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transfer (minimum delay)" DefaultExtrapolationMethodBetweenContTasks "None" } ExplicitPartitioning off BlockDefaults { ForegroundColor "black" BackgroundColor "white" DropShadow off NameLocation "bottom" FontName "Helvetica" FontSize 10 FontWeight "normal" FontAngle "normal" ShowName on HideAutomaticName on BlockRotation 0 BlockMirror off } AnnotationDefaults { HorizontalAlignment "left" VerticalAlignment "top" ForegroundColor "black" BackgroundColor "white" DropShadow off FontName "Helvetica" FontSize 10 FontWeight "normal" FontAngle "normal" MarkupType "model" UseDisplayTextAsClickCallback off AnnotationType "note_annotation" FixedHeight off FixedWidth off Interpreter "off" } LineDefaults { FontName "Helvetica" FontSize 9 FontWeight "normal" FontAngle "normal" } MaskDefaults { SelfModifiable "off" IconFrame "on" IconOpaque "opaque" RunInitForIconRedraw "analyze" IconRotate "none" PortRotate "default" IconUnits "autoscale" } MaskParameterDefaults { Evaluate "on" Tunable "on" NeverSave "off" Internal "off" ReadOnly "off" Enabled "on" Visible "on" ToolTip "on" } BlockParameterDefaults { Block { BlockType DiscreteStateSpace A "1" B "1" C "1" D "1" InitialCondition "0" SampleTime "1" StateMustResolveToSignalObject off Realization "auto" } Block { BlockType Gain Gain "1" Multiplication "Element-wise(K.*u)" ParamMin "[]" ParamMax "[]" ParamDataTypeStr "Inherit: Inherit via internal rule" OutMin "[]" OutMax "[]" OutDataTypeStr "Inherit: Inherit via internal rule" LockScale off RndMeth "Floor" SaturateOnIntegerOverflow off SampleTime "-1" } Block { BlockType Mux Inputs "4" DisplayOption "none" UseBusObject off BusObject "BusObject" NonVirtualBus off } Block { BlockType Scope DefaultConfigurationName "Simulink.scopes.TimeScopeBlockCfg" } Block { BlockType Step Time "1" Before "0" After "1" OutDataTypeStr "double" SampleTime "-1" VectorParams1D on ZeroCross on } Block { BlockType Sum IconShape "round" Inputs "++" CollapseMode "All dimensions" CollapseDim "1" InputSameDT off AccumDataTypeStr "Inherit: Inherit via internal rule" OutMin "[]" OutMax "[]" OutDataTypeStr "Inherit: Inherit via internal rule" LockScale off RndMeth "Floor" SaturateOnIntegerOverflow off SampleTime "-1" } Block { BlockType ToWorkspace VariableName "simulink_output" MaxDataPoints "1000" Decimation "1" SaveFormat "Array" Save2DSignal "3-D array (concatenate along third dimension)" FixptAsFi off NumInputs "1" SampleTime "0" } } System { Name "solution_part3" Location [-2117, -47, -672, 706] SystemRect [0.000000, 0.000000, 0.000000, 0.000000] Open off PortBlocksUseCompactNotation off SetExecutionDomain off ExecutionDomainType "Deduce" ModelBrowserVisibility on ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] TiledPageScale 1 ShowPageBoundaries off ZoomFactor "90" ReportName "simulink-default.rpt" SIDHighWatermark "28" SimulinkSubDomain "Simulink" Block { BlockType DiscreteStateSpace Name "Compensator R1" SID "3" Position [0, 101, 110, 139] ZOrder 302 A "R1.A" B "R1.B" C "R1.C" D "R1.D" InitialCondition "R1.x0" SampleTime "Ts" } Block { BlockType Step Name "Disturbance" SID "10" Position [280, 60, 310, 90] ZOrder 298 Time "35" After "dist" SampleTime "0" } Block { BlockType Gain Name "Gain" SID "24" Position [230, 200, 260, 230] ZOrder 310 BlockMirror on NameLocation "top" Gain "Kd_bar_x" Multiplication "Matrix(K*u)" } Block { BlockType Gain Name "Gain1" SID "25" Position [150, 105, 180, 135] ZOrder 311 Gain "Kd_bar_v" Multiplication "Matrix(K*u)" } Block { BlockType Mux Name "Mux1" SID "27" Ports [2, 1] Position [670, 96, 675, 194] ZOrder 313 ShowName off Inputs "2" DisplayOption "bar" } Block { BlockType Mux Name "Mux10" SID "5" Ports [2, 1] Position [-105, 72, -95, 163] ZOrder 297 ShowName off Inputs "2" DisplayOption "bar" } Block { BlockType Mux Name "Mux11" SID "6" Ports [2, 1] Position [460, 176, 465, 254] ZOrder 296 BlockMirror on NameLocation "top" ShowName off Inputs "2" DisplayOption "bar" } Block { BlockType Mux Name "Mux12" SID "7" Ports [2, 1] Position [345, 52, 355, 143] ZOrder 306 ShowName off Inputs "2" DisplayOption "bar" } Block { BlockType Step Name "Reference 1" SID "8" Position [-170, 80, -140, 110] ZOrder 295 Time "10" SampleTime "0" } Block { BlockType Step Name "Reference 2" SID "9" Position [-170, 125, -140, 155] ZOrder 294 Time "20" After "0.5" SampleTime "0" } Block { BlockType Scope Name "Scope" SID "22" Ports [1] Position [715, 129, 745, 161] ZOrder 308 ScopeSpecificationString "Simulink.scopes.TimeScopeBlockCfg('CurrentConfiguration', extmgr.ConfigurationSet(extm" "gr.Configuration('Core','General UI',true),extmgr.Configuration('Core','Source UI',true),extmgr.Configuration('S" "ources','WiredSimulink',true,'DataLoggingVariableName','ScopeData1'),extmgr.Configuration('Visuals','Time Domain" "',true,'SerializedDisplays',{struct('MinYLimReal','-1.44439','MaxYLimReal','6.1553','YLabelReal','','MinYLimMag'" ",'0.00000','MaxYLimMag','6.1553','LegendVisibility','off','XGrid',true,'YGrid',true,'PlotMagPhase',false,'AxesCo" "lor',[0 0 0],'AxesTickColor',[0.686274509803922 0.686274509803922 0.686274509803922],'ColorOrder',[1 1 0.0666666" "666666667;0.0745098039215686 0.623529411764706 1;1 0.411764705882353 0.16078431372549;0.392156862745098 0.831372" "549019608 0.0745098039215686;0.717647058823529 0.274509803921569 1;0.0588235294117647 1 1;1 0.0745098039215686 0" ".650980392156863],'Title','%','LinePropertiesCache',{{}},'UserDefinedChannelNames',{{}},'NumLines'," "4,'LineNames',{{'Discrete State-Space21:1','Discrete State-Space21:2','Step5','Step6'}},'ShowContent',true,'Plac" "ement',1)},'DisplayPropertyDefaults',struct('MinYLimReal','-1.44439','MaxYLimReal','6.1553','YLabelReal','','Min" "YLimMag','0.00000','MaxYLimMag','6.1553','LegendVisibility','off','XGrid',true,'YGrid',true,'PlotMagPhase',false" ",'AxesColor',[0 0 0],'AxesTickColor',[0.686274509803922 0.686274509803922 0.686274509803922],'ColorOrder',[0.074" "5098039215686 0.623529411764706 1;1 0.411764705882353 0.16078431372549;1 1 0.0666666666666667;0.717647058823529 " "0.274509803921569 1;0.392156862745098 0.831372549019608 0.0745098039215686;0.0588235294117647 1 1;1 0.0745098039" "215686 0.650980392156863])),extmgr.Configuration('Tools','Plot Navigation',true,'OnceAtStop',false),extmgr.Confi" "guration('Tools','Measurements',true,'Version','2020b')),'Version','2022b')" NumInputPorts "1" Floating off } Block { BlockType Scope Name "Scope1" SID "23" Ports [1] Position [720, 289, 750, 321] ZOrder 309 ScopeSpecificationString "Simulink.scopes.TimeScopeBlockCfg('CurrentConfiguration', extmgr.ConfigurationSet(extm" "gr.Configuration('Core','General UI',true),extmgr.Configuration('Core','Source UI',true),extmgr.Configuration('S" "ources','WiredSimulink',true),extmgr.Configuration('Visuals','Time Domain',true,'SerializedDisplays',{struct('Mi" "nYLimReal','-9.56849','MaxYLimReal','73.26092','YLabelReal','','MinYLimMag','0.00000','MaxYLimMag','73.26092','L" "egendVisibility','off','XGrid',true,'YGrid',true,'PlotMagPhase',false,'AxesColor',[0 0 0],'AxesTickColor',[0.686" "274509803922 0.686274509803922 0.686274509803922],'ColorOrder',[1 1 0.0666666666666667;0.0745098039215686 0.6235" "29411764706 1;1 0.411764705882353 0.16078431372549;0.392156862745098 0.831372549019608 0.0745098039215686;0.7176" "47058823529 0.274509803921569 1;0.0588235294117647 1 1;1 0.0745098039215686 0.650980392156863],'Title','%','LinePropertiesCache',{{}},'UserDefinedChannelNames',{{}},'NumLines',7,'LineNames',{{'Sum15:1','Sum15:2'" ",'Sum15:3','Sum15:4','Sum15:5','Sum15:6','Sum15:7'}},'ShowContent',true,'Placement',1)},'DisplayPropertyDefaults" "',struct('MinYLimReal','-9.56849','MaxYLimReal','73.26092','YLabelReal','','MinYLimMag','0.00000','MaxYLimMag','" "73.26092','LegendVisibility','off','XGrid',true,'YGrid',true,'PlotMagPhase',false,'AxesColor',[0 0 0],'AxesTickC" "olor',[0.686274509803922 0.686274509803922 0.686274509803922],'ColorOrder',[0.0745098039215686 0.623529411764706" " 1;1 0.411764705882353 0.16078431372549;1 1 0.0666666666666667;0.717647058823529 0.274509803921569 1;0.392156862" "745098 0.831372549019608 0.0745098039215686;0.0588235294117647 1 1;1 0.0745098039215686 0.650980392156863])),ext" "mgr.Configuration('Tools','Plot Navigation',true),extmgr.Configuration('Tools','Measurements',true,'Version','20" "20b')),'Version','2022b')" NumInputPorts "1" Floating off } Block { BlockType DiscreteStateSpace Name "State observer" SID "2" Position [295, 196, 405, 234] ZOrder 301 BlockMirror on NameLocation "top" A "obsd.A" B "obsd.B" C "obsd.C" D "obsd.D" InitialCondition "obsd.x0" SampleTime "Ts" } Block { BlockType Sum Name "Sum15" SID "11" Ports [2, 1] Position [605, 295, 625, 315] ZOrder 304 ShowName off Inputs "|+-" } Block { BlockType Sum Name "Sum16" SID "12" Ports [2, 1] Position [200, 110, 220, 130] ZOrder 293 ShowName off Inputs "|--" } Block { BlockType Sum Name "Sum17" SID "13" Ports [2, 1] Position [-45, 110, -25, 130] ZOrder 292 ShowName off Inputs "|+-" } Block { BlockType DiscreteStateSpace Name "System" SID "1" Position [460, 101, 570, 139] ZOrder 299 A "sysd.A" B "[eye(7) sysd.B]" C "sysd.C" D "zeros(2,9)" InitialCondition "x0" SampleTime "Ts" } Block { BlockType DiscreteStateSpace Name "System with measurable states" SID "4" Position [460, 286, 570, 324] ZOrder 305 A "sysd.A" B "[eye(7) sysd.B]" C "eye(7)" D "zeros(7,9)" InitialCondition "x0" SampleTime "Ts" } Block { BlockType ToWorkspace Name "To Workspace" SID "26" Ports [1] Position [570, 50, 660, 80] ZOrder 312 BlockMirror on NameLocation "top" VariableName "tracking" MaxDataPoints "inf" SaveFormat "Structure With Time" FixptAsFi on SampleTime "Ts" } Block { BlockType ToWorkspace Name "To Workspace1" SID "28" Ports [1] Position [690, 240, 780, 270] ZOrder 314 VariableName "est_error" MaxDataPoints "inf" SaveFormat "Structure With Time" FixptAsFi on SampleTime "Ts" } Line { ZOrder 5 SrcBlock "System" SrcPort 1 Points [26, 0] Branch { ZOrder 61 Points [0, 115] DstBlock "Mux11" DstPort 2 } Branch { ZOrder 31 Points [31, 0] Branch { ZOrder 87 Points [0, 151; -667, 0] DstBlock "Sum17" DstPort 2 } Branch { ZOrder 81 DstBlock "Mux1" DstPort 1 } } } Line { ZOrder 75 SrcBlock "Gain1" SrcPort 1 DstBlock "Sum16" DstPort 1 } Line { ZOrder 7 SrcBlock "Sum17" SrcPort 1 DstBlock "Compensator R1" DstPort 1 } Line { ZOrder 11 SrcBlock "Disturbance" SrcPort 1 DstBlock "Mux12" DstPort 1 } Line { ZOrder 10 SrcBlock "Sum16" SrcPort 1 Points [60, 0] Branch { ZOrder 117 DstBlock "Mux12" DstPort 2 } Branch { ZOrder 9 Points [0, 34; 204, 0; 0, 41] DstBlock "Mux11" DstPort 1 } } Line { ZOrder 72 SrcBlock "Sum15" SrcPort 1 Points [15, 0] Branch { ZOrder 91 Points [0, -50] DstBlock "To Workspace1" DstPort 1 } Branch { ZOrder 90 DstBlock "Scope1" DstPort 1 } } Line { ZOrder 141 SrcBlock "Mux10" SrcPort 1 Points [-5, 0; 26, 0] Branch { ZOrder 85 DstBlock "Sum17" DstPort 1 } Branch { ZOrder 84 Points [0, 50] DstBlock "Mux1" DstPort 2 } } Line { ZOrder 76 SrcBlock "Compensator R1" SrcPort 1 DstBlock "Gain1" DstPort 1 } Line { ZOrder 16 SrcBlock "Reference 1" SrcPort 1 DstBlock "Mux10" DstPort 1 } Line { ZOrder 73 SrcBlock "State observer" SrcPort 1 Points [-10, 0] Branch { ZOrder 78 Points [0, 133; 335, 0] DstBlock "Sum15" DstPort 2 } Branch { ZOrder 77 DstBlock "Gain" DstPort 1 } } Line { ZOrder 20 SrcBlock "Mux11" SrcPort 1 DstBlock "State observer" DstPort 1 } Line { ZOrder 74 SrcBlock "Gain" SrcPort 1 Points [-15, 0] DstBlock "Sum16" DstPort 2 } Line { ZOrder 22 SrcBlock "System with measurable states" SrcPort 1 DstBlock "Sum15" DstPort 1 } Line { ZOrder 25 SrcBlock "Mux12" SrcPort 1 Points [25, 0; 0, 20; 46, 0] Branch { ZOrder 65 DstBlock "System" DstPort 1 } Branch { ZOrder 58 Points [0, 185] DstBlock "System with measurable states" DstPort 1 } } Line { ZOrder 26 SrcBlock "Reference 2" SrcPort 1 DstBlock "Mux10" DstPort 2 } Line { ZOrder 79 SrcBlock "Mux1" SrcPort 1 Points [12, 0] Branch { ZOrder 89 Points [0, -80] DstBlock "To Workspace" DstPort 1 } Branch { ZOrder 88 DstBlock "Scope" DstPort 1 } } Annotation { SID "19" Name "x hat" Position [338, 203, 361, 215] InternalMargins [0, 0, 0, 0] ZOrder -1 } Annotation { SID "20" Name "Reference tracking: integral action controller and observer design" Position [-190, 22, 810, 365] InternalMargins [0, 0, 0, 0] FixedHeight on FixedWidth on ForegroundColor "[0.992157, 0.937255, 0.913725]" BackgroundColor "[0.992157, 0.937255, 0.913725]" DropShadow on AnnotationType "area_annotation" ZOrder 112 FontName "Arial" FontSize 16 } } }