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Location [38, 82, 867, 339]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "A4"
PaperUnits "centimeters"
TiledPaperMargins [1.270000, 1.270000, 1.270000, 1.270000]
TiledPageScale 1
ShowPageBoundaries off
ZoomFactor "100"
Block {
BlockType Constant
Name "Constant1"
SID 193
Position [285, 30, 315, 60]
Value "0.1"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Constant
Name "Constant2"
SID 194
Position [125, 40, 155, 70]
Value "pi/4"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Constant
Name "Constant3"
SID 195
Position [45, 125, 75, 155]
Value "2*pi"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType DigitalClock
Name "Digital Clock"
SID 316
Position [15, 218, 80, 242]
SampleTime "0.002"
}
Block {
BlockType Product
Name "Product"
SID 196
Ports [2, 1]
Position [395, 42, 425, 73]
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"
SID 197
Ports [2, 1]
Position [200, 172, 230, 203]
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 "Sum"
SID 198
Ports [2, 1]
Position [275, 115, 295, 135]
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 Trigonometry
Name "Trigonometric\nFunction"
SID 199
Ports [1, 1]
Position [320, 175, 350, 205]
}
Block {
BlockType Outport
Name "q2"
SID 200
Position [510, 53, 540, 67]
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Line {
SrcBlock "Sum"
SrcPort 1
Points [0, 65]
DstBlock "Trigonometric\nFunction"
DstPort 1
}
Line {
SrcBlock "Constant2"
SrcPort 1
Points [100, 0]
DstBlock "Sum"
DstPort 1
}
Line {
SrcBlock "Product2"
SrcPort 1
Points [50, 0]
DstBlock "Sum"
DstPort 2
}
Line {
SrcBlock "Product"
SrcPort 1
DstBlock "q2"
DstPort 1
}
Line {
SrcBlock "Trigonometric\nFunction"
SrcPort 1
Points [25, 0]
DstBlock "Product"
DstPort 2
}
Line {
SrcBlock "Constant3"
SrcPort 1
Points [0, 40]
DstBlock "Product2"
DstPort 1
}
Line {
SrcBlock "Digital Clock"
SrcPort 1
Points [50, 0; 0, -35]
DstBlock "Product2"
DstPort 2
}
Line {
Labels [1, 0]
SrcBlock "Constant1"
SrcPort 1
Points [60, 0]
DstBlock "Product"
DstPort 1
}
}
}
Block {
BlockType SubSystem
Name "Subsystem1"
SID 201
Ports [0, 1]
Position [25, 180, 65, 240]
MinAlgLoopOccurrences off
PropExecContextOutsideSubsystem off
RTWSystemCode "Auto"
FunctionWithSeparateData off
Opaque off
RequestExecContextInheritance off
MaskHideContents off
System {
Name "Subsystem1"
Location [535, 178, 1155, 435]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "A4"
PaperUnits "centimeters"
TiledPaperMargins [1.270000, 1.270000, 1.270000, 1.270000]
TiledPageScale 1
ShowPageBoundaries off
ZoomFactor "100"
Block {
BlockType Constant
Name "Constant2"
SID 203
Position [300, 15, 330, 45]
Value "0.1"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Constant
Name "Constant3"
SID 204
Position [140, 20, 170, 50]
Value "pi/2"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Constant
Name "Constant4"
SID 205
Position [80, 115, 110, 145]
Value "2*pi"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType DigitalClock
Name "Digital Clock"
SID 315
Position [60, 198, 125, 222]
SampleTime "0.002"
}
Block {
BlockType Product
Name "Product"
SID 206
Ports [2, 1]
Position [410, 22, 440, 53]
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"
SID 207
Ports [2, 1]
Position [215, 152, 245, 183]
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 "Sum"
SID 208
Ports [2, 1]
Position [290, 95, 310, 115]
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 Trigonometry
Name "Trigonometric\nFunction"
SID 209
Ports [1, 1]
Position [335, 155, 365, 185]
}
Block {
BlockType Outport
Name "q3"
SID 210
Position [525, 33, 555, 47]
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Line {
SrcBlock "Sum"
SrcPort 1
Points [0, 65]
DstBlock "Trigonometric\nFunction"
DstPort 1
}
Line {
SrcBlock "Constant3"
SrcPort 1
Points [100, 0]
DstBlock "Sum"
DstPort 1
}
Line {
SrcBlock "Product2"
SrcPort 1
Points [50, 0]
DstBlock "Sum"
DstPort 2
}
Line {
SrcBlock "Product"
SrcPort 1
DstBlock "q3"
DstPort 1
}
Line {
SrcBlock "Trigonometric\nFunction"
SrcPort 1
Points [25, 0]
DstBlock "Product"
DstPort 2
}
Line {
SrcBlock "Constant4"
SrcPort 1
Points [35, 0; 0, 30]
DstBlock "Product2"
DstPort 1
}
Line {
SrcBlock "Digital Clock"
SrcPort 1
Points [20, 0; 0, -35]
DstBlock "Product2"
DstPort 2
}
Line {
SrcBlock "Constant2"
SrcPort 1
DstBlock "Product"
DstPort 1
}
}
}
Block {
BlockType SubSystem
Name "Subsystem2"
SID 211
Ports [0, 1]
Position [30, 320, 70, 380]
MinAlgLoopOccurrences off
PropExecContextOutsideSubsystem off
RTWSystemCode "Auto"
FunctionWithSeparateData off
Opaque off
RequestExecContextInheritance off
MaskHideContents off
System {
Name "Subsystem2"
Location [378, 229, 1027, 631]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "A4"
PaperUnits "centimeters"
TiledPaperMargins [1.270000, 1.270000, 1.270000, 1.270000]
TiledPageScale 1
ShowPageBoundaries off
ZoomFactor "100"
Block {
BlockType Constant
Name "Constant1"
SID 213
Position [240, 115, 290, 165]
Value "0.1*2*pi"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Constant
Name "Constant3"
SID 214
Position [20, 215, 50, 245]
Value "2*pi"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType DigitalClock
Name "Digital Clock"
SID 322
Position [15, 303, 80, 327]
SampleTime "0.002"
}
Block {
BlockType Product
Name "Product"
SID 215
Ports [2, 1]
Position [370, 132, 400, 163]
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"
SID 216
Ports [2, 1]
Position [175, 262, 205, 293]
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
OutDataType "sfix(16)"
OutScaling "2^0"
OutDataTypeStr "Inherit: Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Trigonometry
Name "Trigonometric\nFunction"
SID 217
Ports [1, 1]
Position [295, 265, 325, 295]
Operator "cos"
}
Block {
BlockType Outport
Name "qd1"
SID 218
Position [520, 108, 550, 122]
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Line {
SrcBlock "Product"
SrcPort 1
Points [95, 0; 0, -35]
DstBlock "qd1"
DstPort 1
}
Line {
SrcBlock "Trigonometric\nFunction"
SrcPort 1
Points [25, 0]
DstBlock "Product"
DstPort 2
}
Line {
SrcBlock "Constant3"
SrcPort 1
Points [0, 40]
DstBlock "Product2"
DstPort 1
}
Line {
SrcBlock "Product2"
SrcPort 1
DstBlock "Trigonometric\nFunction"
DstPort 1
}
Line {
SrcBlock "Digital Clock"
SrcPort 1
Points [25, 0; 0, -30]
DstBlock "Product2"
DstPort 2
}
Line {
SrcBlock "Constant1"
SrcPort 1
DstBlock "Product"
DstPort 1
}
}
}
Block {
BlockType SubSystem
Name "Subsystem3"
SID 219
Ports [0, 1]
Position [25, 25, 65, 85]
MinAlgLoopOccurrences off
PropExecContextOutsideSubsystem off
RTWSystemCode "Auto"
FunctionWithSeparateData off
Opaque off
RequestExecContextInheritance off
MaskHideContents off
System {
Name "Subsystem3"
Location [366, 265, 1015, 667]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "A4"
PaperUnits "centimeters"
TiledPaperMargins [1.270000, 1.270000, 1.270000, 1.270000]
TiledPageScale 1
ShowPageBoundaries off
ZoomFactor "100"
Block {
BlockType Constant
Name "Constant1"
SID 221
Position [245, 125, 275, 155]
Value "0.1"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Constant
Name "Constant3"
SID 222
Position [75, 220, 105, 250]
Value "2*pi"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType DigitalClock
Name "Digital Clock"
SID 314
Position [15, 303, 80, 327]
SampleTime "0.002"
}
Block {
BlockType Product
Name "Product"
SID 223
Ports [2, 1]
Position [370, 132, 400, 163]
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"
SID 224
Ports [2, 1]
Position [175, 262, 205, 293]
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
OutDataType "sfix(16)"
OutScaling "2^0"
OutDataTypeStr "Inherit: Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Trigonometry
Name "Trigonometric\nFunction"
SID 225
Ports [1, 1]
Position [295, 265, 325, 295]
}
Block {
BlockType Outport
Name "q1"
SID 226
Position [520, 108, 550, 122]
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Line {
SrcBlock "Product"
SrcPort 1
Points [95, 0; 0, -35]
DstBlock "q1"
DstPort 1
}
Line {
SrcBlock "Trigonometric\nFunction"
SrcPort 1
Points [25, 0]
DstBlock "Product"
DstPort 2
}
Line {
SrcBlock "Constant3"
SrcPort 1
Points [0, 35]
DstBlock "Product2"
DstPort 1
}
Line {
SrcBlock "Product2"
SrcPort 1
DstBlock "Trigonometric\nFunction"
DstPort 1
}
Line {
SrcBlock "Digital Clock"
SrcPort 1
Points [25, 0; 0, -30]
DstBlock "Product2"
DstPort 2
}
Line {
SrcBlock "Constant1"
SrcPort 1
DstBlock "Product"
DstPort 1
}
}
}
Block {
BlockType SubSystem
Name "Subsystem4"
SID 227
Ports [0, 1]
Position [30, 415, 70, 475]
MinAlgLoopOccurrences off
PropExecContextOutsideSubsystem off
RTWSystemCode "Auto"
FunctionWithSeparateData off
Opaque off
RequestExecContextInheritance off
MaskHideContents off
System {
Name "Subsystem4"
Location [107, 82, 936, 339]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "A4"
PaperUnits "centimeters"
TiledPaperMargins [1.270000, 1.270000, 1.270000, 1.270000]
TiledPageScale 1
ShowPageBoundaries off
ZoomFactor "100"
Block {
BlockType Constant
Name "Constant1"
SID 229
Position [305, 30, 350, 70]
Value "0.1*2*pi"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Constant
Name "Constant2"
SID 230
Position [125, 40, 155, 70]
Value "pi/4"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Constant
Name "Constant3"
SID 231
Position [45, 125, 75, 155]
Value "2*pi"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType DigitalClock
Name "Digital Clock"
SID 321
Position [45, 218, 110, 242]
SampleTime "0.002"
}
Block {
BlockType Product
Name "Product"
SID 232
Ports [2, 1]
Position [395, 42, 425, 73]
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"
SID 233
Ports [2, 1]
Position [200, 172, 230, 203]
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 "Sum"
SID 234
Ports [2, 1]
Position [275, 115, 295, 135]
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 Trigonometry
Name "Trigonometric\nFunction"
SID 235
Ports [1, 1]
Position [320, 175, 350, 205]
Operator "cos"
}
Block {
BlockType Outport
Name "qd2"
SID 236
Position [510, 53, 540, 67]
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Line {
SrcBlock "Sum"
SrcPort 1
Points [0, 65]
DstBlock "Trigonometric\nFunction"
DstPort 1
}
Line {
SrcBlock "Constant2"
SrcPort 1
Points [100, 0]
DstBlock "Sum"
DstPort 1
}
Line {
SrcBlock "Product2"
SrcPort 1
Points [50, 0]
DstBlock "Sum"
DstPort 2
}
Line {
SrcBlock "Product"
SrcPort 1
DstBlock "qd2"
DstPort 1
}
Line {
SrcBlock "Trigonometric\nFunction"
SrcPort 1
Points [25, 0]
DstBlock "Product"
DstPort 2
}
Line {
SrcBlock "Constant3"
SrcPort 1
Points [0, 40]
DstBlock "Product2"
DstPort 1
}
Line {
SrcBlock "Digital Clock"
SrcPort 1
Points [20, 0; 0, -35]
DstBlock "Product2"
DstPort 2
}
Line {
SrcBlock "Constant1"
SrcPort 1
DstBlock "Product"
DstPort 1
}
}
}
Block {
BlockType SubSystem
Name "Subsystem5"
SID 237
Ports [0, 1]
Position [30, 505, 70, 565]
MinAlgLoopOccurrences off
PropExecContextOutsideSubsystem off
RTWSystemCode "Auto"
FunctionWithSeparateData off
Opaque off
RequestExecContextInheritance off
MaskHideContents off
System {
Name "Subsystem5"
Location [535, 178, 1155, 435]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "A4"
PaperUnits "centimeters"
TiledPaperMargins [1.270000, 1.270000, 1.270000, 1.270000]
TiledPageScale 1
ShowPageBoundaries off
ZoomFactor "100"
Block {
BlockType Constant
Name "Constant1"
SID 239
Position [315, 15, 360, 55]
Value "0.1*2*pi"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Constant
Name "Constant3"
SID 240
Position [140, 20, 170, 50]
Value "pi/2"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Constant
Name "Constant4"
SID 241
Position [60, 105, 90, 135]
Value "2*pi"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType DigitalClock
Name "Digital Clock"
SID 320
Position [15, 198, 80, 222]
SampleTime "0.002"
}
Block {
BlockType Product
Name "Product"
SID 242
Ports [2, 1]
Position [410, 22, 440, 53]
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"
SID 243
Ports [2, 1]
Position [215, 152, 245, 183]
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 "Sum"
SID 244
Ports [2, 1]
Position [290, 95, 310, 115]
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 Trigonometry
Name "Trigonometric\nFunction"
SID 245
Ports [1, 1]
Position [335, 155, 365, 185]
Operator "cos"
}
Block {
BlockType Outport
Name "qd3"
SID 246
Position [525, 33, 555, 47]
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Line {
SrcBlock "Sum"
SrcPort 1
Points [0, 65]
DstBlock "Trigonometric\nFunction"
DstPort 1
}
Line {
SrcBlock "Constant3"
SrcPort 1
Points [100, 0]
DstBlock "Sum"
DstPort 1
}
Line {
SrcBlock "Product2"
SrcPort 1
Points [50, 0]
DstBlock "Sum"
DstPort 2
}
Line {
SrcBlock "Product"
SrcPort 1
DstBlock "qd3"
DstPort 1
}
Line {
SrcBlock "Trigonometric\nFunction"
SrcPort 1
Points [25, 0]
DstBlock "Product"
DstPort 2
}
Line {
SrcBlock "Constant4"
SrcPort 1
Points [0, 40]
DstBlock "Product2"
DstPort 1
}
Line {
SrcBlock "Digital Clock"
SrcPort 1
Points [65, 0; 0, -35]
DstBlock "Product2"
DstPort 2
}
Line {
SrcBlock "Constant1"
SrcPort 1
Points [0, -5]
DstBlock "Product"
DstPort 1
}
}
}
Block {
BlockType SubSystem
Name "Subsystem6"
SID 247
Ports [0, 1]
Position [35, 610, 75, 670]
MinAlgLoopOccurrences off
PropExecContextOutsideSubsystem off
RTWSystemCode "Auto"
FunctionWithSeparateData off
Opaque off
RequestExecContextInheritance off
MaskHideContents off
System {
Name "Subsystem6"
Location [276, 429, 925, 831]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "A4"
PaperUnits "centimeters"
TiledPaperMargins [1.270000, 1.270000, 1.270000, 1.270000]
TiledPageScale 1
ShowPageBoundaries off
ZoomFactor "100"
Block {
BlockType Constant
Name "Constant1"
SID 249
Position [220, 112, 290, 168]
Value "-0.1*4*pi^2"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Constant
Name "Constant3"
SID 250
Position [20, 215, 50, 245]
Value "2*pi"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType DigitalClock
Name "Digital Clock"
SID 317
Position [15, 308, 80, 332]
SampleTime "0.002"
}
Block {
BlockType Product
Name "Product"
SID 251
Ports [2, 1]
Position [370, 132, 400, 163]
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"
SID 252
Ports [2, 1]
Position [175, 262, 205, 293]
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
OutDataType "sfix(16)"
OutScaling "2^0"
OutDataTypeStr "Inherit: Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Trigonometry
Name "Trigonometric\nFunction"
SID 253
Ports [1, 1]
Position [295, 265, 325, 295]
}
Block {
BlockType Outport
Name "qdd1"
SID 254
Position [520, 108, 550, 122]
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Line {
SrcBlock "Product"
SrcPort 1
Points [95, 0; 0, -35]
DstBlock "qdd1"
DstPort 1
}
Line {
SrcBlock "Trigonometric\nFunction"
SrcPort 1
Points [25, 0]
DstBlock "Product"
DstPort 2
}
Line {
SrcBlock "Constant3"
SrcPort 1
Points [0, 40]
DstBlock "Product2"
DstPort 1
}
Line {
SrcBlock "Product2"
SrcPort 1
DstBlock "Trigonometric\nFunction"
DstPort 1
}
Line {
SrcBlock "Digital Clock"
SrcPort 1
Points [25, 0; 0, -35]
DstBlock "Product2"
DstPort 2
}
Line {
SrcBlock "Constant1"
SrcPort 1
DstBlock "Product"
DstPort 1
}
}
}
Block {
BlockType SubSystem
Name "Subsystem7"
SID 255
Ports [0, 1]
Position [35, 705, 75, 765]
MinAlgLoopOccurrences off
PropExecContextOutsideSubsystem off
RTWSystemCode "Auto"
FunctionWithSeparateData off
Opaque off
RequestExecContextInheritance off
MaskHideContents off
System {
Name "Subsystem7"
Location [359, 132, 1188, 389]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "A4"
PaperUnits "centimeters"
TiledPaperMargins [1.270000, 1.270000, 1.270000, 1.270000]
TiledPageScale 1
ShowPageBoundaries off
ZoomFactor "100"
Block {
BlockType Constant
Name "Constant1"
SID 257
Position [280, 22, 350, 78]
Value "-0.1*4*pi^2"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Constant
Name "Constant2"
SID 258
Position [125, 40, 155, 70]
Value "pi/4"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Constant
Name "Constant3"
SID 259
Position [45, 125, 75, 155]
Value "2*pi"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType DigitalClock
Name "Digital Clock"
SID 318
Position [55, 218, 120, 242]
SampleTime "0.002"
}
Block {
BlockType Product
Name "Product"
SID 260
Ports [2, 1]
Position [395, 42, 425, 73]
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"
SID 261
Ports [2, 1]
Position [200, 172, 230, 203]
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 "Sum"
SID 262
Ports [2, 1]
Position [275, 115, 295, 135]
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 Trigonometry
Name "Trigonometric\nFunction"
SID 263
Ports [1, 1]
Position [320, 175, 350, 205]
}
Block {
BlockType Outport
Name "qdd2"
SID 264
Position [510, 53, 540, 67]
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Line {
SrcBlock "Sum"
SrcPort 1
Points [0, 65]
DstBlock "Trigonometric\nFunction"
DstPort 1
}
Line {
SrcBlock "Constant2"
SrcPort 1
Points [100, 0]
DstBlock "Sum"
DstPort 1
}
Line {
SrcBlock "Product2"
SrcPort 1
Points [50, 0]
DstBlock "Sum"
DstPort 2
}
Line {
SrcBlock "Product"
SrcPort 1
DstBlock "qdd2"
DstPort 1
}
Line {
SrcBlock "Trigonometric\nFunction"
SrcPort 1
Points [25, 0]
DstBlock "Product"
DstPort 2
}
Line {
SrcBlock "Constant3"
SrcPort 1
Points [0, 40]
DstBlock "Product2"
DstPort 1
}
Line {
SrcBlock "Digital Clock"
SrcPort 1
Points [10, 0; 0, -35]
DstBlock "Product2"
DstPort 2
}
Line {
SrcBlock "Constant1"
SrcPort 1
DstBlock "Product"
DstPort 1
}
}
}
Block {
BlockType SubSystem
Name "Subsystem8"
SID 265
Ports [0, 1]
Position [40, 790, 80, 850]
MinAlgLoopOccurrences off
PropExecContextOutsideSubsystem off
RTWSystemCode "Auto"
FunctionWithSeparateData off
Opaque off
RequestExecContextInheritance off
MaskHideContents off
System {
Name "Subsystem8"
Location [535, 178, 1155, 435]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "A4"
PaperUnits "centimeters"
TiledPaperMargins [1.270000, 1.270000, 1.270000, 1.270000]
TiledPageScale 1
ShowPageBoundaries off
ZoomFactor "100"
Block {
BlockType Constant
Name "Constant1"
SID 267
Position [300, 12, 370, 68]
Value "-0.1*4*pi^2"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Constant
Name "Constant3"
SID 268
Position [140, 20, 170, 50]
Value "pi/2"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Constant
Name "Constant4"
SID 269
Position [60, 105, 90, 135]
Value "2*pi"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType DigitalClock
Name "Digital Clock"
SID 319
Position [60, 198, 125, 222]
SampleTime "0.002"
}
Block {
BlockType Product
Name "Product"
SID 270
Ports [2, 1]
Position [410, 22, 440, 53]
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"
SID 271
Ports [2, 1]
Position [215, 152, 245, 183]
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 "Sum"
SID 272
Ports [2, 1]
Position [290, 95, 310, 115]
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 Trigonometry
Name "Trigonometric\nFunction"
SID 273
Ports [1, 1]
Position [335, 155, 365, 185]
}
Block {
BlockType Outport
Name "qdd3"
SID 274
Position [525, 33, 555, 47]
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Line {
SrcBlock "Sum"
SrcPort 1
Points [0, 65]
DstBlock "Trigonometric\nFunction"
DstPort 1
}
Line {
SrcBlock "Constant3"
SrcPort 1
Points [100, 0]
DstBlock "Sum"
DstPort 1
}
Line {
SrcBlock "Product2"
SrcPort 1
Points [50, 0]
DstBlock "Sum"
DstPort 2
}
Line {
SrcBlock "Product"
SrcPort 1
DstBlock "qdd3"
DstPort 1
}
Line {
SrcBlock "Trigonometric\nFunction"
SrcPort 1
Points [25, 0]
DstBlock "Product"
DstPort 2
}
Line {
SrcBlock "Constant4"
SrcPort 1
Points [0, 40]
DstBlock "Product2"
DstPort 1
}
Line {
SrcBlock "Digital Clock"
SrcPort 1
Points [20, 0; 0, -35]
DstBlock "Product2"
DstPort 2
}
Line {
SrcBlock "Constant1"
SrcPort 1
Points [0, -10]
DstBlock "Product"
DstPort 1
}
}
}
Block {
BlockType Outport
Name "q"
SID 275
Position [240, 138, 270, 152]
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "qd"
SID 276
Position [245, 448, 275, 462]
Port "2"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "qdd"
SID 277
Position [195, 728, 225, 742]
Port "3"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Line {
SrcBlock "Mux2"
SrcPort 1
Points [0, -15]
DstBlock "qdd"
DstPort 1
}
Line {
SrcBlock "Mux1"
SrcPort 1
Points [0, -5]
DstBlock "qd"
DstPort 1
}
Line {
SrcBlock "Mux"
SrcPort 1
DstBlock "q"
DstPort 1
}
Line {
SrcBlock "Subsystem3"
SrcPort 1
Points [35, 0; 0, 50]
DstBlock "Mux"
DstPort 1
}
Line {
SrcBlock "Subsystem"
SrcPort 1
DstBlock "Mux"
DstPort 2
}
Line {
SrcBlock "Subsystem1"
SrcPort 1
Points [35, 0; 0, -55]
DstBlock "Mux"
DstPort 3
}
Line {
SrcBlock "Subsystem2"
SrcPort 1
Points [35, 0; 0, 70]
DstBlock "Mux1"
DstPort 1
}
Line {
SrcBlock "Subsystem4"
SrcPort 1
DstBlock "Mux1"
DstPort 2
}
Line {
SrcBlock "Subsystem5"
SrcPort 1
Points [35, 0; 0, -65]
DstBlock "Mux1"
DstPort 3
}
Line {
SrcBlock "Subsystem6"
SrcPort 1
Points [35, 0; 0, 70]
DstBlock "Mux2"
DstPort 1
}
Line {
SrcBlock "Subsystem7"
SrcPort 1
DstBlock "Mux2"
DstPort 2
}
Line {
SrcBlock "Subsystem8"
SrcPort 1
Points [35, 0; 0, -60]
DstBlock "Mux2"
DstPort 3
}
Line {
SrcBlock "Constant3"
SrcPort 1
Points [5, 0; 0, -110]
DstBlock "Mux"
DstPort 4
}
Line {
SrcBlock "Constant1"
SrcPort 1
Points [5, 0; 0, -95]
DstBlock "Mux1"
DstPort 4
}
Line {
SrcBlock "Constant2"
SrcPort 1
Points [10, 0; 0, -110]
DstBlock "Mux2"
DstPort 4
}
}
}
Block {
BlockType Constant
Name "Constant"
SID 1318
Position [610, 740, 655, 770]
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Constant
Name "Constant1"
SID 1319
Position [610, 779, 660, 811]
Value "20"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Constant
Name "Constant4"
SID 1320
Position [615, 818, 655, 852]
Value "10"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Demux
Name "Demux"
SID 4394
Ports [1, 6]
Position [1585, 711, 1590, 889]
ShowName off
Outputs "6"
DisplayOption "bar"
}
Block {
BlockType Demux
Name "Demux1"
SID 4475
Ports [1, 6]
Position [1075, 574, 1080, 686]
ShowName off
Outputs "6"
DisplayOption "bar"
}
Block {
BlockType DigitalClock
Name "Digital Clock"
SID 4355
Position [460, 198, 525, 222]
SampleTime "0.002"
}
Block {
BlockType Display
Name "Display"
SID 4385
Ports [1]
Position [680, 195, 770, 225]
Decimation "1"
Lockdown off
}
Block {
BlockType Gain
Name "Gain1"
SID 4511
Position [520, 125, 550, 155]
BlockMirror on
NamePlacement "alternate"
Gain "(1/13)"
ParameterDataTypeMode "Inherit via internal rule"
ParameterDataType "fixdt(1, 16)"
ParameterScaling "2^0"
ParamDataTypeStr "Inherit: Inherit via internal rule"
OutDataTypeMode "Inherit via internal rule"
OutDataType "fixdt(1, 16)"
OutScaling "2^0"
OutDataTypeStr "Inherit: Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Gain
Name "Gain2"
SID 4512
Position [460, 100, 490, 130]
BlockMirror on
NamePlacement "alternate"
Gain "(1/8)"
ParameterDataTypeMode "Inherit via internal rule"
ParameterDataType "fixdt(1, 16)"
ParameterScaling "2^0"
ParamDataTypeStr "Inherit: Inherit via internal rule"
OutDataTypeMode "Inherit via internal rule"
OutDataType "fixdt(1, 16)"
OutScaling "2^0"
OutDataTypeStr "Inherit: Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Gain
Name "Gain3"
SID 4513
Position [590, 150, 620, 180]
BlockMirror on
NamePlacement "alternate"
Gain "(1/6)"
ParameterDataTypeMode "Inherit via internal rule"
ParameterDataType "fixdt(1, 16)"
ParameterScaling "2^0"
ParamDataTypeStr "Inherit: Inherit via internal rule"
OutDataTypeMode "Inherit via internal rule"
OutDataType "fixdt(1, 16)"
OutScaling "2^0"
OutDataTypeStr "Inherit: Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Reference
Name "Granular layer"
SID 4389
Ports [0, 1]
Position [1160, 1030, 1190, 1060]
LibraryVersion "1.762"
SourceBlock "simulink/Sources/Counter\nLimited"
SourceType "Counter Limited"
ShowPortLabels "FromPortIcon"
SystemSampleTime "-1"
FunctionWithSeparateData off
RTWMemSecFuncInitTerm "Inherit from model"
RTWMemSecFuncExecute "Inherit from model"
RTWMemSecDataConstants "Inherit from model"
RTWMemSecDataInternal "Inherit from model"
RTWMemSecDataParameters "Inherit from model"
uplimit "499"
tsamp "0.002"
}
Block {
BlockType Constant
Name "MFactivity"
SID 4390
Position [1165, 890, 1210, 920]
Value "ones(6,1)"
OutDataTypeMode "double"
OutDataType "sfix(16)"
OutScaling "2^0"
OutDataTypeStr "double"
SampleTime "0.002"
}
Block {
BlockType Mux
Name "Mux"
SID 4354
Ports [3, 1]
Position [605, 236, 610, 274]
ShowName off
Inputs "3"
DisplayOption "bar"
}
Block {
BlockType Mux
Name "Mux1"
SID 4387
Ports [3, 1]
Position [1695, 404, 1700, 496]
BlockMirror on
NamePlacement "alternate"
ShowName off
Inputs "3"
DisplayOption "bar"
}
Block {
BlockType Mux
Name "Mux2"
SID 2292
Ports [3, 1]
Position [275, 236, 280, 314]
ShowName off
Inputs "3"
DisplayOption "bar"
}
Block {
BlockType Mux
Name "Mux3"
SID 4439
Ports [3, 1]
Position [1035, 577, 1040, 683]
ShowName off
Inputs "3"
DisplayOption "bar"
}
Block {
BlockType Mux
Name "Mux4"
SID 4473
Ports [3, 1]
Position [995, 739, 1000, 841]
ShowName off
Inputs "3"
DisplayOption "bar"
}
Block {
BlockType Mux
Name "Mux6"
SID 4431
Ports [2, 1]
Position [1695, 541, 1700, 579]
ShowName off
Inputs "2"
DisplayOption "bar"
}
Block {
BlockType Mux
Name "Mux7"
SID 4433
Ports [2, 1]
Position [1710, 611, 1715, 649]
ShowName off
Inputs "2"
DisplayOption "bar"
}
Block {
BlockType Mux
Name "Mux8"
SID 4434
Ports [2, 1]
Position [1725, 676, 1730, 714]
ShowName off
Inputs "2"
DisplayOption "bar"
}
Block {
BlockType Mux
Name "Mux9"
SID 4477
Ports [6, 1]
Position [1185, 573, 1190, 687]
ShowName off
Inputs "6"
DisplayOption "bar"
}
Block {
BlockType SubSystem
Name "RNE "
SID 330
Ports [3, 1]
Position [215, 358, 335, 422]
BackgroundColor "red"
MinAlgLoopOccurrences off
PropExecContextOutsideSubsystem off
RTWSystemCode "Auto"
FunctionWithSeparateData off
Opaque off
RequestExecContextInheritance off
MaskHideContents off
MaskDescription "This block computes the inverse dynamics by using the\nrecursive Newton Euler algorithm(c"
"omputationally speaking more efficient than Lagrange-Euler's method)\nThe gravity vector has to be set (the grav"
"ity direction has to be taken into account)"
MaskPromptString "Gravity Vector( 0 0 -9.81) |Robot"
MaskStyleString "edit,edit"
MaskTunableValueString "on,on"
MaskCallbackString "|"
MaskEnableString "on,on"
MaskVisibilityString "on,on"
MaskToolTipString "on,on"
MaskVariables "grav=@1;RRed=@2;"
MaskDisplay "port_label('output',1,'Torques')\nport_label('input',1,'q')\nport_label('input',2,'qd')\nport"
"_label('input',3,'qdd')\nfprintf('RNE') "
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskPortRotate "default"
MaskIconUnits "autoscale"
MaskValueString "[ 0 0 9.81]|RRedKuKa"
System {
Name "RNE "
Location [265, 341, 775, 553]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "A4"
PaperUnits "centimeters"
TiledPaperMargins [1.270000, 1.270000, 1.270000, 1.270000]
TiledPageScale 1
ShowPageBoundaries off
ZoomFactor "100"
Block {
BlockType Inport
Name "q"
SID 331
Position [25, 33, 55, 47]
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Inport
Name "qd"
SID 332
Position [25, 103, 55, 117]
Port "2"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Inport
Name "qdd"
SID 333
Position [25, 163, 55, 177]
Port "3"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Mux
Name "Mux"
SID 334
Ports [3, 1]
Position [215, 51, 220, 169]
ShowName off
Inputs "3"
DisplayOption "bar"
}
Block {
BlockType "S-Function"
Name "S-Function"
SID 335
Ports [1, 1]
Position [90, 25, 150, 55]
BackgroundColor "yellow"
FunctionName "Select"
Parameters "RRed"
EnableBusSupport off
}
Block {
BlockType "S-Function"
Name "S-Function1"
SID 336
Ports [1, 1]
Position [95, 95, 155, 125]
BackgroundColor "yellow"
FunctionName "Select"
Parameters "RRed"
EnableBusSupport off
}
Block {
BlockType "S-Function"
Name "S-Function2"
SID 337
Ports [1, 1]
Position [100, 155, 160, 185]
BackgroundColor "yellow"
FunctionName "Select"
Parameters "RRed"
EnableBusSupport off
}
Block {
BlockType MATLABFcn
Name "rne"
SID 338
Ports [1, 1]
Position [255, 96, 430, 124]
MATLABFcn "frne(RRed, u(1:RRed.n)', u(RRed.n+1:2*RRed.n)', u(2* RRed.n+1:3*RRed.n)',grav)"
OutputDimensions "RRed.n"
}
Block {
BlockType Outport
Name "Torque"
SID 339
Position [455, 103, 485, 117]
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Line {
SrcBlock "qdd"
SrcPort 1
DstBlock "S-Function2"
DstPort 1
}
Line {
SrcBlock "rne"
SrcPort 1
DstBlock "Torque"
DstPort 1
}
Line {
SrcBlock "q"
SrcPort 1
DstBlock "S-Function"
DstPort 1
}
Line {
SrcBlock "Mux"
SrcPort 1
DstBlock "rne"
DstPort 1
}
Line {
SrcBlock "qd"
SrcPort 1
DstBlock "S-Function1"
DstPort 1
}
Line {
SrcBlock "S-Function"
SrcPort 1
Points [40, 0; 0, 30]
DstBlock "Mux"
DstPort 1
}
Line {
SrcBlock "S-Function1"
SrcPort 1
DstBlock "Mux"
DstPort 2
}
Line {
SrcBlock "S-Function2"
SrcPort 1
Points [25, 0; 0, -20]
DstBlock "Mux"
DstPort 3
}
}
}
Block {
BlockType SubSystem
Name "RNE 2"
SID 4548
Ports [3, 1]
Position [215, 463, 335, 527]
BackgroundColor "red"
MinAlgLoopOccurrences off
PropExecContextOutsideSubsystem off
RTWSystemCode "Auto"
FunctionWithSeparateData off
Opaque off
RequestExecContextInheritance off
MaskHideContents off
MaskDescription "This block computes the inverse dynamics by using the\nrecursive Newton Euler algorithm(c"
"omputationally speaking more efficient than Lagrange-Euler's method)\nThe gravity vector has to be set (the grav"
"ity direction has to be taken into account)"
MaskPromptString "Gravity Vector( 0 0 -9.81) |Robot"
MaskStyleString "edit,edit"
MaskTunableValueString "on,on"
MaskCallbackString "|"
MaskEnableString "on,on"
MaskVisibilityString "on,on"
MaskToolTipString "on,on"
MaskVariables "grav=@1;RRed=@2;"
MaskDisplay "\nport_label('output',1,'Torques')\nport_label('input',1,'q')\nport_label('input',2,'qd')\npo"
"rt_label('input',3,'qdd')\nfprintf('RNE') "
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskPortRotate "default"
MaskIconUnits "autoscale"
MaskValueString "[ 0 0 9.81]|RRedKuKadet"
System {
Name "RNE 2"
Location [265, 341, 775, 553]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "A4"
PaperUnits "centimeters"
TiledPaperMargins [1.270000, 1.270000, 1.270000, 1.270000]
TiledPageScale 1
ShowPageBoundaries off
ZoomFactor "100"
Block {
BlockType Inport
Name "q"
SID 4549
Position [25, 33, 55, 47]
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Inport
Name "qd"
SID 4550
Position [25, 103, 55, 117]
Port "2"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Inport
Name "qdd"
SID 4551
Position [25, 163, 55, 177]
Port "3"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Mux
Name "Mux"
SID 4552
Ports [3, 1]
Position [215, 51, 220, 169]
ShowName off
Inputs "3"
DisplayOption "bar"
}
Block {
BlockType "S-Function"
Name "S-Function"
SID 4553
Ports [1, 1]
Position [90, 25, 150, 55]
BackgroundColor "yellow"
FunctionName "Select"
Parameters "RRed"
EnableBusSupport off
}
Block {
BlockType "S-Function"
Name "S-Function1"
SID 4554
Ports [1, 1]
Position [95, 95, 155, 125]
BackgroundColor "yellow"
FunctionName "Select"
Parameters "RRed"
EnableBusSupport off
}
Block {
BlockType "S-Function"
Name "S-Function2"
SID 4555
Ports [1, 1]
Position [100, 155, 160, 185]
BackgroundColor "yellow"
FunctionName "Select"
Parameters "RRed"
EnableBusSupport off
}
Block {
BlockType MATLABFcn
Name "rne"
SID 4556
Ports [1, 1]
Position [255, 96, 430, 124]
MATLABFcn "frne(RRed, u(1:RRed.n)', u(RRed.n+1:2*RRed.n)', u(2* RRed.n+1:3*RRed.n)',grav)"
OutputDimensions "RRed.n"
}
Block {
BlockType Outport
Name "Torque"
SID 4557
Position [455, 103, 485, 117]
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Line {
SrcBlock "qdd"
SrcPort 1
DstBlock "S-Function2"
DstPort 1
}
Line {
SrcBlock "rne"
SrcPort 1
DstBlock "Torque"
DstPort 1
}
Line {
SrcBlock "q"
SrcPort 1
DstBlock "S-Function"
DstPort 1
}
Line {
SrcBlock "Mux"
SrcPort 1
DstBlock "rne"
DstPort 1
}
Line {
SrcBlock "qd"
SrcPort 1
DstBlock "S-Function1"
DstPort 1
}
Line {
SrcBlock "S-Function"
SrcPort 1
Points [40, 0; 0, 30]
DstBlock "Mux"
DstPort 1
}
Line {
SrcBlock "S-Function1"
SrcPort 1
DstBlock "Mux"
DstPort 2
}
Line {
SrcBlock "S-Function2"
SrcPort 1
Points [25, 0; 0, -20]
DstBlock "Mux"
DstPort 3
}
}
}
Block {
BlockType SubSystem
Name "ROBOT RRR"
SID 340
Ports [1, 3]
Position [420, 354, 585, 426]
BackgroundColor "red"
DropShadow on
MinAlgLoopOccurrences off
PropExecContextOutsideSubsystem off
RTWSystemCode "Auto"
FunctionWithSeparateData off
Opaque off
RequestExecContextInheritance off
MaskHideContents off
MaskDescription "Simulated robot model(Rigid body dynamics)"
MaskPromptString "Position initial conditions q|Velocity initial conditions qd|Robot"
MaskStyleString "edit,edit,edit"
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MaskCallbackString "||"
MaskEnableString "on,on,on"
MaskVisibilityString "on,on,on"
MaskToolTipString "on,on,on"
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MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
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MaskIconUnits "autoscale"
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Name "ROBOT RRR"
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Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
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PaperPositionMode "auto"
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TiledPaperMargins [1.270000, 1.270000, 1.270000, 1.270000]
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ShowPageBoundaries off
ZoomFactor "100"
Block {
BlockType Inport
Name "torqueX"
SID 341
Position [35, 138, 65, 152]
IconDisplay "Port number"
OutDataType "sfix(16)"
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Block {
BlockType Constant
Name "Constant"
SID 342
Position [35, 745, 155, 775]
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OutDataType "sfix(16)"
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Block {
BlockType Constant
Name "Constant1"
SID 343
Position [25, 630, 145, 660]
Value "Viniciales"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Integrator
Name "Integrator"
SID 344
Ports [3, 1]
Position [270, 104, 305, 156]
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InitialConditionSource "external"
Port {
PortNumber 1
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RTWStorageClass "Auto"
DataLoggingNameMode "SignalName"
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}
Block {
BlockType Integrator
Name "Integrator1"
SID 345
Ports [3, 1]
Position [360, 115, 390, 155]
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Port {
PortNumber 1
Name "q"
RTWStorageClass "Auto"
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}
Block {
BlockType Mux
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SID 346
Ports [3, 1]
Position [105, 70, 115, 160]
ShowName off
Inputs "3"
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Block {
BlockType SubSystem
Name "Reset Contidions"
SID 3321
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Position [65, 334, 130, 396]
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PropExecContextOutsideSubsystem off
RTWSystemCode "Auto"
FunctionWithSeparateData off
Opaque off
RequestExecContextInheritance off
MaskHideContents off
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MaskVisibilityString "on"
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System {
Name "Reset Contidions"
Location [27, 390, 267, 520]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
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PaperUnits "centimeters"
TiledPaperMargins [1.270000, 1.270000, 1.270000, 1.270000]
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ShowPageBoundaries off
ZoomFactor "100"
Block {
BlockType Constant
Name "Constant2"
SID 3318
Position [35, 74, 80, 106]
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}
Block {
BlockType DigitalClock
Name "Digital Clock"
SID 3317
Position [25, 28, 90, 52]
SampleTime "0.002"
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Block {
BlockType Math
Name "Math\nFunction"
SID 3316
Ports [2, 1]
Position [130, 32, 160, 63]
Operator "mod"
OutputSignalType "real"
OutDataType "fixdt(1, 16)"
OutScaling "2^0"
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Block {
BlockType Outport
Name "Out1"
SID 3322
Position [185, 43, 215, 57]
IconDisplay "Port number"
}
Line {
SrcBlock "Digital Clock"
SrcPort 1
DstBlock "Math\nFunction"
DstPort 1
}
Line {
SrcBlock "Constant2"
SrcPort 1
Points [30, 0]
DstBlock "Math\nFunction"
DstPort 2
}
Line {
SrcBlock "Math\nFunction"
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DstBlock "Out1"
DstPort 1
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}
}
Block {
BlockType "S-Function"
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Ports [1, 1]
Position [150, 100, 210, 130]
FunctionName "CINDIR"
Parameters "RRed"
EnableBusSupport off
Port {
PortNumber 1
Name "qdd"
RTWStorageClass "Auto"
DataLoggingNameMode "SignalName"
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}
Block {
BlockType "S-Function"
Name "S-Function1"
SID 348
Ports [1, 1]
Position [185, 745, 245, 775]
BackgroundColor "yellow"
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EnableBusSupport off
}
Block {
BlockType "S-Function"
Name "S-Function2"
SID 349
Ports [1, 1]
Position [185, 630, 245, 660]
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Parameters "RRed"
EnableBusSupport off
}
Block {
BlockType Outport
Name "joint positions q"
SID 350
Position [565, 13, 595, 27]
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "joint velocities qd"
SID 351
Position [565, 53, 595, 67]
Port "2"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "joint accelerations qdd"
SID 352
Position [565, 98, 595, 112]
Port "3"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
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Line {
SrcBlock "torqueX"
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DstBlock "Mux"
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Line {
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SrcBlock "Integrator"
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Points [15, 0; 0, -10]
Branch {
DstBlock "Integrator1"
DstPort 1
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Branch {
Points [0, -60]
Branch {
Points [0, -25; -285, 0; 0, 80]
DstBlock "Mux"
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Branch {
DstBlock "joint velocities qd"
DstPort 1
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}
}
Line {
SrcBlock "Mux"
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DstBlock "S-Function"
DstPort 1
}
Line {
Name "qdd"
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Branch {
DstBlock "Integrator"
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Branch {
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DstBlock "joint accelerations qdd"
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Line {
SrcBlock "Constant"
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DstBlock "S-Function1"
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Line {
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SrcBlock "Integrator1"
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Points [0, -115]
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DstBlock "Mux"
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Branch {
DstBlock "joint positions q"
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}
Line {
SrcBlock "S-Function1"
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Points [90, 0; 0, -610]
DstBlock "Integrator1"
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}
Line {
SrcBlock "S-Function2"
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Points [5, 0]
DstBlock "Integrator"
DstPort 3
}
Line {
SrcBlock "Constant1"
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DstBlock "S-Function2"
DstPort 1
}
Line {
SrcBlock "Reset Contidions"
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Points [95, 0]
Branch {
Points [105, 0; 0, -230]
DstBlock "Integrator1"
DstPort 2
}
Branch {
Points [0, -235]
DstBlock "Integrator"
DstPort 2
}
}
}
}
Block {
BlockType "S-Function"
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SID 4388
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Position [1275, 939, 1405, 1036]
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MaskStyleString "edit,edit,edit,edit"
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MaskEnableString "on,on,on,on"
MaskVisibilityString "on,on,on,on"
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MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskPortRotate "default"
MaskIconUnits "autoscale"
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Block {
BlockType SubSystem
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SID 1232
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Position [710, 565, 935, 865]
BackgroundColor "orange"
MinAlgLoopOccurrences off
PropExecContextOutsideSubsystem off
RTWSystemCode "Auto"
FunctionWithSeparateData off
Opaque off
RequestExecContextInheritance off
MaskHideContents off
System {
Name "Subsystem"
Location [161, 93, 1299, 853]
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ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
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PaperType "A4"
PaperUnits "centimeters"
TiledPaperMargins [1.270000, 1.270000, 1.270000, 1.270000]
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ShowPageBoundaries off
ZoomFactor "100"
Block {
BlockType Inport
Name "Desired Positions"
SID 1246
Position [20, 208, 50, 222]
IconDisplay "Port number"
}
Block {
BlockType Inport
Name "Desired Velocities"
SID 1250
Position [25, 248, 55, 262]
Port "2"
IconDisplay "Port number"
}
Block {
BlockType Inport
Name "qreal"
SID 1254
Position [30, 110, 45, 140]
NamePlacement "alternate"
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IconDisplay "Port number"
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}
Block {
BlockType Inport
Name "qdreal"
SID 1255
Position [30, 165, 45, 195]
NamePlacement "alternate"
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IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
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Block {
BlockType Inport
Name " Max Torque Value Poisson1"
SID 1307
Position [365, 53, 395, 67]
Port "5"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
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Block {
BlockType Inport
Name " Max Torque Value Poisson2"
SID 1309
Position [365, 153, 395, 167]
Port "6"
IconDisplay "Port number"
OutDataType "sfix(16)"
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Block {
BlockType Inport
Name " Max Torque Value Poisson3"
SID 1311
Position [365, 253, 395, 267]
Port "7"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
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Block {
BlockType Demux
Name "Demux"
SID 1256
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Position [290, 183, 295, 237]
BackgroundColor "black"
ShowName off
Outputs "3"
DisplayOption "bar"
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Block {
BlockType Demux
Name "Demux2"
SID 4423
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Position [675, 338, 680, 392]
BackgroundColor "black"
ShowName off
Outputs "3"
DisplayOption "bar"
}
Block {
BlockType SubSystem
Name "ErrorModel"
SID 1258
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Position [160, 175, 255, 240]
BackgroundColor "yellow"
MinAlgLoopOccurrences off
PropExecContextOutsideSubsystem off
RTWSystemCode "Auto"
FunctionWithSeparateData off
Opaque off
RequestExecContextInheritance off
MaskHideContents off
System {
Name "ErrorModel"
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ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "A4"
PaperUnits "centimeters"
TiledPaperMargins [1.270000, 1.270000, 1.270000, 1.270000]
TiledPageScale 1
ShowPageBoundaries off
ZoomFactor "100"
Block {
BlockType Inport
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SID 1259
Position [625, 38, 655, 52]
BlockMirror on
IconDisplay "Port number"
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OutScaling "2^0"
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Block {
BlockType Inport
Name "qdreal"
SID 1260
Position [695, 133, 725, 147]
BlockMirror on
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IconDisplay "Port number"
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Block {
BlockType Inport
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SID 1261
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OutScaling "2^0"
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Block {
BlockType Inport
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SID 1262
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IconDisplay "Port number"
OutDataType "sfix(16)"
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Block {
BlockType Demux
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SID 3403
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Position [215, 186, 220, 224]
ShowName off
Outputs "3"
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Block {
BlockType Demux
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SID 3407
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Position [210, 276, 215, 314]
ShowName off
Outputs "3"
DisplayOption "bar"
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Block {
BlockType SubSystem
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SID 1264
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Position [590, 214, 660, 281]
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PropExecContextOutsideSubsystem off
RTWSystemCode "Auto"
FunctionWithSeparateData off
Opaque off
RequestExecContextInheritance off
MaskHideContents off
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MaskCallbackString "|||||"
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MaskIconOpaque on
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MaskIconUnits "autoscale"
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SID 1265
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Block {
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SID 1266
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Block {
BlockType Gain
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SID 1267
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Block {
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SID 1268
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Block {
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SID 1269
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Block {
BlockType Outport
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SID 1270
Position [150, 78, 180, 92]
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SID 3328
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Position [815, 225, 875, 255]
MATLABFcn "rad2deg"
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SID 1280
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Position [425, 185, 445, 205]
ShowName off
IconShape "round"
Inputs "-+|"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
OutDataType "sfix(16)"
OutScaling "2^0"
OutDataTypeStr "Inherit: Inherit via internal rule"
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Block {
BlockType Sum
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SID 1281
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ShowName off
IconShape "round"
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Block {
BlockType Sum
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SID 1282
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Position [765, 230, 785, 250]
ShowName off
IconShape "round"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
OutDataType "sfix(16)"
OutScaling "2^0"
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SID 3409
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Block {
BlockType Terminator
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SID 3410
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Block {
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SID 3411
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Block {
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SID 3412
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SID 4487
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Block {
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SID 1306
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IconDisplay "Port number"
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DstBlock "ToFileErrorPos"
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Line {
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Line {
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Points [5, 0; 0, 15; 105, 0]
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Line {
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Line {
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Line {
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Line {
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Line {
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Block {
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BackgroundColor "yellow"
MinAlgLoopOccurrences off
PropExecContextOutsideSubsystem off
RTWSystemCode "Auto"
FunctionWithSeparateData off
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RequestExecContextInheritance off
MaskHideContents off
System {
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ModelBrowserVisibility off
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Block {
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SID 710
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SID 4574
Ports [3, 1]
Position [165, 219, 195, 251]
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 RelationalOperator
Name "Relational\nOperator"
SID 4575
Ports [2, 1]
Position [330, 172, 360, 203]
Operator "<"
InputSameDT off
LogicOutDataTypeMode "boolean"
LogicDataType "sint(32)"
OutDataTypeStr "boolean"
}
Block {
BlockType RelationalOperator
Name "Relational\nOperator1"
SID 4576
Ports [2, 1]
Position [320, 277, 350, 308]
Operator "<"
InputSameDT off
LogicOutDataTypeMode "boolean"
LogicDataType "sint(32)"
OutDataTypeStr "boolean"
}
Block {
BlockType SubSystem
Name "Subsystem"
SID 4577
Ports [2, 1]
Position [125, 436, 230, 509]
MinAlgLoopOccurrences off
PropExecContextOutsideSubsystem off
RTWSystemCode "Auto"
FunctionWithSeparateData off
Opaque off
RequestExecContextInheritance off
MaskHideContents off
System {
Name "Subsystem"
Location [294, 189, 1023, 652]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "A4"
PaperUnits "centimeters"
TiledPaperMargins [1.270000, 1.270000, 1.270000, 1.270000]
TiledPageScale 1
ShowPageBoundaries off
ZoomFactor "100"
Block {
BlockType Inport
Name "Par max"
SID 4578
Position [30, 13, 60, 27]
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Inport
Name "error"
SID 4579
Position [30, 48, 60, 62]
Port "2"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Mux
Name "Mux2"
SID 4580
Ports [2, 1]
Position [170, 15, 175, 70]
ShowName off
Inputs "2"
DisplayOption "bar"
}
Block {
BlockType "S-Function"
Name "S-Function"
SID 4581
Ports [1, 1]
Position [200, 26, 310, 64]
FunctionName "errormanagementmod"
EnableBusSupport off
}
Block {
BlockType Outport
Name "I"
SID 4582
Position [365, 38, 395, 52]
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Line {
SrcBlock "Par max"
SrcPort 1
Points [90, 0]
DstBlock "Mux2"
DstPort 1
}
Line {
SrcBlock "error"
SrcPort 1
DstBlock "Mux2"
DstPort 2
}
Line {
SrcBlock "S-Function"
SrcPort 1
DstBlock "I"
DstPort 1
}
Line {
SrcBlock "Mux2"
SrcPort 1
DstBlock "S-Function"
DstPort 1
}
}
}
Block {
BlockType Constant
Name "a"
SID 4583
Position [55, 189, 110, 221]
Value "firingrate"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Constant
Name "b"
SID 4584
Position [55, 249, 110, 281]
Value "timestep"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType SubSystem
Name "interval[a b]"
SID 4585
Ports [0, 1]
Position [40, 35, 80, 95]
MinAlgLoopOccurrences off
PropExecContextOutsideSubsystem off
RTWSystemCode "Auto"
FunctionWithSeparateData off
Opaque off
RequestExecContextInheritance off
MaskHideContents off
System {
Name "interval[a b]"
Location [57, 308, 272, 451]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "A4"
PaperUnits "centimeters"
TiledPaperMargins [1.270000, 1.270000, 1.270000, 1.270000]
TiledPageScale 1
ShowPageBoundaries off
ZoomFactor "100"
Block {
BlockType Mux
Name "Mux5"
SID 4586
Ports [2, 1]
Position [130, 27, 135, 118]
ShowName off
Inputs "2"
DisplayOption "bar"
}
Block {
BlockType Constant
Name "a"
SID 4587
Position [25, 34, 80, 66]
Value "a"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Constant
Name "b"
SID 4588
Position [30, 79, 85, 111]
Value "b"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "I"
SID 4589
Position [160, 68, 190, 82]
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Line {
SrcBlock "a"
SrcPort 1
DstBlock "Mux5"
DstPort 1
}
Line {
SrcBlock "b"
SrcPort 1
DstBlock "Mux5"
DstPort 2
}
Line {
SrcBlock "Mux5"
SrcPort 1
DstBlock "I"
DstPort 1
}
}
}
Block {
BlockType MATLABFcn
Name "random"
SID 4590
Ports [1, 1]
Position [120, 50, 180, 80]
MATLABFcn "u(1) + (u(2)-u(1)).*rand(1)"
}
Block {
BlockType Outport
Name "Time firing"
SID 4591
Position [575, 183, 605, 197]
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "I"
SID 4592
Position [285, 463, 315, 477]
Port "2"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Time firing1"
SID 4593
Position [575, 288, 605, 302]
Port "3"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Line {
SrcBlock "interval[a b]"
SrcPort 1
DstBlock "random"
DstPort 1
}
Line {
SrcBlock " Max Torque Value "
SrcPort 1
DstBlock "Subsystem"
DstPort 1
}
Line {
SrcBlock "error"
SrcPort 1
DstBlock "Subsystem"
DstPort 2
}
Line {
SrcBlock "Subsystem"
SrcPort 1
Points [0, -5; 25, 0]
Branch {
DstBlock "I"
DstPort 1
}
Branch {
Points [0, -165; -130, 0; 0, -70]
DstBlock "Product"
DstPort 2
}
}
Line {
SrcBlock "Demux2"
SrcPort 1
Points [80, 0]
DstBlock "Relational\nOperator"
DstPort 2
}
Line {
SrcBlock "Demux2"
SrcPort 2
Points [20, 0; 0, 45]
DstBlock "Relational\nOperator1"
DstPort 2
}
Line {
SrcBlock "a"
SrcPort 1
Points [35, 0]
DstBlock "Product"
DstPort 1
}
Line {
SrcBlock "Relational\nOperator"
SrcPort 1
DstBlock "IO-FIRE"
DstPort 1
}
Line {
SrcBlock "IO-FIRE"
SrcPort 1
DstBlock "Time firing"
DstPort 1
}
Line {
SrcBlock "Relational\nOperator1"
SrcPort 1
DstBlock "IO-FIRE2"
DstPort 1
}
Line {
SrcBlock "Product"
SrcPort 1
DstBlock "Demux2"
DstPort 1
}
Line {
SrcBlock "b"
SrcPort 1
Points [30, 0; 0, -20]
DstBlock "Product"
DstPort 3
}
Line {
SrcBlock "random"
SrcPort 1
Points [10, 0; 0, 45; 70, 0]
Branch {
Points [50, 0]
DstBlock "Relational\nOperator"
DstPort 1
}
Branch {
Points [0, 175]
DstBlock "Relational\nOperator1"
DstPort 1
}
}
Line {
SrcBlock "IO-FIRE2"
SrcPort 1
DstBlock "Time firing1"
DstPort 1
}
}
}
Block {
BlockType SubSystem
Name "Poisson1 IO2"
SID 4594
Ports [2, 3]
Position [685, 935, 820, 1015]
BackgroundColor "yellow"
MinAlgLoopOccurrences off
PropExecContextOutsideSubsystem off
RTWSystemCode "Auto"
FunctionWithSeparateData off
Opaque off
RequestExecContextInheritance off
MaskHideContents off
MaskPromptString "A Interval value [a b] to generate the Poisson distribution|B Interval value [a b] to genera"
"te the Poisson distribution|Time Step|Firingrate"
MaskStyleString "edit,edit,edit,edit"
MaskTunableValueString "on,on,on,on"
MaskCallbackString "|||"
MaskEnableString "on,on,on,on"
MaskVisibilityString "on,on,on,on"
MaskToolTipString "on,on,on,on"
MaskVariables "a=@1;b=@2;timestep=@3;firingrate=@4;"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskPortRotate "default"
MaskIconUnits "autoscale"
MaskValueString "0.001|1|0.002|50"
System {
Name "Poisson1 IO2"
Location [145, 224, 1183, 1018]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "A4"
PaperUnits "centimeters"
TiledPaperMargins [1.270000, 1.270000, 1.270000, 1.270000]
TiledPageScale 1
ShowPageBoundaries off
ZoomFactor "100"
Block {
BlockType Inport
Name " Max Torque Value "
SID 4595
Position [35, 448, 65, 462]
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Inport
Name "error"
SID 4596
Position [35, 483, 65, 497]
Port "2"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Demux
Name "Demux2"
SID 4597
Ports [1, 2]
Position [225, 185, 230, 280]
BackgroundColor "black"
ShowName off
Outputs "2"
DisplayOption "bar"
}
Block {
BlockType SubSystem
Name "IO-FIRE"
SID 4598
Ports [1, 1]
Position [380, 170, 545, 210]
MinAlgLoopOccurrences off
PropExecContextOutsideSubsystem off
RTWSystemCode "Auto"
FunctionWithSeparateData off
Opaque off
RequestExecContextInheritance off
MaskHideContents off
System {
Name "IO-FIRE"
Location [335, 381, 1272, 782]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "A4"
PaperUnits "centimeters"
TiledPaperMargins [1.270000, 1.270000, 1.270000, 1.270000]
TiledPageScale 1
ShowPageBoundaries off
ZoomFactor "100"
Block {
BlockType Inport
Name "Random[a b] & I"
SID 4599
Position [110, 133, 140, 147]
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Constant
Name "Constant"
SID 4600
Position [110, 60, 140, 90]
OutDataTypeMode "boolean"
OutDataType "fixdt(1, 16)"
OutScaling "2^0"
OutDataTypeStr "boolean"
}
Block {
BlockType Constant
Name "Constant1"
SID 4601
Position [120, 175, 150, 205]
Value "0"
OutDataTypeMode "boolean"
OutDataType "fixdt(1, 16)"
OutScaling "2^0"
OutDataTypeStr "boolean"
}
Block {
BlockType Switch
Name "Switch3"
SID 4602
Position [210, 125, 240, 155]
Criteria "u2 > Threshold"
InputSameDT off
SaturateOnIntegerOverflow off
}
Block {
BlockType Outport
Name "Time Firing"
SID 4603
Position [305, 133, 335, 147]
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Line {
SrcBlock "Switch3"
SrcPort 1
DstBlock "Time Firing"
DstPort 1
}
Line {
SrcBlock "Random[a b] & I"
SrcPort 1
DstBlock "Switch3"
DstPort 2
}
Line {
SrcBlock "Constant1"
SrcPort 1
Points [15, 0; 0, -40]
DstBlock "Switch3"
DstPort 3
}
Line {
SrcBlock "Constant"
SrcPort 1
Points [30, 0; 0, 55]
DstBlock "Switch3"
DstPort 1
}
}
}
Block {
BlockType SubSystem
Name "IO-FIRE2"
SID 4604
Ports [1, 1]
Position [380, 275, 545, 315]
MinAlgLoopOccurrences off
PropExecContextOutsideSubsystem off
RTWSystemCode "Auto"
FunctionWithSeparateData off
Opaque off
RequestExecContextInheritance off
MaskHideContents off
System {
Name "IO-FIRE2"
Location [335, 381, 1272, 782]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "A4"
PaperUnits "centimeters"
TiledPaperMargins [1.270000, 1.270000, 1.270000, 1.270000]
TiledPageScale 1
ShowPageBoundaries off
ZoomFactor "100"
Block {
BlockType Inport
Name "Random[a b] & I"
SID 4605
Position [110, 133, 140, 147]
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Constant
Name "Constant"
SID 4606
Position [110, 60, 140, 90]
OutDataTypeMode "boolean"
OutDataType "fixdt(1, 16)"
OutScaling "2^0"
OutDataTypeStr "boolean"
}
Block {
BlockType Constant
Name "Constant1"
SID 4607
Position [120, 175, 150, 205]
Value "0"
OutDataTypeMode "boolean"
OutDataType "fixdt(1, 16)"
OutScaling "2^0"
OutDataTypeStr "boolean"
}
Block {
BlockType Switch
Name "Switch3"
SID 4608
Position [210, 125, 240, 155]
Criteria "u2 > Threshold"
InputSameDT off
SaturateOnIntegerOverflow off
}
Block {
BlockType Outport
Name "Time Firing"
SID 4609
Position [305, 133, 335, 147]
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Line {
SrcBlock "Switch3"
SrcPort 1
DstBlock "Time Firing"
DstPort 1
}
Line {
SrcBlock "Random[a b] & I"
SrcPort 1
DstBlock "Switch3"
DstPort 2
}
Line {
SrcBlock "Constant1"
SrcPort 1
Points [15, 0; 0, -40]
DstBlock "Switch3"
DstPort 3
}
Line {
SrcBlock "Constant"
SrcPort 1
Points [30, 0; 0, 55]
DstBlock "Switch3"
DstPort 1
}
}
}
Block {
BlockType Product
Name "Product"
SID 4610
Ports [3, 1]
Position [165, 219, 195, 251]
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 RelationalOperator
Name "Relational\nOperator"
SID 4611
Ports [2, 1]
Position [330, 172, 360, 203]
Operator "<"
InputSameDT off
LogicOutDataTypeMode "boolean"
LogicDataType "sint(32)"
OutDataTypeStr "boolean"
}
Block {
BlockType RelationalOperator
Name "Relational\nOperator1"
SID 4612
Ports [2, 1]
Position [320, 277, 350, 308]
Operator "<"
InputSameDT off
LogicOutDataTypeMode "boolean"
LogicDataType "sint(32)"
OutDataTypeStr "boolean"
}
Block {
BlockType SubSystem
Name "Subsystem"
SID 4613
Ports [2, 1]
Position [125, 436, 230, 509]
MinAlgLoopOccurrences off
PropExecContextOutsideSubsystem off
RTWSystemCode "Auto"
FunctionWithSeparateData off
Opaque off
RequestExecContextInheritance off
MaskHideContents off
System {
Name "Subsystem"
Location [294, 189, 1023, 652]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "A4"
PaperUnits "centimeters"
TiledPaperMargins [1.270000, 1.270000, 1.270000, 1.270000]
TiledPageScale 1
ShowPageBoundaries off
ZoomFactor "100"
Block {
BlockType Inport
Name "Par max"
SID 4614
Position [30, 13, 60, 27]
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Inport
Name "error"
SID 4615
Position [30, 48, 60, 62]
Port "2"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Mux
Name "Mux2"
SID 4616
Ports [2, 1]
Position [170, 15, 175, 70]
ShowName off
Inputs "2"
DisplayOption "bar"
}
Block {
BlockType "S-Function"
Name "S-Function"
SID 4617
Ports [1, 1]
Position [200, 26, 310, 64]
FunctionName "errormanagementmod"
EnableBusSupport off
}
Block {
BlockType Outport
Name "I"
SID 4618
Position [365, 38, 395, 52]
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Line {
SrcBlock "Par max"
SrcPort 1
Points [90, 0]
DstBlock "Mux2"
DstPort 1
}
Line {
SrcBlock "error"
SrcPort 1
DstBlock "Mux2"
DstPort 2
}
Line {
SrcBlock "S-Function"
SrcPort 1
DstBlock "I"
DstPort 1
}
Line {
SrcBlock "Mux2"
SrcPort 1
DstBlock "S-Function"
DstPort 1
}
}
}
Block {
BlockType Constant
Name "a"
SID 4619
Position [55, 189, 110, 221]
Value "firingrate"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Constant
Name "b"
SID 4620
Position [55, 249, 110, 281]
Value "timestep"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType SubSystem
Name "interval[a b]"
SID 4621
Ports [0, 1]
Position [40, 35, 80, 95]
MinAlgLoopOccurrences off
PropExecContextOutsideSubsystem off
RTWSystemCode "Auto"
FunctionWithSeparateData off
Opaque off
RequestExecContextInheritance off
MaskHideContents off
System {
Name "interval[a b]"
Location [57, 308, 272, 451]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "A4"
PaperUnits "centimeters"
TiledPaperMargins [1.270000, 1.270000, 1.270000, 1.270000]
TiledPageScale 1
ShowPageBoundaries off
ZoomFactor "100"
Block {
BlockType Mux
Name "Mux5"
SID 4622
Ports [2, 1]
Position [130, 27, 135, 118]
ShowName off
Inputs "2"
DisplayOption "bar"
}
Block {
BlockType Constant
Name "a"
SID 4623
Position [25, 34, 80, 66]
Value "a"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Constant
Name "b"
SID 4624
Position [30, 79, 85, 111]
Value "b"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "I"
SID 4625
Position [160, 68, 190, 82]
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Line {
SrcBlock "a"
SrcPort 1
DstBlock "Mux5"
DstPort 1
}
Line {
SrcBlock "b"
SrcPort 1
DstBlock "Mux5"
DstPort 2
}
Line {
SrcBlock "Mux5"
SrcPort 1
DstBlock "I"
DstPort 1
}
}
}
Block {
BlockType MATLABFcn
Name "random"
SID 4626
Ports [1, 1]
Position [120, 50, 180, 80]
MATLABFcn "u(1) + (u(2)-u(1)).*rand(1)"
}
Block {
BlockType Outport
Name "Time firing"
SID 4627
Position [575, 183, 605, 197]
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "I"
SID 4628
Position [285, 463, 315, 477]
Port "2"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Time firing1"
SID 4629
Position [575, 288, 605, 302]
Port "3"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Line {
SrcBlock "interval[a b]"
SrcPort 1
DstBlock "random"
DstPort 1
}
Line {
SrcBlock " Max Torque Value "
SrcPort 1
DstBlock "Subsystem"
DstPort 1
}
Line {
SrcBlock "error"
SrcPort 1
DstBlock "Subsystem"
DstPort 2
}
Line {
SrcBlock "Subsystem"
SrcPort 1
Points [0, -5; 25, 0]
Branch {
DstBlock "I"
DstPort 1
}
Branch {
Points [0, -165; -130, 0; 0, -70]
DstBlock "Product"
DstPort 2
}
}
Line {
SrcBlock "Demux2"
SrcPort 1
Points [80, 0]
DstBlock "Relational\nOperator"
DstPort 2
}
Line {
SrcBlock "Demux2"
SrcPort 2
Points [20, 0; 0, 45]
DstBlock "Relational\nOperator1"
DstPort 2
}
Line {
SrcBlock "a"
SrcPort 1
Points [35, 0]
DstBlock "Product"
DstPort 1
}
Line {
SrcBlock "Relational\nOperator"
SrcPort 1
DstBlock "IO-FIRE"
DstPort 1
}
Line {
SrcBlock "IO-FIRE"
SrcPort 1
DstBlock "Time firing"
DstPort 1
}
Line {
SrcBlock "Relational\nOperator1"
SrcPort 1
DstBlock "IO-FIRE2"
DstPort 1
}
Line {
SrcBlock "Product"
SrcPort 1
DstBlock "Demux2"
DstPort 1
}
Line {
SrcBlock "b"
SrcPort 1
Points [30, 0; 0, -20]
DstBlock "Product"
DstPort 3
}
Line {
SrcBlock "random"
SrcPort 1
Points [10, 0; 0, 45; 70, 0]
Branch {
Points [50, 0]
DstBlock "Relational\nOperator"
DstPort 1
}
Branch {
Points [0, 175]
DstBlock "Relational\nOperator1"
DstPort 1
}
}
Line {
SrcBlock "IO-FIRE2"
SrcPort 1
DstBlock "Time firing1"
DstPort 1
}
}
}
Block {
BlockType SubSystem
Name "bloque1 IO"
SID 900
Ports [1, 8]
Position [985, 80, 1120, 355]
BackgroundColor "yellow"
MinAlgLoopOccurrences off
PropExecContextOutsideSubsystem off
RTWSystemCode "Auto"
FunctionWithSeparateData off
Opaque off
RequestExecContextInheritance off
MaskHideContents off
System {
Name "bloque1 IO"
Location [278, 219, 1273, 859]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "A4"
PaperUnits "centimeters"
TiledPaperMargins [1.270000, 1.270000, 1.270000, 1.270000]
TiledPageScale 1
ShowPageBoundaries off
ZoomFactor "100"
Block {
BlockType Inport
Name "Time Firing Poisson"
SID 902
Position [35, 708, 65, 722]
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "TimefiringIO0"
SID 913
Position [175, 548, 205, 562]
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "TimefiringIO1"
SID 914
Position [175, 593, 205, 607]
Port "2"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "TimefiringIO2"
SID 915
Position [175, 638, 205, 652]
Port "3"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "TimefiringIO3"
SID 916
Position [175, 683, 205, 697]
Port "4"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "TimefiringIO4"
SID 917
Position [175, 728, 205, 742]
Port "5"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "TimefiringIO5"
SID 918
Position [175, 773, 205, 787]
Port "6"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "TimefiringIO6"
SID 919
Position [175, 818, 205, 832]
Port "7"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "TimefiringIO7"
SID 920
Position [175, 863, 205, 877]
Port "8"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Line {
SrcBlock "Time Firing Poisson"
SrcPort 1
Points [15, 0]
Branch {
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Branch {
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Branch {
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Branch {
Points [0, -45]
DstBlock "TimefiringIO0"
DstPort 1
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Branch {
DstBlock "TimefiringIO1"
DstPort 1
}
}
Branch {
DstBlock "TimefiringIO2"
DstPort 1
}
}
Branch {
DstBlock "TimefiringIO3"
DstPort 1
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}
Branch {
Points [0, 20]
Branch {
DstBlock "TimefiringIO4"
DstPort 1
}
Branch {
Points [0, 45]
Branch {
DstBlock "TimefiringIO5"
DstPort 1
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Branch {
Points [0, 40]
Branch {
Points [0, 5]
DstBlock "TimefiringIO6"
DstPort 1
}
Branch {
Points [0, 50]
DstBlock "TimefiringIO7"
DstPort 1
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}
}
}
}
}
}
Block {
BlockType SubSystem
Name "bloque1 IO1"
SID 921
Ports [1, 8]
Position [985, 412, 1125, 693]
BackgroundColor "yellow"
MinAlgLoopOccurrences off
PropExecContextOutsideSubsystem off
RTWSystemCode "Auto"
FunctionWithSeparateData off
Opaque off
RequestExecContextInheritance off
MaskHideContents off
System {
Name "bloque1 IO1"
Location [2, 82, 997, 722]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "A4"
PaperUnits "centimeters"
TiledPaperMargins [1.270000, 1.270000, 1.270000, 1.270000]
TiledPageScale 1
ShowPageBoundaries off
ZoomFactor "100"
Block {
BlockType Inport
Name "Time Firing Poisson"
SID 923
Position [45, 698, 75, 712]
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
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Block {
BlockType Outport
Name "TimefiringIO0"
SID 934
Position [235, 538, 265, 552]
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "TimefiringIO1"
SID 935
Position [235, 583, 265, 597]
Port "2"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "TimefiringIO2"
SID 936
Position [235, 628, 265, 642]
Port "3"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "TimefiringIO3"
SID 937
Position [230, 673, 260, 687]
Port "4"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "TimefiringIO4"
SID 938
Position [230, 718, 260, 732]
Port "5"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "TimefiringIO5"
SID 939
Position [235, 763, 265, 777]
Port "6"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "TimefiringIO6"
SID 940
Position [235, 808, 265, 822]
Port "7"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "TimefiringIO7"
SID 941
Position [240, 853, 270, 867]
Port "8"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Line {
SrcBlock "Time Firing Poisson"
SrcPort 1
Points [70, 0; 0, -5]
Branch {
Points [0, -20]
Branch {
Points [0, -45]
Branch {
DstBlock "TimefiringIO2"
DstPort 1
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Branch {
Points [0, -45]
Branch {
Points [0, -45]
DstBlock "TimefiringIO0"
DstPort 1
}
Branch {
DstBlock "TimefiringIO1"
DstPort 1
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}
}
Branch {
DstBlock "TimefiringIO3"
DstPort 1
}
}
Branch {
Points [0, 25]
Branch {
DstBlock "TimefiringIO4"
DstPort 1
}
Branch {
Points [0, 45]
Branch {
DstBlock "TimefiringIO5"
DstPort 1
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Branch {
Points [0, 45]
Branch {
Points [0, 45]
DstBlock "TimefiringIO7"
DstPort 1
}
Branch {
DstBlock "TimefiringIO6"
DstPort 1
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}
}
}
}
}
}
Block {
BlockType SubSystem
Name "bloque1 IO2"
SID 942
Ports [1, 8]
Position [985, 714, 1130, 991]
BackgroundColor "yellow"
MinAlgLoopOccurrences off
PropExecContextOutsideSubsystem off
RTWSystemCode "Auto"
FunctionWithSeparateData off
Opaque off
RequestExecContextInheritance off
MaskHideContents off
System {
Name "bloque1 IO2"
Location [2, 82, 997, 722]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "A4"
PaperUnits "centimeters"
TiledPaperMargins [1.270000, 1.270000, 1.270000, 1.270000]
TiledPageScale 1
ShowPageBoundaries off
ZoomFactor "100"
Block {
BlockType Inport
Name "Time Firing Poisson"
SID 944
Position [55, 663, 85, 677]
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "TimefiringIO0"
SID 955
Position [255, 503, 285, 517]
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "TimefiringIO1"
SID 956
Position [250, 548, 280, 562]
Port "2"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "TimefiringIO2"
SID 957
Position [245, 593, 275, 607]
Port "3"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "TimefiringIO3"
SID 958
Position [245, 638, 275, 652]
Port "4"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "TimefiringIO4"
SID 959
Position [245, 683, 275, 697]
Port "5"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "TimefiringIO5"
SID 960
Position [240, 728, 270, 742]
Port "6"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "TimefiringIO6"
SID 961
Position [240, 773, 270, 787]
Port "7"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "TimefiringIO7"
SID 962
Position [240, 818, 270, 832]
Port "8"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Line {
SrcBlock "Time Firing Poisson"
SrcPort 1
Points [65, 0]
Branch {
Points [0, -20]
Branch {
Points [0, -50]
Branch {
Points [0, -45]
Branch {
Points [0, -45]
DstBlock "TimefiringIO0"
DstPort 1
}
Branch {
DstBlock "TimefiringIO1"
DstPort 1
}
}
Branch {
DstBlock "TimefiringIO2"
DstPort 1
}
}
Branch {
Points [0, -5]
DstBlock "TimefiringIO3"
DstPort 1
}
}
Branch {
Points [0, 20]
Branch {
DstBlock "TimefiringIO4"
DstPort 1
}
Branch {
Points [0, 40]
Branch {
Points [0, 5]
DstBlock "TimefiringIO5"
DstPort 1
}
Branch {
Points [0, 45]
Branch {
Points [0, 5]
DstBlock "TimefiringIO6"
DstPort 1
}
Branch {
Points [0, 50]
DstBlock "TimefiringIO7"
DstPort 1
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}
}
}
}
}
}
Block {
BlockType SubSystem
Name "bloque1 IO3"
SID 963
Ports [1, 8]
Position [990, 1015, 1130, 1300]
BackgroundColor "yellow"
MinAlgLoopOccurrences off
PropExecContextOutsideSubsystem off
RTWSystemCode "Auto"
FunctionWithSeparateData off
Opaque off
RequestExecContextInheritance off
MaskHideContents off
System {
Name "bloque1 IO3"
Location [2, 82, 997, 722]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "A4"
PaperUnits "centimeters"
TiledPaperMargins [1.270000, 1.270000, 1.270000, 1.270000]
TiledPageScale 1
ShowPageBoundaries off
ZoomFactor "100"
Block {
BlockType Inport
Name "Time Firing Poisson"
SID 965
Position [30, 678, 60, 692]
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "TimefiringIO0"
SID 976
Position [225, 518, 255, 532]
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "TimefiringIO1"
SID 977
Position [230, 563, 260, 577]
Port "2"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "TimefiringIO2"
SID 978
Position [235, 608, 265, 622]
Port "3"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "TimefiringIO3"
SID 979
Position [235, 653, 265, 667]
Port "4"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "TimefiringIO4"
SID 980
Position [235, 698, 265, 712]
Port "5"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "TimefiringIO5"
SID 981
Position [240, 743, 270, 757]
Port "6"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "TimefiringIO6"
SID 982
Position [245, 788, 275, 802]
Port "7"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "TimefiringIO7"
SID 983
Position [245, 833, 275, 847]
Port "8"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Line {
SrcBlock "Time Firing Poisson"
SrcPort 1
Points [40, 0]
Branch {
Points [0, -25]
Branch {
Points [0, -40]
Branch {
Points [0, -55]
Branch {
Points [0, -40]
DstBlock "TimefiringIO0"
DstPort 1
}
Branch {
Points [0, 5]
DstBlock "TimefiringIO1"
DstPort 1
}
}
Branch {
Points [0, -5]
DstBlock "TimefiringIO2"
DstPort 1
}
}
Branch {
DstBlock "TimefiringIO3"
DstPort 1
}
}
Branch {
Points [0, 20]
Branch {
DstBlock "TimefiringIO4"
DstPort 1
}
Branch {
Points [0, 45]
Branch {
DstBlock "TimefiringIO5"
DstPort 1
}
Branch {
Points [0, 45]
Branch {
DstBlock "TimefiringIO6"
DstPort 1
}
Branch {
Points [0, 45]
DstBlock "TimefiringIO7"
DstPort 1
}
}
}
}
}
}
}
Block {
BlockType SubSystem
Name "bloque1 IO4"
SID 984
Ports [1, 8]
Position [985, 1319, 1130, 1641]
BackgroundColor "yellow"
MinAlgLoopOccurrences off
PropExecContextOutsideSubsystem off
RTWSystemCode "Auto"
FunctionWithSeparateData off
Opaque off
RequestExecContextInheritance off
MaskHideContents off
System {
Name "bloque1 IO4"
Location [432, 100, 1427, 740]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "A4"
PaperUnits "centimeters"
TiledPaperMargins [1.270000, 1.270000, 1.270000, 1.270000]
TiledPageScale 1
ShowPageBoundaries off
ZoomFactor "100"
Block {
BlockType Inport
Name "Time Firing Poisson"
SID 986
Position [30, 678, 60, 692]
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "TimefiringIO0"
SID 997
Position [225, 518, 255, 532]
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "TimefiringIO1"
SID 998
Position [230, 563, 260, 577]
Port "2"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "TimefiringIO2"
SID 999
Position [235, 608, 265, 622]
Port "3"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "TimefiringIO3"
SID 1000
Position [235, 653, 265, 667]
Port "4"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "TimefiringIO4"
SID 1001
Position [235, 698, 265, 712]
Port "5"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "TimefiringIO5"
SID 1002
Position [240, 743, 270, 757]
Port "6"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "TimefiringIO6"
SID 1003
Position [245, 788, 275, 802]
Port "7"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "TimefiringIO7"
SID 1004
Position [245, 833, 275, 847]
Port "8"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Line {
SrcBlock "Time Firing Poisson"
SrcPort 1
Points [60, 0]
Branch {
Points [0, -30]
Branch {
Points [0, -40]
Branch {
Points [0, -45]
Branch {
Points [0, -45]
DstBlock "TimefiringIO0"
DstPort 1
}
Branch {
DstBlock "TimefiringIO1"
DstPort 1
}
}
Branch {
DstBlock "TimefiringIO2"
DstPort 1
}
}
Branch {
Points [0, 5]
DstBlock "TimefiringIO3"
DstPort 1
}
}
Branch {
Points [0, 20]
Branch {
DstBlock "TimefiringIO4"
DstPort 1
}
Branch {
Points [0, 45]
Branch {
DstBlock "TimefiringIO5"
DstPort 1
}
Branch {
Points [0, 45]
Branch {
DstBlock "TimefiringIO6"
DstPort 1
}
Branch {
Points [0, 45]
DstBlock "TimefiringIO7"
DstPort 1
}
}
}
}
}
}
}
Block {
BlockType SubSystem
Name "bloque1 IO5"
SID 1005
Ports [1, 8]
Position [985, 1672, 1130, 2023]
BackgroundColor "yellow"
MinAlgLoopOccurrences off
PropExecContextOutsideSubsystem off
RTWSystemCode "Auto"
FunctionWithSeparateData off
Opaque off
RequestExecContextInheritance off
MaskHideContents off
System {
Name "bloque1 IO5"
Location [2, 82, 997, 722]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "A4"
PaperUnits "centimeters"
TiledPaperMargins [1.270000, 1.270000, 1.270000, 1.270000]
TiledPageScale 1
ShowPageBoundaries off
ZoomFactor "100"
Block {
BlockType Inport
Name "Time Firing Poisson"
SID 1007
Position [30, 678, 60, 692]
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "TimefiringIO0"
SID 1018
Position [225, 518, 255, 532]
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "TimefiringIO1"
SID 1019
Position [230, 563, 260, 577]
Port "2"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "TimefiringIO2"
SID 1020
Position [235, 608, 265, 622]
Port "3"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "TimefiringIO3"
SID 1021
Position [235, 653, 265, 667]
Port "4"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "TimefiringIO4"
SID 1022
Position [235, 698, 265, 712]
Port "5"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "TimefiringIO5"
SID 1023
Position [240, 743, 270, 757]
Port "6"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "TimefiringIO6"
SID 1024
Position [245, 788, 275, 802]
Port "7"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "TimefiringIO7"
SID 1025
Position [245, 833, 275, 847]
Port "8"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Line {
SrcBlock "Time Firing Poisson"
SrcPort 1
Points [65, 0]
Branch {
Points [0, -25]
Branch {
Points [0, -40]
Branch {
Points [0, -50]
Branch {
Points [0, -45]
DstBlock "TimefiringIO0"
DstPort 1
}
Branch {
DstBlock "TimefiringIO1"
DstPort 1
}
}
Branch {
Points [0, -5]
DstBlock "TimefiringIO2"
DstPort 1
}
}
Branch {
DstBlock "TimefiringIO3"
DstPort 1
}
}
Branch {
Points [0, 15]
Branch {
Points [0, 5]
DstBlock "TimefiringIO4"
DstPort 1
}
Branch {
Points [0, 50]
Branch {
DstBlock "TimefiringIO5"
DstPort 1
}
Branch {
Points [0, 40]
Branch {
Points [0, 5]
DstBlock "TimefiringIO6"
DstPort 1
}
Branch {
Points [0, 50]
DstBlock "TimefiringIO7"
DstPort 1
}
}
}
}
}
}
}
Block {
BlockType Outport
Name "Iout Poisson1"
SID 1026
Position [905, 258, 935, 272]
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Iout Poisson2"
SID 1027
Position [875, 543, 905, 557]
Port "2"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Iout Poisson3"
SID 1028
Position [845, 968, 875, 982]
Port "3"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Time Firing IO0"
SID 1037
Position [1220, 88, 1250, 102]
Port "4"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Time Firing IO1"
SID 1038
Position [1220, 123, 1250, 137]
Port "5"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Time Firing IO2"
SID 1039
Position [1220, 158, 1250, 172]
Port "6"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Time Firing IO3"
SID 1040
Position [1220, 193, 1250, 207]
Port "7"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Time Firing IO4"
SID 1041
Position [1220, 228, 1250, 242]
Port "8"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Time Firing IO5"
SID 1042
Position [1220, 263, 1250, 277]
Port "9"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Time Firing IO6"
SID 1043
Position [1220, 298, 1250, 312]
Port "10"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Time Firing IO7"
SID 1044
Position [1220, 333, 1250, 347]
Port "11"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Time Firing IO8"
SID 1053
Position [1260, 423, 1290, 437]
Port "12"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Time Firing IO9"
SID 1054
Position [1260, 458, 1290, 472]
Port "13"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Time Firing IO10"
SID 1055
Position [1260, 493, 1290, 507]
Port "14"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Time Firing IO11"
SID 1056
Position [1260, 528, 1290, 542]
Port "15"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Time Firing IO12"
SID 1057
Position [1260, 568, 1290, 582]
Port "16"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Time Firing IO13"
SID 1058
Position [1260, 598, 1290, 612]
Port "17"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Time Firing IO14"
SID 1059
Position [1260, 633, 1290, 647]
Port "18"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Time Firing IO15"
SID 1060
Position [1265, 668, 1295, 682]
Port "19"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Time Firing IO16"
SID 1069
Position [1265, 723, 1295, 737]
Port "20"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Time Firing IO17"
SID 1070
Position [1265, 758, 1295, 772]
Port "21"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Time Firing IO18"
SID 1071
Position [1265, 793, 1295, 807]
Port "22"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Time Firing IO19"
SID 1072
Position [1265, 828, 1295, 842]
Port "23"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Time Firing IO20"
SID 1073
Position [1265, 863, 1295, 877]
Port "24"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Time Firing IO21"
SID 1074
Position [1270, 898, 1300, 912]
Port "25"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Time Firing IO22"
SID 1075
Position [1270, 933, 1300, 947]
Port "26"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Time Firing IO23"
SID 1076
Position [1270, 968, 1300, 982]
Port "27"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Time Firing IO24"
SID 1085
Position [1290, 1028, 1320, 1042]
Port "28"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Time Firing IO25"
SID 1086
Position [1290, 1063, 1320, 1077]
Port "29"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Time Firing IO26"
SID 1087
Position [1290, 1098, 1320, 1112]
Port "30"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Time Firing IO27"
SID 1088
Position [1290, 1133, 1320, 1147]
Port "31"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Time Firing IO28"
SID 1089
Position [1290, 1168, 1320, 1182]
Port "32"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Time Firing IO29"
SID 1090
Position [1290, 1203, 1320, 1217]
Port "33"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Time Firing IO30"
SID 1091
Position [1290, 1238, 1320, 1252]
Port "34"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Time Firing IO31"
SID 1092
Position [1295, 1273, 1325, 1287]
Port "35"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Time Firing IO32"
SID 1101
Position [1275, 1333, 1305, 1347]
Port "36"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Time Firing IO33"
SID 1102
Position [1275, 1373, 1305, 1387]
Port "37"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Time Firing IO34"
SID 1103
Position [1280, 1413, 1310, 1427]
Port "38"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Time Firing IO35"
SID 1104
Position [1275, 1453, 1305, 1467]
Port "39"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Time Firing IO36"
SID 1105
Position [1275, 1493, 1305, 1507]
Port "40"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Time Firing IO37"
SID 1106
Position [1280, 1533, 1310, 1547]
Port "41"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Time Firing IO38"
SID 1107
Position [1280, 1573, 1310, 1587]
Port "42"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Time Firing IO39"
SID 1108
Position [1275, 1613, 1305, 1627]
Port "43"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Time Firing IO40"
SID 1117
Position [1275, 1683, 1305, 1697]
Port "44"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Time Firing IO41"
SID 1118
Position [1275, 1728, 1305, 1742]
Port "45"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Time Firing IO42"
SID 1119
Position [1275, 1773, 1305, 1787]
Port "46"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Time Firing IO43"
SID 1120
Position [1275, 1818, 1305, 1832]
Port "47"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Time Firing IO44"
SID 1121
Position [1275, 1863, 1305, 1877]
Port "48"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Time Firing IO45"
SID 1122
Position [1280, 1908, 1310, 1922]
Port "49"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Time Firing IO46"
SID 1123
Position [1285, 1953, 1315, 1967]
Port "50"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Time Firing IO47"
SID 1124
Position [1285, 1998, 1315, 2012]
Port "51"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Line {
SrcBlock "Poisson1 IO"
SrcPort 1
Points [90, 0]
DstBlock "bloque1 IO"
DstPort 1
}
Line {
SrcBlock "Poisson1 IO"
SrcPort 3
Points [85, 0; 0, 265]
DstBlock "bloque1 IO1"
DstPort 1
}
Line {
SrcBlock " Max Torque Value Poisson1"
SrcPort 1
DstBlock "Poisson1 IO"
DstPort 1
}
Line {
SrcBlock "Error Poisson1"
SrcPort 1
DstBlock "Poisson1 IO"
DstPort 2
}
Line {
SrcBlock "Poisson1 IO"
SrcPort 2
DstBlock "Iout Poisson1"
DstPort 1
}
Line {
SrcBlock " Max Torque Value Poisson2"
SrcPort 1
Points [35, 0]
DstBlock "Poisson1 IO1"
DstPort 1
}
Line {
SrcBlock "Error Poisson2"
SrcPort 1
DstBlock "Poisson1 IO1"
DstPort 2
}
Line {
SrcBlock "Poisson1 IO1"
SrcPort 3
Points [70, 0; 0, 585]
DstBlock "bloque1 IO3"
DstPort 1
}
Line {
SrcBlock "bloque1 IO1"
SrcPort 1
DstBlock "Time Firing IO8"
DstPort 1
}
Line {
SrcBlock "bloque1 IO1"
SrcPort 2
DstBlock "Time Firing IO9"
DstPort 1
}
Line {
SrcBlock "bloque1 IO1"
SrcPort 3
DstBlock "Time Firing IO10"
DstPort 1
}
Line {
SrcBlock "bloque1 IO1"
SrcPort 4
DstBlock "Time Firing IO11"
DstPort 1
}
Line {
SrcBlock "bloque1 IO1"
SrcPort 5
Points [115, 0]
DstBlock "Time Firing IO12"
DstPort 1
}
Line {
SrcBlock "bloque1 IO1"
SrcPort 6
DstBlock "Time Firing IO13"
DstPort 1
}
Line {
SrcBlock "bloque1 IO1"
SrcPort 7
DstBlock "Time Firing IO14"
DstPort 1
}
Line {
SrcBlock "bloque1 IO1"
SrcPort 8
DstBlock "Time Firing IO15"
DstPort 1
}
Line {
SrcBlock "bloque1 IO2"
SrcPort 1
DstBlock "Time Firing IO16"
DstPort 1
}
Line {
SrcBlock "bloque1 IO2"
SrcPort 2
DstBlock "Time Firing IO17"
DstPort 1
}
Line {
SrcBlock "bloque1 IO2"
SrcPort 3
DstBlock "Time Firing IO18"
DstPort 1
}
Line {
SrcBlock "bloque1 IO2"
SrcPort 4
DstBlock "Time Firing IO19"
DstPort 1
}
Line {
SrcBlock "bloque1 IO2"
SrcPort 5
DstBlock "Time Firing IO20"
DstPort 1
}
Line {
SrcBlock "bloque1 IO2"
SrcPort 6
DstBlock "Time Firing IO21"
DstPort 1
}
Line {
SrcBlock "bloque1 IO2"
SrcPort 7
DstBlock "Time Firing IO22"
DstPort 1
}
Line {
SrcBlock "bloque1 IO2"
SrcPort 8
DstBlock "Time Firing IO23"
DstPort 1
}
Line {
SrcBlock "bloque1 IO3"
SrcPort 2
DstBlock "Time Firing IO25"
DstPort 1
}
Line {
SrcBlock "bloque1 IO3"
SrcPort 3
DstBlock "Time Firing IO26"
DstPort 1
}
Line {
SrcBlock "bloque1 IO3"
SrcPort 4
DstBlock "Time Firing IO27"
DstPort 1
}
Line {
SrcBlock "bloque1 IO3"
SrcPort 5
DstBlock "Time Firing IO28"
DstPort 1
}
Line {
SrcBlock "bloque1 IO3"
SrcPort 6
DstBlock "Time Firing IO29"
DstPort 1
}
Line {
SrcBlock "bloque1 IO3"
SrcPort 7
DstBlock "Time Firing IO30"
DstPort 1
}
Line {
SrcBlock "bloque1 IO3"
SrcPort 8
DstBlock "Time Firing IO31"
DstPort 1
}
Line {
SrcBlock "bloque1 IO3"
SrcPort 1
DstBlock "Time Firing IO24"
DstPort 1
}
Line {
SrcBlock " Max Torque Value Poisson3"
SrcPort 1
DstBlock "Poisson1 IO2"
DstPort 1
}
Line {
SrcBlock "Error Poisson3"
SrcPort 1
DstBlock "Poisson1 IO2"
DstPort 2
}
Line {
SrcBlock "Poisson1 IO2"
SrcPort 2
DstBlock "Iout Poisson3"
DstPort 1
}
Line {
SrcBlock "Poisson1 IO2"
SrcPort 1
Points [70, 0; 0, 530]
DstBlock "bloque1 IO4"
DstPort 1
}
Line {
SrcBlock "Poisson1 IO2"
SrcPort 3
Points [25, 0; 0, 850]
DstBlock "bloque1 IO5"
DstPort 1
}
Line {
SrcBlock "bloque1 IO5"
SrcPort 1
DstBlock "Time Firing IO40"
DstPort 1
}
Line {
SrcBlock "bloque1 IO5"
SrcPort 2
DstBlock "Time Firing IO41"
DstPort 1
}
Line {
SrcBlock "bloque1 IO5"
SrcPort 3
DstBlock "Time Firing IO42"
DstPort 1
}
Line {
SrcBlock "bloque1 IO5"
SrcPort 4
DstBlock "Time Firing IO43"
DstPort 1
}
Line {
SrcBlock "bloque1 IO5"
SrcPort 5
DstBlock "Time Firing IO44"
DstPort 1
}
Line {
SrcBlock "bloque1 IO5"
SrcPort 6
DstBlock "Time Firing IO45"
DstPort 1
}
Line {
SrcBlock "bloque1 IO5"
SrcPort 7
DstBlock "Time Firing IO46"
DstPort 1
}
Line {
SrcBlock "bloque1 IO5"
SrcPort 8
DstBlock "Time Firing IO47"
DstPort 1
}
Line {
SrcBlock "Poisson1 IO1"
SrcPort 2
DstBlock "Iout Poisson2"
DstPort 1
}
Line {
SrcBlock "Poisson1 IO1"
SrcPort 1
Points [80, 0; 0, 330]
DstBlock "bloque1 IO2"
DstPort 1
}
Line {
SrcBlock "bloque1 IO"
SrcPort 1
DstBlock "Time Firing IO0"
DstPort 1
}
Line {
SrcBlock "bloque1 IO"
SrcPort 2
DstBlock "Time Firing IO1"
DstPort 1
}
Line {
SrcBlock "bloque1 IO"
SrcPort 3
DstBlock "Time Firing IO2"
DstPort 1
}
Line {
SrcBlock "bloque1 IO"
SrcPort 4
DstBlock "Time Firing IO3"
DstPort 1
}
Line {
SrcBlock "bloque1 IO"
SrcPort 5
DstBlock "Time Firing IO4"
DstPort 1
}
Line {
SrcBlock "bloque1 IO"
SrcPort 6
DstBlock "Time Firing IO5"
DstPort 1
}
Line {
SrcBlock "bloque1 IO"
SrcPort 7
DstBlock "Time Firing IO6"
DstPort 1
}
Line {
SrcBlock "bloque1 IO"
SrcPort 8
DstBlock "Time Firing IO7"
DstPort 1
}
Line {
SrcBlock "bloque1 IO4"
SrcPort 1
DstBlock "Time Firing IO32"
DstPort 1
}
Line {
SrcBlock "bloque1 IO4"
SrcPort 2
DstBlock "Time Firing IO33"
DstPort 1
}
Line {
SrcBlock "bloque1 IO4"
SrcPort 3
DstBlock "Time Firing IO34"
DstPort 1
}
Line {
SrcBlock "bloque1 IO4"
SrcPort 4
DstBlock "Time Firing IO35"
DstPort 1
}
Line {
SrcBlock "bloque1 IO4"
SrcPort 5
DstBlock "Time Firing IO36"
DstPort 1
}
Line {
SrcBlock "bloque1 IO4"
SrcPort 6
DstBlock "Time Firing IO37"
DstPort 1
}
Line {
SrcBlock "bloque1 IO4"
SrcPort 7
DstBlock "Time Firing IO38"
DstPort 1
}
Line {
SrcBlock "bloque1 IO4"
SrcPort 8
DstBlock "Time Firing IO39"
DstPort 1
}
}
}
Block {
BlockType Mux
Name "Mux10"
SID 1126
Ports [48, 1]
Position [510, 186, 520, 1134]
ShowName off
Inputs "48"
DisplayOption "bar"
}
Block {
BlockType ZeroOrderHold
Name "Zero-Order\nHold"
SID 3292
Position [635, 645, 670, 675]
SampleTime "0.002"
}
Block {
BlockType Outport
Name "Time firing 48 IO"
SID 1140
Position [765, 653, 795, 667]
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Iout Poisson1"
SID 1141
Position [455, 88, 485, 102]
Port "2"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Iout Poisson2"
SID 1142
Position [460, 123, 490, 137]
Port "3"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Iout Poisson3"
SID 1143
Position [460, 163, 490, 177]
Port "4"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Line {
SrcBlock " Max Torque Value Poisson1"
SrcPort 1
DstBlock "IO Subsystem "
DstPort 1
}
Line {
SrcBlock "Error poisson1"
SrcPort 1
DstBlock "IO Subsystem "
DstPort 2
}
Line {
SrcBlock " Max Torque Value Poisson2"
SrcPort 1
DstBlock "IO Subsystem "
DstPort 3
}
Line {
SrcBlock "Error Poisson2"
SrcPort 1
DstBlock "IO Subsystem "
DstPort 4
}
Line {
SrcBlock "IO Subsystem "
SrcPort 1
Points [25, 0]
DstBlock "Iout Poisson1"
DstPort 1
}
Line {
SrcBlock "IO Subsystem "
SrcPort 2
Points [30, 0]
DstBlock "Iout Poisson2"
DstPort 1
}
Line {
SrcBlock "IO Subsystem "
SrcPort 3
DstBlock "Iout Poisson3"
DstPort 1
}
Line {
SrcBlock " Max Torque Value Poisson3"
SrcPort 1
DstBlock "IO Subsystem "
DstPort 5
}
Line {
SrcBlock "Error Poisson3"
SrcPort 1
DstBlock "IO Subsystem "
DstPort 6
}
Line {
SrcBlock "IO Subsystem "
SrcPort 51
DstBlock "Mux10"
DstPort 48
}
Line {
SrcBlock "IO Subsystem "
SrcPort 4
DstBlock "Mux10"
DstPort 1
}
Line {
SrcBlock "IO Subsystem "
SrcPort 5
DstBlock "Mux10"
DstPort 2
}
Line {
SrcBlock "IO Subsystem "
SrcPort 6
DstBlock "Mux10"
DstPort 3
}
Line {
SrcBlock "IO Subsystem "
SrcPort 7
DstBlock "Mux10"
DstPort 4
}
Line {
SrcBlock "IO Subsystem "
SrcPort 8
DstBlock "Mux10"
DstPort 5
}
Line {
SrcBlock "IO Subsystem "
SrcPort 9
DstBlock "Mux10"
DstPort 6
}
Line {
SrcBlock "IO Subsystem "
SrcPort 10
DstBlock "Mux10"
DstPort 7
}
Line {
SrcBlock "IO Subsystem "
SrcPort 11
DstBlock "Mux10"
DstPort 8
}
Line {
SrcBlock "IO Subsystem "
SrcPort 12
DstBlock "Mux10"
DstPort 9
}
Line {
SrcBlock "IO Subsystem "
SrcPort 13
DstBlock "Mux10"
DstPort 10
}
Line {
SrcBlock "IO Subsystem "
SrcPort 14
DstBlock "Mux10"
DstPort 11
}
Line {
SrcBlock "IO Subsystem "
SrcPort 15
DstBlock "Mux10"
DstPort 12
}
Line {
SrcBlock "IO Subsystem "
SrcPort 16
DstBlock "Mux10"
DstPort 13
}
Line {
SrcBlock "IO Subsystem "
SrcPort 17
DstBlock "Mux10"
DstPort 14
}
Line {
SrcBlock "IO Subsystem "
SrcPort 18
DstBlock "Mux10"
DstPort 15
}
Line {
SrcBlock "IO Subsystem "
SrcPort 19
DstBlock "Mux10"
DstPort 16
}
Line {
SrcBlock "IO Subsystem "
SrcPort 20
DstBlock "Mux10"
DstPort 17
}
Line {
SrcBlock "IO Subsystem "
SrcPort 21
DstBlock "Mux10"
DstPort 18
}
Line {
SrcBlock "IO Subsystem "
SrcPort 22
DstBlock "Mux10"
DstPort 19
}
Line {
SrcBlock "IO Subsystem "
SrcPort 23
DstBlock "Mux10"
DstPort 20
}
Line {
SrcBlock "IO Subsystem "
SrcPort 24
DstBlock "Mux10"
DstPort 21
}
Line {
SrcBlock "IO Subsystem "
SrcPort 50
DstBlock "Mux10"
DstPort 47
}
Line {
SrcBlock "IO Subsystem "
SrcPort 49
DstBlock "Mux10"
DstPort 46
}
Line {
SrcBlock "IO Subsystem "
SrcPort 48
DstBlock "Mux10"
DstPort 45
}
Line {
SrcBlock "IO Subsystem "
SrcPort 47
DstBlock "Mux10"
DstPort 44
}
Line {
SrcBlock "IO Subsystem "
SrcPort 46
DstBlock "Mux10"
DstPort 43
}
Line {
SrcBlock "IO Subsystem "
SrcPort 45
DstBlock "Mux10"
DstPort 42
}
Line {
SrcBlock "IO Subsystem "
SrcPort 44
DstBlock "Mux10"
DstPort 41
}
Line {
SrcBlock "IO Subsystem "
SrcPort 43
DstBlock "Mux10"
DstPort 40
}
Line {
SrcBlock "IO Subsystem "
SrcPort 42
DstBlock "Mux10"
DstPort 39
}
Line {
SrcBlock "IO Subsystem "
SrcPort 41
DstBlock "Mux10"
DstPort 38
}
Line {
SrcBlock "IO Subsystem "
SrcPort 40
DstBlock "Mux10"
DstPort 37
}
Line {
SrcBlock "IO Subsystem "
SrcPort 39
DstBlock "Mux10"
DstPort 36
}
Line {
SrcBlock "IO Subsystem "
SrcPort 38
DstBlock "Mux10"
DstPort 35
}
Line {
SrcBlock "IO Subsystem "
SrcPort 37
DstBlock "Mux10"
DstPort 34
}
Line {
SrcBlock "IO Subsystem "
SrcPort 36
DstBlock "Mux10"
DstPort 33
}
Line {
SrcBlock "IO Subsystem "
SrcPort 35
DstBlock "Mux10"
DstPort 32
}
Line {
SrcBlock "IO Subsystem "
SrcPort 34
DstBlock "Mux10"
DstPort 31
}
Line {
SrcBlock "IO Subsystem "
SrcPort 32
DstBlock "Mux10"
DstPort 29
}
Line {
SrcBlock "IO Subsystem "
SrcPort 33
DstBlock "Mux10"
DstPort 30
}
Line {
SrcBlock "IO Subsystem "
SrcPort 31
DstBlock "Mux10"
DstPort 28
}
Line {
SrcBlock "IO Subsystem "
SrcPort 30
DstBlock "Mux10"
DstPort 27
}
Line {
SrcBlock "IO Subsystem "
SrcPort 29
DstBlock "Mux10"
DstPort 26
}
Line {
SrcBlock "IO Subsystem "
SrcPort 28
DstBlock "Mux10"
DstPort 25
}
Line {
SrcBlock "IO Subsystem "
SrcPort 27
DstBlock "Mux10"
DstPort 24
}
Line {
SrcBlock "IO Subsystem "
SrcPort 26
DstBlock "Mux10"
DstPort 23
}
Line {
SrcBlock "IO Subsystem "
SrcPort 25
DstBlock "Mux10"
DstPort 22
}
Line {
SrcBlock "Mux10"
SrcPort 1
DstBlock "Zero-Order\nHold"
DstPort 1
}
Line {
SrcBlock "Zero-Order\nHold"
SrcPort 1
DstBlock "Time firing 48 IO"
DstPort 1
}
}
}
Block {
BlockType Outport
Name "IOcurrent"
SID 1238
Position [675, 133, 705, 147]
IconDisplay "Port number"
}
Block {
BlockType Outport
Name "IOcurrent1"
SID 1243
Position [675, 213, 705, 227]
Port "2"
IconDisplay "Port number"
}
Block {
BlockType Outport
Name "IOcurrent2"
SID 1248
Position [675, 293, 705, 307]
Port "3"
IconDisplay "Port number"
}
Block {
BlockType Outport
Name "IOTiming"
SID 1234
Position [675, 58, 705, 72]
Port "4"
IconDisplay "Port number"
}
Block {
BlockType Outport
Name "ErrorCurrent"
SID 4420
Position [755, 323, 785, 337]
Port "5"
IconDisplay "Port number"
}
Block {
BlockType Outport
Name "ErrorCurrent1"
SID 4424
Position [760, 358, 790, 372]
Port "6"
IconDisplay "Port number"
}
Block {
BlockType Outport
Name "ErrorCurrent2"
SID 4425
Position [765, 388, 795, 402]
Port "7"
IconDisplay "Port number"
}
Line {
SrcBlock "Desired Positions"
SrcPort 1
DstBlock "ErrorModel"
DstPort 3
}
Line {
SrcBlock "Desired Velocities"
SrcPort 1
Points [10, 0; 0, -25]
DstBlock "ErrorModel"
DstPort 4
}
Line {
SrcBlock " Max Torque Value Poisson1"
SrcPort 1
DstBlock "Subsystem IO"
DstPort 1
}
Line {
SrcBlock "Subsystem IO"
SrcPort 1
DstBlock "IOTiming"
DstPort 1
}
Line {
SrcBlock "Demux"
SrcPort 1
Points [70, 0; 0, -80]
DstBlock "Subsystem IO"
DstPort 2
}
Line {
SrcBlock "Subsystem IO"
SrcPort 2
Points [0, -5]
DstBlock "IOcurrent"
DstPort 1
}
Line {
SrcBlock " Max Torque Value Poisson2"
SrcPort 1
DstBlock "Subsystem IO"
DstPort 3
}
Line {
SrcBlock "Demux"
SrcPort 2
DstBlock "Subsystem IO"
DstPort 4
}
Line {
SrcBlock "Subsystem IO"
SrcPort 3
Points [0, -5]
DstBlock "IOcurrent1"
DstPort 1
}
Line {
SrcBlock " Max Torque Value Poisson3"
SrcPort 1
DstBlock "Subsystem IO"
DstPort 5
}
Line {
SrcBlock "Demux"
SrcPort 3
Points [0, 80]
DstBlock "Subsystem IO"
DstPort 6
}
Line {
SrcBlock "Subsystem IO"
SrcPort 4
Points [0, -5]
DstBlock "IOcurrent2"
DstPort 1
}
Line {
SrcBlock "ErrorModel"
SrcPort 1
Points [5, 0]
Branch {
DstBlock "Demux"
DstPort 1
}
Branch {
Points [0, 155]
DstBlock "Demux2"
DstPort 1
}
}
Line {
SrcBlock "qreal"
SrcPort 1
Points [90, 0; 0, 60]
DstBlock "ErrorModel"
DstPort 1
}
Line {
SrcBlock "qdreal"
SrcPort 1
Points [70, 0; 0, 20]
DstBlock "ErrorModel"
DstPort 2
}
Line {
SrcBlock "Demux2"
SrcPort 1
Points [55, 0]
DstBlock "ErrorCurrent"
DstPort 1
}
Line {
SrcBlock "Demux2"
SrcPort 2
DstBlock "ErrorCurrent1"
DstPort 1
}
Line {
SrcBlock "Demux2"
SrcPort 3
Points [20, 0; 0, 10]
DstBlock "ErrorCurrent2"
DstPort 1
}
}
}
Block {
BlockType Sum
Name "Sum"
SID 2293
Ports [2, 1]
Position [380, 380, 400, 400]
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 "Sum2"
SID 4468
Ports [2, 1]
Position [1755, 805, 1775, 825]
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 "Sum3"
SID 4418
Ports [2, 1]
Position [380, 485, 400, 505]
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 "Sum4"
SID 4469
Ports [2, 1]
Position [1755, 860, 1775, 880]
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"
SID 4470
Ports [2, 1]
Position [1755, 910, 1775, 930]
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 Terminator
Name "Terminator1"
SID 4547
Position [1045, 700, 1065, 720]
}
Block {
BlockType Terminator
Name "Terminator2"
SID 4474
Position [1045, 780, 1065, 800]
}
Block {
BlockType Terminator
Name "Terminator4"
SID 2299
Position [610, 405, 630, 425]
}
Block {
BlockType ToFile
Name "ToFileIO"
SID 4501
Position [1290, 575, 1350, 605]
Filename "IOActivityAllLearning6kg.mat"
}
Block {
BlockType ToFile
Name "ToFileIODCN"
SID 4526
Position [1670, 1145, 1730, 1175]
Filename "IODCNWeightAllLearning6kg.mat"
}
Block {
BlockType ToFile
Name "ToFileKP"
SID 4546
Position [1670, 1200, 1730, 1230]
Filename "KPWeightAllLearning6kg.mat"
}
Block {
BlockType ToFile
Name "ToFileMFDCN"
SID 4483
Position [1670, 1025, 1730, 1055]
Filename "MFDCNWeightAllLearning6kg.mat"
}
Block {
BlockType ToFile
Name "ToFilePC"
SID 4482
Position [1670, 975, 1730, 1005]
NamePlacement "alternate"
Filename "PCActivityAllLearning6kg.mat"
}
Block {
BlockType ToFile
Name "ToFilePCDCN"
SID 4484
Position [1670, 1080, 1730, 1110]
Filename "PCDCNWeightAllLearning6kg.mat"
}
Block {
BlockType ToFile
Name "ToFileTorque"
SID 4486
Position [680, 240, 740, 270]
Filename "CorrectiveTorqueAllLearning6kg.mat"
}
Block {
BlockType ToFile
Name "ToFileTorqueInd"
SID 4485
Position [1610, 399, 1685, 431]
Filename "CorrectiveTorque1AllLearning6kg.mat"
}
Block {
BlockType ZeroOrderHold
Name "Zero-Order\nHold"
SID 4406
Position [1160, 975, 1185, 1005]
SampleTime "0.002"
}
Block {
BlockType SignalViewerScope
Name "Scope1"
SID 4350
Ports []
Position [20, 15, 60, 55]
IOType "viewer"
Location [188, 365, 512, 604]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
ShowDataMarkers off
ShowLegends off
DataFormat "Array"
MaxDataPoints "7500"
RefreshTime 0.035000
}
Line {
SrcBlock "3 sinusoidal \ntrajectories"
SrcPort 1
Points [60, 0]
Branch {
Points [35, 0]
DstBlock "RNE "
DstPort 1
}
Branch {
Labels [0, 0]
Points [0, 110]
Branch {
Points [0, 120]
DstBlock "Subsystem"
DstPort 1
}
Branch {
DstBlock "RNE 2"
DstPort 1
}
}
}
Line {
SrcBlock "3 sinusoidal \ntrajectories"
SrcPort 2
Points [40, 0]
Branch {
DstBlock "RNE "
DstPort 2
}
Branch {
Labels [0, 0]
Points [0, 105]
Branch {
Points [0, 140]
DstBlock "Subsystem"
DstPort 2
}
Branch {
DstBlock "RNE 2"
DstPort 2
}
}
}
Line {
SrcBlock "3 sinusoidal \ntrajectories"
SrcPort 3
Points [85, 0]
Branch {
Points [10, 0]
DstBlock "RNE "
DstPort 3
}
Branch {
Points [0, 100]
DstBlock "RNE 2"
DstPort 3
}
}
Line {
SrcBlock "RNE "
SrcPort 1
Points [10, 0]
Branch {
Points [0, 50; 40, 0]
DstBlock "Sum3"
DstPort 1
}
Branch {
Points [15, 0]
Branch {
DstBlock "Sum"
DstPort 2
}
Branch {
Points [0, -135]
DstBlock "Mux"
DstPort 2
}
}
}
Line {
SrcBlock "ROBOT RRR"
SrcPort 1
Points [100, 0; 0, 310]
DstBlock "Subsystem"
DstPort 3
}
Line {
SrcBlock "ROBOT RRR"
SrcPort 2
Points [65, 0; 0, 325]
DstBlock "Subsystem"
DstPort 4
}
Line {
SrcBlock "Constant"
SrcPort 1
DstBlock "Subsystem"
DstPort 5
}
Line {
SrcBlock "Constant1"
SrcPort 1
DstBlock "Subsystem"
DstPort 6
}
Line {
SrcBlock "Constant4"
SrcPort 1
DstBlock "Subsystem"
DstPort 7
}
Line {
SrcBlock "Sum"
SrcPort 1
DstBlock "ROBOT RRR"
DstPort 1
}
Line {
SrcBlock "ROBOT RRR"
SrcPort 3
DstBlock "Terminator4"
DstPort 1
}
Line {
SrcBlock "Mux2"
SrcPort 1
Points [0, 5; 70, 0]
Branch {
Points [0, -35]
DstBlock "Mux"
DstPort 1
}
Branch {
Points [35, 0]
DstBlock "Sum"
DstPort 1
}
}
Line {
SrcBlock "Mux"
SrcPort 1
DstBlock "ToFileTorque"
DstPort 1
}
Line {
SrcBlock "Mux1"
SrcPort 1
Points [-95, 0]
DstBlock "ToFileTorqueInd"
DstPort 1
}
Line {
SrcBlock "Granular layer"
SrcPort 1
Points [0, -25]
DstBlock "S-Function"
DstPort 3
}
Line {
Labels [0, 0]
SrcBlock "MFactivity"
SrcPort 1
Points [0, 55]
DstBlock "S-Function"
DstPort 1
}
Line {
SrcBlock "S-Function"
SrcPort 1
Points [0, -10; 90, 0; 0, -140]
DstBlock "Demux"
DstPort 1
}
Line {
SrcBlock "S-Function"
SrcPort 2
Points [0, 25]
DstBlock "ToFilePC"
DstPort 1
}
Line {
SrcBlock "S-Function"
SrcPort 3
Points [35, 0; 0, 60]
DstBlock "ToFileMFDCN"
DstPort 1
}
Line {
SrcBlock "S-Function"
SrcPort 4
Points [25, 0; 0, 100]
DstBlock "ToFilePCDCN"
DstPort 1
}
Line {
SrcBlock "RNE 2"
SrcPort 1
DstBlock "Sum3"
DstPort 2
}
Line {
SrcBlock "Sum3"
SrcPort 1
Points [0, -230]
DstBlock "Mux"
DstPort 3
}
Line {
SrcBlock "Zero-Order\nHold"
SrcPort 1
DstBlock "S-Function"
DstPort 2
}
Line {
SrcBlock "Mux6"
SrcPort 1
Points [155, 0; 0, -140]
DstBlock "Mux1"
DstPort 1
}
Line {
SrcBlock "Mux7"
SrcPort 1
Points [95, 0; 0, -180]
DstBlock "Mux1"
DstPort 2
}
Line {
SrcBlock "Mux8"
SrcPort 1
Points [45, 0; 0, -215]
DstBlock "Mux1"
DstPort 3
}
Line {
SrcBlock "Demux"
SrcPort 1
Points [15, 0]
Branch {
Points [0, 25; 140, 0; 0, 40]
DstBlock "Sum2"
DstPort 1
}
Branch {
Points [0, -175]
DstBlock "Mux6"
DstPort 1
}
}
Line {
SrcBlock "Demux"
SrcPort 3
Points [40, 0]
Branch {
Points [60, 0; 0, 60]
DstBlock "Sum4"
DstPort 1
}
Branch {
Points [0, -165]
DstBlock "Mux7"
DstPort 1
}
}
Line {
SrcBlock "Demux"
SrcPort 5
Points [75, 0]
Branch {
Points [0, 50]
DstBlock "Sum5"
DstPort 1
}
Branch {
Points [0, -160]
DstBlock "Mux8"
DstPort 1
}
}
Line {
SrcBlock "Demux"
SrcPort 6
Points [55, 0]
Branch {
Points [0, 45]
DstBlock "Sum5"
DstPort 2
}
Branch {
Points [30, 0; 0, -170]
DstBlock "Mux8"
DstPort 2
}
}
Line {
SrcBlock "Demux"
SrcPort 4
Points [60, 0]
Branch {
Points [0, 55]
DstBlock "Sum4"
DstPort 2
}
Branch {
Points [0, -175]
DstBlock "Mux7"
DstPort 2
}
}
Line {
SrcBlock "Demux"
SrcPort 2
Points [30, 0]
Branch {
Points [115, 0]
DstBlock "Sum2"
DstPort 2
}
Branch {
Points [0, -185]
DstBlock "Mux6"
DstPort 2
}
}
Line {
SrcBlock "Sum2"
SrcPort 1
Points [95, 0; 0, -650]
DstBlock "Gain3"
DstPort 1
}
Line {
SrcBlock "Sum4"
SrcPort 1
Points [100, 0; 0, -730]
DstBlock "Gain1"
DstPort 1
}
Line {
SrcBlock "Sum5"
SrcPort 1
Points [105, 0; 0, -805]
DstBlock "Gain2"
DstPort 1
}
Line {
SrcBlock "Mux4"
SrcPort 1
DstBlock "Terminator2"
DstPort 1
}
Line {
SrcBlock "Subsystem"
SrcPort 5
DstBlock "Mux4"
DstPort 1
}
Line {
SrcBlock "Subsystem"
SrcPort 6
Points [0, -5]
DstBlock "Mux4"
DstPort 2
}
Line {
SrcBlock "Subsystem"
SrcPort 7
Points [40, 0]
DstBlock "Mux4"
DstPort 3
}
Line {
SrcBlock "Mux3"
SrcPort 1
DstBlock "Demux1"
DstPort 1
}
Line {
SrcBlock "Mux9"
SrcPort 1
Points [15, 0]
Branch {
Points [0, -40]
DstBlock "ToFileIO"
DstPort 1
}
Branch {
Points [35, 0; 0, 110; -125, 0; 0, 250]
DstBlock "Zero-Order\nHold"
DstPort 1
}
}
Line {
SrcBlock "Demux1"
SrcPort 2
Points [40, 0; 0, -20]
DstBlock "Mux9"
DstPort 1
}
Line {
SrcBlock "Demux1"
SrcPort 1
Points [0, 10; 80, 0; 0, 10]
DstBlock "Mux9"
DstPort 2
}
Line {
SrcBlock "Demux1"
SrcPort 3
Points [40, 0; 0, 20]
DstBlock "Mux9"
DstPort 4
}
Line {
SrcBlock "Demux1"
SrcPort 4
Points [0, -10; 80, 0; 0, -10]
DstBlock "Mux9"
DstPort 3
}
Line {
SrcBlock "Demux1"
SrcPort 5
Points [40, 0; 0, 20]
DstBlock "Mux9"
DstPort 6
}
Line {
SrcBlock "Demux1"
SrcPort 6
Points [0, -10; 80, 0; 0, -10]
DstBlock "Mux9"
DstPort 5
}
Line {
SrcBlock "Subsystem"
SrcPort 1
DstBlock "Mux3"
DstPort 1
}
Line {
SrcBlock "Subsystem"
SrcPort 2
Points [0, -5]
DstBlock "Mux3"
DstPort 2
}
Line {
SrcBlock "Subsystem"
SrcPort 3
Points [80, 0]
DstBlock "Mux3"
DstPort 3
}
Line {
SrcBlock "Digital Clock"
SrcPort 1
DstBlock "Display"
DstPort 1
}
Line {
SrcBlock "Gain2"
SrcPort 1
Points [-215, 0; 0, 185]
DstBlock "Mux2"
DstPort 3
}
Line {
SrcBlock "Gain1"
SrcPort 1
Points [-265, 0; 0, 135]
DstBlock "Mux2"
DstPort 2
}
Line {
SrcBlock "Gain3"
SrcPort 1
Points [-325, 0]
DstBlock "Mux2"
DstPort 1
}
Line {
SrcBlock "S-Function"
SrcPort 5
Points [20, 0; 0, 150]
DstBlock "ToFileIODCN"
DstPort 1
}
Line {
SrcBlock "S-Function"
SrcPort 6
Points [15, 0; 0, 190]
DstBlock "ToFileKP"
DstPort 1
}
Line {
SrcBlock "Subsystem"
SrcPort 4
Points [0, -5]
DstBlock "Terminator1"
DstPort 1
}
}
}
# Finite State Machines
#
# Stateflow Version 7.1 (R2009a) dated Jul 17 2009, 10:24:20
#
#
Stateflow {
machine {
id 1
name "CerebellumIODCNAbstractMass"
created "15-Apr-2011 13:22:27"
isLibrary 0
firstTarget 2
sfVersion 71014000.00001
}
target {
id 2
name "sfun"
description "Default Simulink S-Function Target."
machine 1
linkNode [1 0 0]
}
}