    Annotation {
      Position		      [397, 412]
      VerticalAlignment	      "top"
      ForegroundColor	      "red"
      Text		      "THE PLANT LINEAR MODEL IS GIVEN BY Go(s)=nplin("
"s)/dplin(s).\nTHE USER MUST PROVIDE nplin AND dpin, AS WELL AS REFERENCE AND "
"DISTURBANCE DEFINITIONS\n (DOUBLE CLICK ON BLOCKS CONT, REF ADN PULSE RESPECT"
"IVELY)"
      DropShadow	      on
      FontName		      "Arial"
      FontSize		      14
    }
    Annotation {
      Position		      [387, 362]
      VerticalAlignment	      "top"
      ForegroundColor	      "blue"
      Text		      "PERFORMANCE COMPARISON OF LINEAR AND NONLINEAR "
"CONTROL DESIGN  FOR A \n(SMOOOTH) NONLINEAR PLANT."
      DropShadow	      on
      FontName		      "Arial"
      FontSize		      14
    }
  }
}