Model { Name "TwoRotorModel" Version 7.1 MdlSubVersion 0 GraphicalInterface { NumRootInports 0 NumRootOutports 0 ParameterArgumentNames "" ComputedModelVersion "1.2" NumModelReferences 0 NumTestPointedSignals 0 } SavedCharacterEncoding "EUC-KR" SaveDefaultBlockParams on SampleTimeColors off LibraryLinkDisplay "none" WideLines off ShowLineDimensions off ShowPortDataTypes off ShowLoopsOnError on IgnoreBidirectionalLines off ShowStorageClass off ShowTestPointIcons on ShowSignalResolutionIcons on ShowViewerIcons on SortedOrder off ExecutionContextIcon off ShowLinearizationAnnotations on ScopeRefreshTime 0.035000 OverrideScopeRefreshTime on DisableAllScopes off DataTypeOverride "UseLocalSettings" MinMaxOverflowLogging "UseLocalSettings" MinMaxOverflowArchiveMode "Overwrite" BlockNameDataTip off BlockParametersDataTip off BlockDescriptionStringDataTip off ToolBar on StatusBar on BrowserShowLibraryLinks off BrowserLookUnderMasks off Created "Tue Jul 01 04:50:51 2008" Creator "PinkWink" UpdateHistory "UpdateHistoryNever" ModifiedByFormat "%" LastModifiedBy "PinkWink" ModifiedDateFormat "%" LastModifiedDate "Tue Jul 01 04:58:00 2008" RTWModifiedTimeStamp 0 ModelVersionFormat "1.%" ConfigurationManager "None" SimulationMode "normal" LinearizationMsg "none" Profile off ParamWorkspaceSource "MATLABWorkspace" AccelSystemTargetFile "accel.tlc" AccelTemplateMakefile "accel_default_tmf" AccelMakeCommand "make_rtw" TryForcingSFcnDF off RecordCoverage off CovPath "/" CovSaveName "covdata" CovMetricSettings "dw" CovNameIncrementing off CovHtmlReporting on covSaveCumulativeToWorkspaceVar on CovSaveSingleToWorkspaceVar on CovCumulativeVarName "covCumulativeData" CovCumulativeReport off CovReportOnPause on CovModelRefEnable "Off" ExtModeBatchMode off ExtModeEnableFloating on ExtModeTrigType "manual" ExtModeTrigMode "normal" ExtModeTrigPort "1" ExtModeTrigElement "any" ExtModeTrigDuration 1000 ExtModeTrigDurationFloating "auto" ExtModeTrigHoldOff 0 ExtModeTrigDelay 0 ExtModeTrigDirection "rising" ExtModeTrigLevel 0 ExtModeArchiveMode "off" ExtModeAutoIncOneShot off ExtModeIncDirWhenArm off ExtModeAddSuffixToVar off ExtModeWriteAllDataToWs off ExtModeArmWhenConnect on ExtModeSkipDownloadWhenConnect off ExtModeLogAll on ExtModeAutoUpdateStatusClock on BufferReuse on ShowModelReferenceBlockVersion off ShowModelReferenceBlockIO off Array { Type "Handle" Dimension 1 Simulink.ConfigSet { $ObjectID 1 Version "1.4.0" Array { Type "Handle" Dimension 8 Simulink.SolverCC { $ObjectID 2 Version "1.4.0" StartTime "0.0" StopTime "10.0" AbsTol "auto" FixedStep "auto" InitialStep "auto" MaxNumMinSteps "-1" MaxOrder 5 ZcThreshold "auto" ConsecutiveZCsStepRelTol "10*128*eps" MaxConsecutiveZCs "1000" ExtrapolationOrder 4 NumberNewtonIterations 1 MaxStep "auto" MinStep "auto" MaxConsecutiveMinStep "1" RelTol "1e-3" SolverMode "Auto" Solver "ode45" SolverName "ode45" ShapePreserveControl "DisableAll" ZeroCrossControl "UseLocalSettings" ZeroCrossAlgorithm "Non-adaptive" AlgebraicLoopSolver "TrustRegion" SolverResetMethod "Fast" PositivePriorityOrder off AutoInsertRateTranBlk off SampleTimeConstraint "Unconstrained" InsertRTBMode "Whenever possible" } Simulink.DataIOCC { $ObjectID 3 Version "1.4.0" Decimation "1" ExternalInput "[t, u]" FinalStateName "xFinal" InitialState "xInitial" LimitDataPoints on MaxDataPoints "1000" LoadExternalInput off LoadInitialState off SaveFinalState off SaveFormat "Array" SaveOutput on SaveState off SignalLogging on InspectSignalLogs off SaveTime on StateSaveName "xout" TimeSaveName "tout" OutputSaveName "yout" SignalLoggingName "logsout" OutputOption "RefineOutputTimes" OutputTimes "[]" Refine "1" } Simulink.OptimizationCC { $ObjectID 4 Array { Type "Cell" Dimension 5 Cell "ZeroExternalMemoryAtStartup" Cell "ZeroInternalMemoryAtStartup" Cell "InitFltsAndDblsToZero" Cell "OptimizeModelRefInitCode" Cell "NoFixptDivByZeroProtection" PropName "DisabledProps" } Version "1.4.0" BlockReduction on BooleanDataType on ConditionallyExecuteInputs on InlineParams off InlineInvariantSignals off OptimizeBlockIOStorage on BufferReuse on EnhancedBackFolding off EnforceIntegerDowncast on ExpressionFolding on ExpressionDepthLimit 2147483647 FoldNonRolledExpr on LocalBlockOutputs on RollThreshold 5 SystemCodeInlineAuto off StateBitsets off DataBitsets off UseTempVars off ZeroExternalMemoryAtStartup on ZeroInternalMemoryAtStartup on InitFltsAndDblsToZero on NoFixptDivByZeroProtection off EfficientFloat2IntCast off OptimizeModelRefInitCode off LifeSpan "inf" BufferReusableBoundary on SimCompilerOptimization "Off" AccelVerboseBuild off } Simulink.DebuggingCC { $ObjectID 5 Version "1.4.0" RTPrefix "error" ConsistencyChecking "none" ArrayBoundsChecking "none" SignalInfNanChecking "none" SignalRangeChecking "none" ReadBeforeWriteMsg "UseLocalSettings" WriteAfterWriteMsg "UseLocalSettings" WriteAfterReadMsg "UseLocalSettings" AlgebraicLoopMsg "warning" ArtificialAlgebraicLoopMsg "warning" SaveWithDisabledLinksMsg "warning" SaveWithParameterizedLinksMsg "warning" CheckSSInitialOutputMsg on CheckExecutionContextPreStartOutputMsg off CheckExecutionContextRuntimeOutputMsg off SignalResolutionControl "UseLocalSettings" BlockPriorityViolationMsg "warning" MinStepSizeMsg "warning" TimeAdjustmentMsg "none" MaxConsecutiveZCsMsg "error" SolverPrmCheckMsg "warning" InheritedTsInSrcMsg "warning" DiscreteInheritContinuousMsg "warning" MultiTaskDSMMsg "error" MultiTaskCondExecSysMsg "error" MultiTaskRateTransMsg "error" SingleTaskRateTransMsg "none" TasksWithSamePriorityMsg "warning" SigSpecEnsureSampleTimeMsg "warning" CheckMatrixSingularityMsg "none" IntegerOverflowMsg "warning" Int32ToFloatConvMsg "warning" ParameterDowncastMsg "error" ParameterOverflowMsg "error" ParameterUnderflowMsg "none" ParameterPrecisionLossMsg "warning" ParameterTunabilityLossMsg "warning" UnderSpecifiedDataTypeMsg "none" UnnecessaryDatatypeConvMsg "none" VectorMatrixConversionMsg "none" InvalidFcnCallConnMsg "error" FcnCallInpInsideContextMsg "Use local settings" SignalLabelMismatchMsg "none" UnconnectedInputMsg "warning" UnconnectedOutputMsg "warning" UnconnectedLineMsg "warning" SFcnCompatibilityMsg "none" UniqueDataStoreMsg "none" BusObjectLabelMismatch "warning" RootOutportRequireBusObject "warning" AssertControl "UseLocalSettings" EnableOverflowDetection off ModelReferenceIOMsg "none" ModelReferenceVersionMismatchMessage "none" ModelReferenceIOMismatchMessage "none" ModelReferenceCSMismatchMessage "none" ModelReferenceSimTargetVerbose off UnknownTsInhSupMsg "warning" ModelReferenceDataLoggingMessage "warning" ModelReferenceSymbolNameMessage "warning" ModelReferenceExtraNoncontSigs "error" StateNameClashWarn "warning" StrictBusMsg "Warning" LoggingUnavailableSignals "error" BlockIODiagnostic "none" } Simulink.HardwareCC { $ObjectID 6 Version "1.4.0" ProdBitPerChar 8 ProdBitPerShort 16 ProdBitPerInt 32 ProdBitPerLong 32 ProdIntDivRoundTo "Undefined" ProdEndianess "Unspecified" ProdWordSize 32 ProdShiftRightIntArith on ProdHWDeviceType "32-bit Generic" TargetBitPerChar 8 TargetBitPerShort 16 TargetBitPerInt 32 TargetBitPerLong 32 TargetShiftRightIntArith on TargetIntDivRoundTo "Undefined" TargetEndianess "Unspecified" TargetWordSize 32 TargetTypeEmulationWarnSuppressLevel 0 TargetPreprocMaxBitsSint 32 TargetPreprocMaxBitsUint 32 TargetHWDeviceType "Specified" TargetUnknown off ProdEqTarget on } Simulink.ModelReferenceCC { $ObjectID 7 Version "1.4.0" UpdateModelReferenceTargets "IfOutOfDateOrStructuralChange" CheckModelReferenceTargetMessage "error" ModelReferenceNumInstancesAllowed "Multi" ModelReferenceSigSizeVariationType "Always allowed" ModelReferencePassRootInputsByReference on ModelReferenceMinAlgLoopOccurrences off } Simulink.RTWCC { $BackupClass "Simulink.RTWCC" $ObjectID 8 Array { Type "Cell" Dimension 6 Cell "IncludeHyperlinkInReport" Cell "GenerateTraceInfo" Cell "GenerateTraceReport" Cell "GenerateTraceReportSl" Cell "GenerateTraceReportSf" Cell "GenerateTraceReportEml" PropName "DisabledProps" } Version "1.4.0" SystemTargetFile "grt.tlc" GenCodeOnly off MakeCommand "make_rtw" GenerateMakefile on TemplateMakefile "grt_default_tmf" GenerateReport off SaveLog off RTWVerbose on RetainRTWFile off ProfileTLC off TLCDebug off TLCCoverage off TLCAssert off ProcessScriptMode "Default" ConfigurationMode "Optimized" ConfigAtBuild off IncludeHyperlinkInReport off LaunchReport off TargetLang "C" IncludeBusHierarchyInRTWFileBlockHierarchyMap off IncludeERTFirstTime off GenerateTraceInfo off GenerateTraceReport off GenerateTraceReportSl off GenerateTraceReportSf off GenerateTraceReportEml off GenerateCodeInfo off RTWCompilerOptimization "Off" Array { Type "Handle" Dimension 2 Simulink.CodeAppCC { $ObjectID 9 Array { Type "Cell" Dimension 16 Cell "IgnoreCustomStorageClasses" Cell "InsertBlockDesc" Cell "SFDataObjDesc" Cell "SimulinkDataObjDesc" Cell "DefineNamingRule" Cell "SignalNamingRule" Cell "ParamNamingRule" Cell "InlinedPrmAccess" Cell "CustomSymbolStr" Cell "CustomSymbolStrGlobalVar" Cell "CustomSymbolStrType" Cell "CustomSymbolStrField" Cell "CustomSymbolStrFcn" Cell "CustomSymbolStrBlkIO" Cell "CustomSymbolStrTmpVar" Cell "CustomSymbolStrMacro" PropName "DisabledProps" } Version "1.4.0" ForceParamTrailComments off GenerateComments on IgnoreCustomStorageClasses on IncHierarchyInIds off MaxIdLength 31 PreserveName off PreserveNameWithParent off ShowEliminatedStatement off IncAutoGenComments off SimulinkDataObjDesc off SFDataObjDesc off IncDataTypeInIds off MangleLength 1 CustomSymbolStrGlobalVar "$R$N$M" CustomSymbolStrType "$N$R$M" CustomSymbolStrField "$N$M" CustomSymbolStrFcn "$R$N$M$F" CustomSymbolStrBlkIO "rtb_$N$M" CustomSymbolStrTmpVar "$N$M" CustomSymbolStrMacro "$R$N$M" DefineNamingRule "None" ParamNamingRule "None" SignalNamingRule "None" InsertBlockDesc off SimulinkBlockComments on EnableCustomComments off InlinedPrmAccess "Literals" ReqsInCode off } Simulink.GRTTargetCC { $BackupClass "Simulink.TargetCC" $ObjectID 10 Array { Type "Cell" Dimension 16 Cell "IncludeMdlTerminateFcn" Cell "CombineOutputUpdateFcns" Cell "SuppressErrorStatus" Cell "ERTCustomFileBanners" Cell "GenerateSampleERTMain" Cell "GenerateTestInterfaces" Cell "ModelStepFunctionPrototypeControlCompliant" Cell "CPPClassGenCompliant" Cell "MultiInstanceERTCode" Cell "PurelyIntegerCode" Cell "SupportNonFinite" Cell "SupportComplex" Cell "SupportAbsoluteTime" Cell "SupportContinuousTime" Cell "SupportNonInlinedSFcns" Cell "PortableWordSizes" PropName "DisabledProps" } Version "1.4.0" TargetFcnLib "ansi_tfl_table_tmw.mat" TargetLibSuffix "" TargetPreCompLibLocation "" TargetFunctionLibrary "ANSI_C" UtilityFuncGeneration "Auto" GenerateFullHeader on GenerateSampleERTMain off GenerateTestInterfaces off IsPILTarget off ModelReferenceCompliant on CompOptLevelCompliant on IncludeMdlTerminateFcn on CombineOutputUpdateFcns off SuppressErrorStatus off ERTFirstTimeCompliant off IncludeFileDelimiter "Auto" ERTCustomFileBanners off SupportAbsoluteTime on LogVarNameModifier "rt_" MatFileLogging on MultiInstanceERTCode off SupportNonFinite on SupportComplex on PurelyIntegerCode off SupportContinuousTime on SupportNonInlinedSFcns on EnableShiftOperators on ParenthesesLevel "Nominal" PortableWordSizes off ModelStepFunctionPrototypeControlCompliant off AutosarCompliant off ExtMode off ExtModeStaticAlloc off ExtModeTesting off ExtModeStaticAllocSize 1000000 ExtModeTransport 0 ExtModeMexFile "ext_comm" ExtModeIntrfLevel "Level1" RTWCAPISignals off RTWCAPIParams off RTWCAPIStates off GenerateASAP2 off } PropName "Components" } } hdlcoderui.hdlcc { $ObjectID 11 Description "HDL Coder custom configuration component" Version "1.4.0" Name "HDL Coder" Array { Type "Cell" Dimension 1 Cell "" PropName "HDLConfigFile" } HDLCActiveTab "0" } PropName "Components" } Name "Configuration" CurrentDlgPage "Solver" } PropName "ConfigurationSets" } Simulink.ConfigSet { $PropName "ActiveConfigurationSet" $ObjectID 1 } BlockDefaults { Orientation "right" ForegroundColor "black" BackgroundColor "white" DropShadow off NamePlacement "normal" FontName "Helvetica" FontSize 10 FontWeight "normal" FontAngle "normal" ShowName on } BlockParameterDefaults { Block { BlockType Derivative LinearizePole "inf" } Block { BlockType Fcn Expr "sin(u[1])" SampleTime "-1" } Block { BlockType Inport Port "1" UseBusObject off BusObject "BusObject" BusOutputAsStruct off PortDimensions "-1" SampleTime "-1" OutMin "[]" OutMax "[]" DataType "auto" OutDataType "fixdt(1,16,0)" OutScaling "[]" OutDataTypeStr "Inherit: auto" SignalType "auto" SamplingMode "auto" LatchByDelayingOutsideSignal off LatchByCopyingInsideSignal off Interpolate on } Block { BlockType Integrator ExternalReset "none" InitialConditionSource "internal" InitialCondition "0" LimitOutput off UpperSaturationLimit "inf" LowerSaturationLimit "-inf" ShowSaturationPort off ShowStatePort off AbsoluteTolerance "auto" IgnoreLimit off ZeroCross on ContinuousStateAttributes "''" } Block { BlockType Outport Port "1" UseBusObject off BusObject "BusObject" BusOutputAsStruct off PortDimensions "-1" SampleTime "-1" OutMin "[]" OutMax "[]" DataType "auto" OutDataType "fixdt(1,16,0)" OutScaling "[]" OutDataTypeStr "Inherit: auto" SignalType "auto" SamplingMode "auto" OutputWhenDisabled "held" InitialOutput "[]" } Block { BlockType Product Inputs "2" Multiplication "Element-wise(.*)" CollapseMode "All dimensions" CollapseDim "1" InputSameDT on OutMin "[]" OutMax "[]" OutDataTypeMode "Same as first input" OutDataType "fixdt(1,16,0)" OutScaling "[]" OutDataTypeStr "Inherit: Same as first input" LockScale off RndMeth "Zero" SaturateOnIntegerOverflow on SampleTime "-1" } Block { BlockType SubSystem ShowPortLabels "FromPortIcon" Permissions "ReadWrite" PermitHierarchicalResolution "All" TreatAsAtomicUnit off CheckFcnCallInpInsideContextMsg off SystemSampleTime "-1" RTWFcnNameOpts "Auto" RTWFileNameOpts "Auto" RTWMemSecFuncInitTerm "Inherit from model" RTWMemSecFuncExecute "Inherit from model" RTWMemSecDataConstants "Inherit from model" RTWMemSecDataInternal "Inherit from model" RTWMemSecDataParameters "Inherit from model" SimViewingDevice off DataTypeOverride "UseLocalSettings" MinMaxOverflowLogging "UseLocalSettings" } Block { BlockType Sum IconShape "rectangular" Inputs "++" CollapseMode "All dimensions" CollapseDim "1" InputSameDT on AccumDataTypeStr "Inherit: Inherit via internal rule" OutMin "[]" OutMax "[]" OutDataTypeMode "Same as first input" OutDataType "fixdt(1,16,0)" OutScaling "[]" OutDataTypeStr "Inherit: Same as first input" LockScale off RndMeth "Floor" SaturateOnIntegerOverflow on SampleTime "-1" } Block { BlockType Constant Value "1" VectorParams1D on SamplingMode "Sample based" OutMin "[]" OutMax "[]" OutDataTypeMode "Inherit from 'Constant value'" OutDataType "fixdt(1,16,0)" ConRadixGroup "Use specified scaling" OutScaling "[]" OutDataTypeStr "Inherit: Inherit from 'Constant value'" SampleTime "inf" FramePeriod "inf" } } AnnotationDefaults { HorizontalAlignment "center" VerticalAlignment "middle" ForegroundColor "black" BackgroundColor "white" DropShadow off FontName "Helvetica" FontSize 10 FontWeight "normal" FontAngle "normal" UseDisplayTextAsClickCallback off } LineDefaults { FontName "Helvetica" FontSize 9 FontWeight "normal" FontAngle "normal" } System { Name "TwoRotorModel" Location [1528, 131, 1830, 524] Open on ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "A4" PaperUnits "centimeters" TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" ReportName "simulink-default.rpt" Block { BlockType SubSystem Name "Two-Rotor System" Ports [6, 15] Position [80, 37, 190, 343] BackgroundColor "lightBlue" DropShadow on FontName "Arial" FontSize 11 FontWeight "bold" MinAlgLoopOccurrences off PropExecContextOutsideSubsystem off RTWSystemCode "Auto" FunctionWithSeparateData off Opaque off RequestExecContextInheritance off MaskHideContents off System { Name "Two-Rotor System" Location [306, 74, 1085, 767] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "A4" PaperUnits "centimeters" TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" Block { BlockType Inport Name "u1" Position [25, 98, 55, 112] IconDisplay "Port number" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType Inport Name "u2" Position [25, 173, 55, 187] Port "2" IconDisplay "Port number" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType Inport Name "c1" Position [25, 238, 55, 252] Port "3" IconDisplay "Port number" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType Inport Name "c2" Position [25, 268, 55, 282] Port "4" IconDisplay "Port number" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType Inport Name "x_r" Position [25, 438, 55, 452] Port "5" IconDisplay "Port number" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType Inport Name "y_r" Position [25, 468, 55, 482] Port "6" IconDisplay "Port number" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType Constant Name "Constant1" Position [220, 155, 235, 175] ShowName off Value "-1" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType Constant Name "Constant18" Position [65, 215, 80, 235] ShowName off OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType Constant Name "Constant2" Position [65, 285, 80, 305] ShowName off OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType Derivative Name "Derivative" Position [170, 510, 200, 540] ShowName off } Block { BlockType Derivative Name "Derivative1" Position [170, 540, 200, 570] ShowName off } Block { BlockType Derivative Name "Derivative2" Position [170, 590, 200, 620] ShowName off } Block { BlockType Derivative Name "Derivative3" Position [170, 620, 200, 650] ShowName off } Block { BlockType Fcn Name "Fcn" Position [350, 65, 410, 95] Orientation "left" NamePlacement "alternate" ShowName off Expr "-sin(u[1])" } Block { BlockType Fcn Name "Fcn1" Position [350, 35, 410, 65] Orientation "left" NamePlacement "alternate" ShowName off Expr "cos(u[1])" } Block { BlockType Product Name "Product1" Ports [3, 1] Position [180, 129, 195, 171] ShowName off Inputs "3" InputSameDT off OutDataTypeMode "Inherit via internal rule" OutDataType "sfix(16)" OutScaling "2^0" OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Product Name "Product2" Ports [3, 1] Position [180, 82, 195, 128] ShowName off Inputs "3" InputSameDT off OutDataTypeMode "Inherit via internal rule" OutDataType "sfix(16)" OutScaling "2^0" OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Product Name "Product3" Ports [2, 1] Position [180, 171, 195, 204] ShowName off InputSameDT off OutDataTypeMode "Inherit via internal rule" OutDataType "sfix(16)" OutScaling "2^0" OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Sum Name "Sum1" Ports [2, 1] Position [105, 214, 115, 256] ShowName off InputSameDT off OutDataTypeMode "Inherit via internal rule" OutDataType "sfix(16)" OutScaling "2^0" OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Sum Name "Sum2" Ports [2, 1] Position [265, 141, 275, 174] ShowName off InputSameDT off OutDataTypeMode "Inherit via internal rule" OutDataType "sfix(16)" OutScaling "2^0" OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Sum Name "Sum3" Ports [2, 1] Position [105, 264, 115, 306] ShowName off InputSameDT off OutDataTypeMode "Inherit via internal rule" OutDataType "sfix(16)" OutScaling "2^0" OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Sum Name "Sum4" Ports [2, 1] Position [460, 435, 480, 455] ShowName off IconShape "round" Inputs "-+|" InputSameDT off OutDataTypeMode "Inherit via internal rule" OutDataType "sfix(16)" OutScaling "2^0" OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Sum Name "Sum5" Ports [2, 1] Position [430, 465, 450, 485] ShowName off IconShape "round" Inputs "-+|" InputSameDT off OutDataTypeMode "Inherit via internal rule" OutDataType "sfix(16)" OutScaling "2^0" OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Sum Name "Sum6" Ports [2, 1] Position [375, 515, 395, 535] ShowName off IconShape "round" Inputs "-+|" InputSameDT off OutDataTypeMode "Inherit via internal rule" OutDataType "sfix(16)" OutScaling "2^0" OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Sum Name "Sum7" Ports [2, 1] Position [355, 545, 375, 565] ShowName off IconShape "round" Inputs "-+|" InputSameDT off OutDataTypeMode "Inherit via internal rule" OutDataType "sfix(16)" OutScaling "2^0" OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Sum Name "Sum8" Ports [2, 1] Position [285, 595, 305, 615] ShowName off IconShape "round" Inputs "-+|" InputSameDT off OutDataTypeMode "Inherit via internal rule" OutDataType "sfix(16)" OutScaling "2^0" OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Sum Name "Sum9" Ports [2, 1] Position [250, 625, 270, 645] ShowName off IconShape "round" Inputs "-+|" InputSameDT off OutDataTypeMode "Inherit via internal rule" OutDataType "sfix(16)" OutScaling "2^0" OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Integrator Name "x1" Ports [1, 1] Position [405, 115, 435, 145] ShowName off InitialCondition "init_x" } Block { BlockType Integrator Name "x2" Ports [1, 1] Position [315, 115, 345, 145] ShowName off } Block { BlockType Integrator Name "x3" Ports [1, 1] Position [405, 145, 435, 175] ShowName off InitialCondition "init_y" } Block { BlockType Integrator Name "x4" Ports [1, 1] Position [315, 145, 345, 175] ShowName off } Block { BlockType Integrator Name "x5" Ports [1, 1] Position [405, 175, 435, 205] ShowName off InitialCondition "init_theta*pi/180" } Block { BlockType Integrator Name "x6" Ports [1, 1] Position [315, 175, 345, 205] ShowName off } Block { BlockType Outport Name "x" Position [505, 123, 535, 137] IconDisplay "Port number" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType Outport Name "y" Position [505, 153, 535, 167] Port "2" IconDisplay "Port number" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType Outport Name "theta" Position [505, 183, 535, 197] Port "3" IconDisplay "Port number" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType Outport Name "dot_x" Position [505, 218, 535, 232] Port "4" IconDisplay "Port number" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType Outport Name "dot_y" Position [505, 253, 535, 267] Port "5" IconDisplay "Port number" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType Outport Name "dot_theta" Position [505, 288, 535, 302] Port "6" IconDisplay "Port number" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType Outport Name "ddot_x" Position [505, 323, 535, 337] Port "7" IconDisplay "Port number" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType Outport Name "ddot_y" Position [505, 358, 535, 372] Port "8" IconDisplay "Port number" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType Outport Name "ddot_theta" Position [505, 393, 535, 407] Port "9" IconDisplay "Port number" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType Outport Name "e_x" Position [505, 438, 535, 452] Port "10" IconDisplay "Port number" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType Outport Name "e_y" Position [505, 468, 535, 482] Port "11" IconDisplay "Port number" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType Outport Name "dot_e_x" Position [505, 518, 535, 532] Port "12" IconDisplay "Port number" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType Outport Name "dot_e_y" Position [505, 548, 535, 562] Port "13" IconDisplay "Port number" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType Outport Name "ddot_e_x" Position [505, 598, 535, 612] Port "14" IconDisplay "Port number" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType Outport Name "ddot_e_y" Position [505, 628, 535, 642] Port "15" IconDisplay "Port number" OutDataType "sfix(16)" OutScaling "2^0" } Line { SrcBlock "x1" SrcPort 1 Points [30, 0] Branch { DstBlock "x" DstPort 1 } Branch { DstBlock "Sum4" DstPort 1 } } Line { SrcBlock "x2" SrcPort 1 Points [5, 0] Branch { Points [0, 95] DstBlock "dot_x" DstPort 1 } Branch { Points [30, 0] Branch { DstBlock "x1" DstPort 1 } Branch { DstBlock "Sum6" DstPort 1 } } } Line { SrcBlock "x4" SrcPort 1 Points [15, 0] Branch { DstBlock "x3" DstPort 1 } Branch { Points [0, 100] Branch { DstBlock "dot_y" DstPort 1 } Branch { DstBlock "Sum7" DstPort 1 } } } Line { SrcBlock "x6" SrcPort 1 Points [25, 0] Branch { DstBlock "x5" DstPort 1 } Branch { Points [0, 105] DstBlock "dot_theta" DstPort 1 } } Line { SrcBlock "x3" SrcPort 1 Points [0, 0] Branch { DstBlock "y" DstPort 1 } Branch { DstBlock "Sum5" DstPort 1 } } Line { SrcBlock "x5" SrcPort 1 Points [5, 0] Branch { DstBlock "theta" DstPort 1 } Branch { Points [0, -110] Branch { Points [0, -30] DstBlock "Fcn1" DstPort 1 } Branch { DstBlock "Fcn" DstPort 1 } } } Line { SrcBlock "Product2" SrcPort 1 Points [40, 0; 0, 25; 55, 0] Branch { DstBlock "x2" DstPort 1 } Branch { Points [0, 200] Branch { DstBlock "Sum8" DstPort 1 } Branch { DstBlock "ddot_x" DstPort 1 } } } Line { SrcBlock "Fcn" SrcPort 1 Points [-190, 0; 0, 10] DstBlock "Product2" DstPort 1 } Line { SrcBlock "u1" SrcPort 1 Points [65, 0] Branch { DstBlock "Product2" DstPort 2 } Branch { Points [0, 45] DstBlock "Product1" DstPort 2 } } Line { SrcBlock "c1" SrcPort 1 DstBlock "Sum1" DstPort 2 } Line { SrcBlock "Constant18" SrcPort 1 DstBlock "Sum1" DstPort 1 } Line { SrcBlock "Sum1" SrcPort 1 Points [20, 0; 0, -100] Branch { Points [0, -15] DstBlock "Product2" DstPort 3 } Branch { DstBlock "Product1" DstPort 1 } } Line { SrcBlock "Sum2" SrcPort 1 Points [5, 0] Branch { DstBlock "x4" DstPort 1 } Branch { Points [0, 205] Branch { Points [0, 45; -25, 0] DstBlock "Sum9" DstPort 1 } Branch { DstBlock "ddot_y" DstPort 1 } } } Line { SrcBlock "Constant1" SrcPort 1 DstBlock "Sum2" DstPort 2 } Line { SrcBlock "Product1" SrcPort 1 DstBlock "Sum2" DstPort 1 } Line { SrcBlock "Fcn1" SrcPort 1 Points [-235, 0; 0, 115] DstBlock "Product1" DstPort 3 } Line { SrcBlock "c2" SrcPort 1 DstBlock "Sum3" DstPort 1 } Line { SrcBlock "Constant2" SrcPort 1 DstBlock "Sum3" DstPort 2 } Line { SrcBlock "Product3" SrcPort 1 Points [75, 0] Branch { DstBlock "x6" DstPort 1 } Branch { Points [0, 210] DstBlock "ddot_theta" DstPort 1 } } Line { SrcBlock "u2" SrcPort 1 DstBlock "Product3" DstPort 1 } Line { SrcBlock "Sum3" SrcPort 1 Points [35, 0; 0, -90] DstBlock "Product3" DstPort 2 } Line { SrcBlock "x_r" SrcPort 1 Points [50, 0] Branch { DstBlock "Sum4" DstPort 2 } Branch { Points [0, 80] Branch { DstBlock "Derivative" DstPort 1 } Branch { Points [0, 80] DstBlock "Derivative2" DstPort 1 } } } Line { SrcBlock "y_r" SrcPort 1 Points [65, 0] Branch { DstBlock "Sum5" DstPort 2 } Branch { Points [0, 80] Branch { DstBlock "Derivative1" DstPort 1 } Branch { Points [0, 80] DstBlock "Derivative3" DstPort 1 } } } Line { SrcBlock "Derivative" SrcPort 1 DstBlock "Sum6" DstPort 2 } Line { SrcBlock "Derivative1" SrcPort 1 DstBlock "Sum7" DstPort 2 } Line { SrcBlock "Derivative2" SrcPort 1 DstBlock "Sum8" DstPort 2 } Line { SrcBlock "Derivative3" SrcPort 1 DstBlock "Sum9" DstPort 2 } Line { SrcBlock "Sum4" SrcPort 1 DstBlock "e_x" DstPort 1 } Line { SrcBlock "Sum5" SrcPort 1 DstBlock "e_y" DstPort 1 } Line { SrcBlock "Sum6" SrcPort 1 DstBlock "dot_e_x" DstPort 1 } Line { SrcBlock "Sum7" SrcPort 1 DstBlock "dot_e_y" DstPort 1 } Line { SrcBlock "Sum8" SrcPort 1 DstBlock "ddot_e_x" DstPort 1 } Line { SrcBlock "Sum9" SrcPort 1 DstBlock "ddot_e_y" DstPort 1 } Annotation { Name "Two-Rotor System" Position [98, 25] ForegroundColor "blue" DropShadow on FontName "Arial" FontSize 18 FontWeight "bold" } Annotation { Name "Designed by PinkWink" Position [643, 645] ForegroundColor "[1.000000, 0.501961, 0.752941]" DropShadow on FontName "Arial" FontSize 12 FontWeight "bold" FontAngle "italic" } Annotation { Name "This BlockSet is Two-Rotor System.\nInput parameters are\n\nu1, u2 : Control Input\nc1, c2 : Uncertainty at input parameter\nx_r, y_r : Reference Signal of x, y.\n\nAnd output parameters are each stetes" Position [570, 560] HorizontalAlignment "left" FontName "Arial" } } } } }