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1269 lines
33 KiB
1269 lines
33 KiB
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CPPClassGenCompliant off
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GRTInterface on
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ExtMode off
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ExtModeStaticAlloc off
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ExtModeMexFile "ext_comm"
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RTWMemSecDataInternal "Inherit from model"
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axes1 "%<SignalLabel>"
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RTWSystemCode "Auto"
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System {
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SID "5"
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SID "39"
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ListType InputPortNames
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port0 "qd*"
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port1 "tau_d"
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ListType OutputPortNames
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port0 "qd"
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port1 "qd error"
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List {
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ListType OutputPortOutputBusAsStructs
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port0 "off"
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port1 "off"
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port2 "off"
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List {
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ListType OutputPortSignalNames
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port0 "qd"
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port1 ""
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port2 ""
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ListType InputPortLatchByCopyingInsideSignal
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port0 "off"
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port1 "off"
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port0 "off"
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SID "28"
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SrcBlock "tau_d"
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SrcPort 1
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SrcPort 1
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Points [15, 0]
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DstBlock "Kp"
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DstPort 1
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DstBlock "q err"
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DstPort 1
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SrcBlock "vloop"
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SrcPort 1
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SrcPort 1
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Points [20, 0]
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DstBlock "q"
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DstPort 1
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Branch {
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DstBlock "Sum"
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Line {
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SrcBlock "q*"
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SrcPort 1
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DstBlock "Sum"
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DstPort 1
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Line {
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SrcBlock "vloop"
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SrcPort 2
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DstBlock "Terminator"
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DstPort 1
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Line {
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SrcBlock "vloop"
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SrcPort 3
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DstBlock "Terminator1"
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DstPort 1
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Line {
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SrcBlock "Kp"
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SrcPort 1
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DstBlock "Sum1"
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DstPort 1
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Line {
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SrcPort 1
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DstBlock "vloop"
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DstPort 1
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SrcPort 1
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DstBlock "Kff"
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DstPort 1
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SrcPort 1
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DstBlock "Sum1"
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DstPort 2
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SID "30"
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Ports [1]
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Position [455, 194, 485, 226]
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Floating off
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Location [529, 161, 853, 400]
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NumInputPorts "1"
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ListType AxesTitles
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axes1 "%<SignalLabel>"
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FigureColor "[0.5 0.5 0.5]"
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AxesColor "[0 0 0]"
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LineColors "[1 1 0;1 0 1;0 1 1;1 0 0;0 1 0;0 0 1]"
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LineWidths "[0.5 0.5 0.5 0.5 0.5 0.5]"
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MarkerStyles "none|none|none|none|none|none"
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}
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ShowLegends off
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TimeRange "1"
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YMin "-0.5"
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YMax "8"
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DataFormat "StructureWithTime"
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SampleTime "0"
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}
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Block {
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BlockType Constant
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Name "tau_d"
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SID "31"
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Position [90, 240, 120, 270]
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Value "20"
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}
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Block {
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BlockType Outport
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Name "q"
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SID "32"
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Position [505, 103, 535, 117]
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IconDisplay "Port number"
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}
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Block {
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BlockType Outport
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|
Name "q_err"
|
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SID "33"
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Position [505, 153, 535, 167]
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Port "2"
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IconDisplay "Port number"
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}
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Block {
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BlockType Outport
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Name "q*"
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SID "37"
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Position [270, 53, 300, 67]
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Port "3"
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IconDisplay "Port number"
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}
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Line {
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SrcBlock "ploop"
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SrcPort 1
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Points [85, 0]
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Branch {
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DstBlock "q"
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DstPort 1
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}
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Branch {
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Points [0, -45]
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DstBlock "Scope"
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DstPort 1
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}
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}
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Line {
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SrcBlock "ploop"
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SrcPort 2
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Points [95, 0]
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Branch {
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DstBlock "q_err"
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DstPort 1
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}
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Branch {
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Points [0, 50]
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DstBlock "q err"
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DstPort 1
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}
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}
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Line {
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SrcBlock "tau_d"
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SrcPort 1
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DstBlock "Gain"
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DstPort 1
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}
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Line {
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SrcBlock "lspb"
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SrcPort 1
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Points [55, 0]
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Branch {
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Points [0, -45]
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DstBlock "q*"
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DstPort 1
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}
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Branch {
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DstBlock "ploop"
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DstPort 1
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}
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}
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Line {
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SrcBlock "Gain"
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SrcPort 1
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Points [15, 0; 0, -90]
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DstBlock "ploop"
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DstPort 3
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}
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Line {
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SrcBlock "lspb"
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|
SrcPort 3
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|
DstBlock "Terminator"
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|
DstPort 1
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|
}
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Line {
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SrcBlock "lspb"
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SrcPort 2
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DstBlock "ploop"
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DstPort 2
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}
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}
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}
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