Model { Name "proba_1" Version 6.0 GraphicalInterface { NumRootInports 0 NumRootOutports 2 Outport { BusObject "" BusOutputAsStruct "off" Name "theta_A to Workspace" } Outport { BusObject "" BusOutputAsStruct "off" Name "theta_B to Workspace" } ParameterArgumentNames "" ComputedModelVersion "1.16" NumModelReferences 0 NumTestPointedSignals 0 } SavedCharacterEncoding "ibm-5348_P100-1997" SaveDefaultBlockParams on SampleTimeColors off LibraryLinkDisplay "none" WideLines off ShowLineDimensions off ShowPortDataTypes off ShowLoopsOnError on IgnoreBidirectionalLines off ShowStorageClass off ShowTestPointIcons on ShowViewerIcons on SortedOrder off ExecutionContextIcon off ShowLinearizationAnnotations on RecordCoverage off CovPath "/" CovSaveName "covdata" CovMetricSettings "dw" CovNameIncrementing off CovHtmlReporting on covSaveCumulativeToWorkspaceVar on CovSaveSingleToWorkspaceVar on CovCumulativeVarName "covCumulativeData" CovCumulativeReport off CovReportOnPause 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 "Wed Jun 07 13:44:08 2006" UpdateHistory "UpdateHistoryNever" ModifiedByFormat "%" LastModifiedBy "RT" ModifiedDateFormat "%" LastModifiedDate "Wed Jun 07 17:16:13 2006" ModelVersionFormat "1.%" ConfigurationManager "None" LinearizationMsg "none" Profile off ParamWorkspaceSource "MATLABWorkspace" AccelSystemTargetFile "accel.tlc" AccelTemplateMakefile "accel_default_tmf" AccelMakeCommand "make_rtw" TryForcingSFcnDF 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 ProdHWDeviceType "32-bit Generic" ShowModelReferenceBlockVersion off ShowModelReferenceBlockIO off Array { Type "Handle" Dimension 1 Simulink.ConfigSet { $ObjectID 1 Version "1.0.4" Array { Type "Handle" Dimension 7 Simulink.SolverCC { $ObjectID 2 Version "1.0.4" StartTime "0.0" StopTime "60.0" AbsTol "auto" FixedStep "auto" InitialStep "auto" MaxNumMinSteps "-1" MaxOrder 5 ExtrapolationOrder 4 NumberNewtonIterations 1 MaxStep "auto" MinStep "auto" RelTol "1e-3" SolverMode "Auto" Solver "ode45" ZeroCrossControl "UseLocalSettings" PositivePriorityOrder off AutoInsertRateTranBlk off SampleTimeConstraint "Unconstrained" RateTranMode "Deterministic" } Simulink.DataIOCC { $ObjectID 3 Version "1.0.4" 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 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 "1.0.4" BlockReduction on BooleanDataType on ConditionallyExecuteInputs on ConditionalExecOptimization "on_for_testing" InlineParams off InlineInvariantSignals on OptimizeBlockIOStorage on BufferReuse on EnforceIntegerDowncast on ExpressionFolding on FoldNonRolledExpr on LocalBlockOutputs on ParameterPooling on RollThreshold 5 SystemCodeInlineAuto off StateBitsets off DataBitsets off UseTempVars off ZeroExternalMemoryAtStartup on ZeroInternalMemoryAtStartup on InitFltsAndDblsToZero on NoFixptDivByZeroProtection off OptimizeModelRefInitCode off LifeSpan "inf" } Simulink.DebuggingCC { $ObjectID 5 Version "1.0.4" ConsistencyChecking "none" ArrayBoundsChecking "none" AlgebraicLoopMsg "warning" ArtificialAlgebraicLoopMsg "warning" CheckSSInitialOutputMsg on CheckExecutionContextPreStartOutputMsg off CheckExecutionContextRuntimeOutputMsg off SignalResolutionControl "TryResolveAllWithWarning" BlockPriorityViolationMsg "warning" MinStepSizeMsg "warning" SolverPrmCheckMsg "warning" InheritedTsInSrcMsg "warning" DiscreteInheritContinuousMsg "warning" MultiTaskRateTransMsg "error" SingleTaskRateTransMsg "none" TasksWithSamePriorityMsg "warning" CheckMatrixSingularityMsg "none" IntegerOverflowMsg "warning" Int32ToFloatConvMsg "warning" ParameterDowncastMsg "error" ParameterOverflowMsg "error" ParameterPrecisionLossMsg "warning" UnderSpecifiedDataTypeMsg "none" UnnecessaryDatatypeConvMsg "none" VectorMatrixConversionMsg "none" InvalidFcnCallConnMsg "error" SignalLabelMismatchMsg "none" UnconnectedInputMsg "warning" UnconnectedOutputMsg "warning" UnconnectedLineMsg "warning" SFcnCompatibilityMsg "none" UniqueDataStoreMsg "none" RootOutportRequireBusObject "warning" AssertControl "UseLocalSettings" EnableOverflowDetection off ModelReferenceIOMsg "none" ModelReferenceVersionMismatchMessage "none" ModelReferenceIOMismatchMessage "none" ModelReferenceCSMismatchMessage "none" ModelReferenceSimTargetVerbose off UnknownTsInhSupMsg "warning" ModelReferenceDataLoggingMessage "warning" ModelReferenceSymbolNameMessage "warning" } Simulink.HardwareCC { $ObjectID 6 Version "1.0.4" 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 "1.0.4" UpdateModelReferenceTargets "IfOutOfDateOrStructuralChange" CheckModelReferenceTargetMessage "error" ModelReferenceNumInstancesAllowed "Multi" ModelReferencePassRootInputsByReference on ModelReferenceMinAlgLoopOccurrences off } Simulink.RTWCC { $BackupClass "Simulink.RTWCC" $ObjectID 8 Array { Type "Cell" Dimension 1 Cell "IncludeHyperlinkInReport" PropName "DisabledProps" } Version "1.0.4" SystemTargetFile "grt.tlc" GenCodeOnly off MakeCommand "make_rtw" 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 Array { Type "Handle" Dimension 2 Simulink.CodeAppCC { $ObjectID 9 Array { Type "Cell" Dimension 9 Cell "IgnoreCustomStorageClasses" Cell "InsertBlockDesc" Cell "SFDataObjDesc" Cell "SimulinkDataObjDesc" Cell "DefineNamingRule" Cell "SignalNamingRule" Cell "ParamNamingRule" Cell "InlinedPrmAccess" Cell "CustomSymbolStr" PropName "DisabledProps" } Version "1.0.4" ForceParamTrailComments off GenerateComments on IgnoreCustomStorageClasses on IncHierarchyInIds off MaxIdLength 31 PreserveName off PreserveNameWithParent off ShowEliminatedStatement off IncAutoGenComments off SimulinkDataObjDesc off SFDataObjDesc off IncDataTypeInIds off PrefixModelToSubsysFcnNames on CustomSymbolStr "$R$N$M" MangleLength 1 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 12 Cell "IncludeMdlTerminateFcn" Cell "CombineOutputUpdateFcns" Cell "SuppressErrorStatus" Cell "ERTCustomFileBanners" Cell "GenerateSampleERTMain" Cell "MultiInstanceERTCode" Cell "PurelyIntegerCode" Cell "SupportNonFinite" Cell "SupportComplex" Cell "SupportAbsoluteTime" Cell "SupportContinuousTime" Cell "SupportNonInlinedSFcns" PropName "DisabledProps" } Version "1.0.4" TargetFcnLib "ansi_tfl_tmw.mat" GenFloatMathFcnCalls "ANSI_C" UtilityFuncGeneration "Auto" GenerateFullHeader on GenerateSampleERTMain off IsPILTarget off ModelReferenceCompliant on IncludeMdlTerminateFcn on CombineOutputUpdateFcns off SuppressErrorStatus off IncludeFileDelimiter "Auto" ERTCustomFileBanners off SupportAbsoluteTime on LogVarNameModifier "rt_" MatFileLogging on MultiInstanceERTCode off SupportNonFinite on SupportComplex on PurelyIntegerCode off SupportContinuousTime on SupportNonInlinedSFcns on ExtMode off ExtModeStaticAlloc off ExtModeTesting off ExtModeStaticAllocSize 1000000 ExtModeTransport 0 ExtModeMexFile "ext_comm" RTWCAPISignals off RTWCAPIParams off RTWCAPIStates off GenerateASAP2 off } PropName "Components" } } PropName "Components" } Name "Configuration" SimulationMode "normal" 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 Constant Value "1" VectorParams1D on OutDataTypeMode "Inherit from 'Constant value'" OutDataType "sfix(16)" ConRadixGroup "Use specified scaling" OutScaling "2^0" SampleTime "inf" } Block { BlockType Gain Gain "1" Multiplication "Element-wise(K.*u)" ParameterDataTypeMode "Same as input" ParameterDataType "sfix(16)" ParameterScalingMode "Best Precision: Matrix-wise" ParameterScaling "2^0" OutDataTypeMode "Same as input" OutDataType "sfix(16)" OutScaling "2^0" LockScale off RndMeth "Floor" SaturateOnIntegerOverflow on SampleTime "-1" } Block { BlockType Inport BusObject "BusObject" BusOutputAsStruct off PortDimensions "-1" SampleTime "-1" DataType "auto" OutDataType "sfix(16)" OutScaling "2^0" SignalType "auto" SamplingMode "auto" Interpolate on } Block { BlockType Integrator ExternalReset "none" InitialConditionSource "internal" InitialCondition "0" LimitOutput off UpperSaturationLimit "inf" LowerSaturationLimit "-inf" ShowSaturationPort off ShowStatePort off AbsoluteTolerance "auto" ZeroCross on } Block { BlockType Outport Port "1" BusObject "BusObject" BusOutputAsStruct off PortDimensions "-1" SampleTime "-1" DataType "auto" OutDataType "sfix(16)" OutScaling "2^0" SignalType "auto" SamplingMode "auto" OutputWhenDisabled "held" InitialOutput "[]" } Block { BlockType Scope Floating off ModelBased off TickLabels "OneTimeTick" ZoomMode "on" Grid "on" TimeRange "auto" YMin "-5" YMax "5" SaveToWorkspace off SaveName "ScopeData" LimitDataPoints on MaxDataPoints "5000" Decimation "1" SampleInput off SampleTime "0" } Block { BlockType SubSystem ShowPortLabels on Permissions "ReadWrite" PermitHierarchicalResolution "All" SystemSampleTime "-1" RTWFcnNameOpts "Auto" RTWFileNameOpts "Auto" SimViewingDevice off DataTypeOverride "UseLocalSettings" MinMaxOverflowLogging "UseLocalSettings" } Block { BlockType Sum IconShape "rectangular" Inputs "++" InputSameDT on OutDataTypeMode "Same as first input" OutDataType "sfix(16)" OutScaling "2^0" LockScale off RndMeth "Floor" SaturateOnIntegerOverflow on SampleTime "-1" } } 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 "proba_1" Location [10, 97, 950, 668] Open on ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" ReportName "simulink-default.rpt" Block { BlockType Gain Name "(Ra1+R3/2)C3\n" Position [630, 111, 685, 159] Gain "1/2.623" ParameterDataTypeMode "Inherit via internal rule" OutDataTypeMode "Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Gain Name "(Ra1/R3)+0.5" Position [510, 97, 555, 153] Gain "1.7" ParameterDataTypeMode "Inherit via internal rule" OutDataTypeMode "Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Gain Name "(Ra1/R3)+1.5" Position [765, 182, 810, 238] Gain "2.70" ParameterDataTypeMode "Inherit via internal rule" OutDataTypeMode "Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Gain Name "1/R3 C3" Position [240, 81, 295, 129] Gain "1/1.543" ParameterDataTypeMode "Inherit via internal rule" OutDataTypeMode "Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Sum Name "Add1" Ports [3, 1] Position [195, 88, 225, 122] Inputs "-++" InputSameDT off OutDataTypeMode "Inherit via internal rule" OutScaling "2^-10" SaturateOnIntegerOverflow off } Block { BlockType Sum Name "Add3" Ports [2, 1] Position [585, 116, 615, 149] Inputs "+-" InputSameDT off OutDataTypeMode "Inherit via internal rule" OutScaling "2^-10" SaturateOnIntegerOverflow off } Block { BlockType Integrator Name "Integrator1" Ports [1, 1] Position [310, 90, 340, 120] } Block { BlockType Integrator Name "Integrator3" Ports [1, 1] Position [705, 120, 735, 150] } Block { BlockType Constant Name "P" Position [10, 89, 60, 121] Value "7.853982" } Block { BlockType Gain Name "R3" Position [105, 77, 165, 133] Gain "10.61" ParameterDataTypeMode "Inherit via internal rule" OutDataTypeMode "Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Gain Name "R3/2" Position [105, 247, 165, 303] Gain "5.305" ParameterDataTypeMode "Inherit via internal rule" OutDataTypeMode "Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType SubSystem Name "Subsystem\nSredisnji deo valjka" Ports [2, 1] Position [405, 90, 445, 150] TreatAsAtomicUnit off MinAlgLoopOccurrences off RTWSystemCode "Auto" System { Name "Subsystem\nSredisnji deo valjka" Location [319, 114, 697, 301] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" Block { BlockType Inport Name "In1" Position [25, 118, 55, 132] Port "1" IconDisplay "Port number" LatchInput off } Block { BlockType Inport Name "In2" Position [25, 153, 55, 167] Port "2" IconDisplay "Port number" LatchInput off } Block { BlockType Gain Name "1 / R3 C3" Position [150, 93, 215, 157] Gain "1/1.543" ParameterDataTypeMode "Inherit via internal rule" OutDataTypeMode "Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Sum Name "Add1" Ports [3, 1] Position [80, 109, 110, 141] Inputs "-++" InputSameDT off OutDataTypeMode "Inherit via internal rule" OutScaling "2^-10" SaturateOnIntegerOverflow off } Block { BlockType Gain Name "Gain1" Position [315, 28, 345, 82] Gain "2" ParameterDataTypeMode "Inherit via internal rule" OutDataTypeMode "Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Integrator Name "Integrator2" Ports [1, 1] Position [250, 110, 280, 140] } Block { BlockType Outport Name "Out1" Position [310, 118, 340, 132] IconDisplay "Port number" BusOutputAsStruct off } Line { SrcBlock "Gain1" SrcPort 1 Points [0, -30; -285, 0] DstBlock "Add1" DstPort 1 } Line { SrcBlock "Integrator2" SrcPort 1 Points [0, 0; 5, 0] Branch { Points [0, -70] DstBlock "Gain1" DstPort 1 } Branch { DstBlock "Out1" DstPort 1 } } Line { SrcBlock "1 / R3 C3" SrcPort 1 DstBlock "Integrator2" DstPort 1 } Line { SrcBlock "Add1" SrcPort 1 DstBlock "1 / R3 C3" DstPort 1 } Line { SrcBlock "In1" SrcPort 1 DstBlock "Add1" DstPort 2 } Line { SrcBlock "In2" SrcPort 1 Points [0, -25] DstBlock "Add1" DstPort 3 } } } Block { BlockType Scope Name "graph\ntheta_A" Ports [1] Position [375, 254, 405, 286] Location [65, 470, 389, 709] Open on NumInputPorts "1" List { ListType AxesTitles axes1 "%" } DataFormat "StructureWithTime" } Block { BlockType Scope Name "graph\ntheta_B" Ports [1] Position [880, 119, 910, 151] Location [574, 472, 898, 711] Open on NumInputPorts "1" List { ListType AxesTitles axes1 "%" } SaveName "ScopeData1" DataFormat "StructureWithTime" } Block { BlockType Sum Name "theta_A" Ports [2, 1] Position [305, 250, 335, 285] InputSameDT off OutDataTypeMode "Inherit via internal rule" OutScaling "2^-10" SaturateOnIntegerOverflow off } Block { BlockType Gain Name "theta_B" Position [795, 107, 855, 163] Gain "1/1.417" ParameterDataTypeMode "Inherit via internal rule" OutDataTypeMode "Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Outport Name "theta_A\nto Workspace" Position [385, 358, 415, 372] IconDisplay "Port number" BusOutputAsStruct off } Block { BlockType Outport Name "theta_B\nto Workspace" Position [885, 198, 915, 212] Port "2" IconDisplay "Port number" BusOutputAsStruct off } Line { SrcBlock "(Ra1/R3)+0.5" SrcPort 1 DstBlock "Add3" DstPort 1 } Line { SrcBlock "Integrator3" SrcPort 1 Points [0, 0; 5, 0] Branch { DstBlock "theta_B" DstPort 1 } Branch { Points [0, 75] Branch { DstBlock "(Ra1/R3)+1.5" DstPort 1 } Branch { Points [-355, 0] DstBlock "Subsystem\nSredisnji deo valjka" DstPort 2 } } } Line { SrcBlock "(Ra1/R3)+1.5" SrcPort 1 Points [15, 0; 0, 50; -260, 0] DstBlock "Add3" DstPort 2 } Line { SrcBlock "Integrator1" SrcPort 1 Points [15, 0] Branch { DstBlock "Subsystem\nSredisnji deo valjka" DstPort 1 } Branch { Points [0, -35; -180, 0] DstBlock "Add1" DstPort 1 } Branch { Points [0, 60; -80, 0; 0, 95] DstBlock "theta_A" DstPort 1 } } Line { SrcBlock "R3" SrcPort 1 DstBlock "Add1" DstPort 2 } Line { SrcBlock "P" SrcPort 1 Points [15, 0] Branch { DstBlock "R3" DstPort 1 } Branch { Points [0, 170] DstBlock "R3/2" DstPort 1 } } Line { SrcBlock "R3/2" SrcPort 1 DstBlock "theta_A" DstPort 2 } Line { SrcBlock "theta_A" SrcPort 1 Points [15, 0] Branch { DstBlock "graph\ntheta_A" DstPort 1 } Branch { Points [0, 95] DstBlock "theta_A\nto Workspace" DstPort 1 } } Line { SrcBlock "theta_B" SrcPort 1 Points [5, 0] Branch { DstBlock "graph\ntheta_B" DstPort 1 } Branch { Points [0, 70] DstBlock "theta_B\nto Workspace" DstPort 1 } } Line { SrcBlock "1/R3 C3" SrcPort 1 DstBlock "Integrator1" DstPort 1 } Line { SrcBlock "Add1" SrcPort 1 DstBlock "1/R3 C3" DstPort 1 } Line { SrcBlock "(Ra1+R3/2)C3\n" SrcPort 1 DstBlock "Integrator3" DstPort 1 } Line { SrcBlock "Add3" SrcPort 1 DstBlock "(Ra1+R3/2)C3\n" DstPort 1 } Line { SrcBlock "Subsystem\nSredisnji deo valjka" SrcPort 1 Points [20, 0; 0, 5; 15, 0] Branch { DstBlock "(Ra1/R3)+0.5" DstPort 1 } Branch { Points [0, 65; -305, 0] DstBlock "Add1" DstPort 3 } } } }