# $Revision: 1.5.2.4 $ Model { Name "narmamaglev" Version 6.3 MdlSubVersion 0 GraphicalInterface { NumRootInports 0 NumRootOutports 0 ParameterArgumentNames "" ComputedModelVersion "1.210" NumModelReferences 0 NumTestPointedSignals 0 } SavedCharacterEncoding "windows-1252" SaveDefaultBlockParams on SampleTimeColors off LibraryLinkDisplay "none" WideLines off ShowLineDimensions off ShowPortDataTypes off ShowLoopsOnError on IgnoreBidirectionalLines off ShowStorageClass off ShowTestPointIcons on ShowViewerIcons on SortedOrder off ExecutionContextIcon off ShowLinearizationAnnotations on ScopeRefreshTime 0.035000 OverrideScopeRefreshTime on DisableAllScopes off DataTypeOverride "UseLocalSettings" MinMaxOverflowLogging "UseLocalSettings" MinMaxOverflowArchiveMode "Overwrite" BlockNameDataTip off BlockParametersDataTip off BlockDescriptionStringDataTip off ToolBar on StatusBar on BrowserShowLibraryLinks off BrowserLookUnderMasks off Created "Fri Oct 16 21:07:47 1998" Creator "munlock -all 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"|0|Inf|1" MaskTabNameString ",,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,," Port { PortNumber 1 Name "Current" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } System { Name "NARMA-L2 Controller" Location [13, 149, 1258, 670] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" Block { BlockType Inport Name "Reference" Position [505, 45, 535, 65] IconDisplay "Port number" } Block { BlockType Inport Name "Plant Output" Position [30, 62, 60, 78] Port "2" IconDisplay "Port number" } Block { BlockType Constant Name "Constant" Position [500, 265, 520, 285] Value "B1" } Block { BlockType Constant Name "Constant1" Position [665, 275, 685, 295] Value "B2" } Block { BlockType Constant Name "Constant2" Position [105, 255, 125, 275] Value "Normalize" } Block { BlockType Constant Name "Constant3" Position [125, 130, 145, 150] Value "Normalize" } Block { BlockType Constant Name "Constant4" Position [1080, 215, 1100, 235] Value "Normalize" } Block { BlockType Constant Name "Constant5" Position [500, 385, 520, 405] Value "B3" } Block { BlockType Constant Name "Constant6" Position [665, 415, 685, 435] Value "B4" } Block { BlockType Constant Name "Constant7" Position [635, 115, 655, 135] Value "Normalize" } Block { BlockType DiscreteStateSpace Name "Discrete State-Space4" Position [350, 201, 460, 239] A "blkdiag([zeros(1,Nj-1);eye(Nj-2,Nj-2) zeros" "(Nj-2,1)],[zeros(1,Ni-1);eye(Ni-2,Ni-2) zeros(Ni-2,1)])" B "blkdiag(eye(Nj-1,1),eye(Ni-1,1))" C "blkdiag([zeros(1,Nj-1);eye(Nj-1,Nj-1)],[zer" "os(eye(double(Ni>1)),Ni-1);eye(Ni-2,Ni-1)])" D "blkdiag([1;zeros(Nj-1,1)],[eye(double(Ni>1)" ");zeros(Ni-2,1)])" SampleTime "Ts" } Block { BlockType Fcn Name "Fcn" Position [105, 205, 140, 235] Expr "(u(1)-minp)*2/(maxp-minp) - 1" } Block { BlockType Fcn Name "Fcn1" Position [115, 55, 150, 85] Expr "(u(1)-mint)*2/(maxt-mint) - 1" } Block { BlockType Fcn Name "Fcn2" Position [1075, 145, 1110, 175] Expr "(u(1)+1)*(maxp-minp)/2 + minp" } Block { BlockType Fcn Name "Fcn3" Position [625, 40, 660, 70] Expr "(u(1)-mint)*2/(maxt-mint) - 1" } Block { BlockType Gain Name "Matrix\nGain" Position [490, 190, 520, 220] Gain "IW1_1" Multiplication "Matrix(K*u)" } Block { BlockType Gain Name "Matrix\nGain1" Position [495, 325, 525, 355] Gain "IW3_2" Multiplication "Matrix(K*u)" } Block { BlockType Gain Name "Matrix\nGain2" Position [660, 200, 690, 230] Gain "LW2_1" Multiplication "Matrix(K*u)" } Block { BlockType Gain Name "Matrix\nGain3" Position [660, 340, 690, 370] Gain "LW4_3" Multiplication "Matrix(K*u)" } Block { BlockType Gain Name "Matrix\nGain5" Position [815, 210, 845, 240] Gain "LW6_2" Multiplication "Matrix(K*u)" } Block { BlockType Gain Name "Matrix\nGain8" Position [840, 350, 870, 380] Gain "LW6_5*LW5_4*IW5_3" Multiplication "Matrix(K*u)" } Block { BlockType Mux Name "Mux" Ports [2, 1] Position [285, 193, 330, 242] ShowName off Inputs "2" DisplayOption "signals" } Block { BlockType Product Name "Product" Ports [2, 1] Position [940, 207, 970, 238] Inputs "*/" RndMeth "Floor" } Block { BlockType Saturate Name "Saturation1" Position [1235, 210, 1265, 240] UpperLimit "max_i" LowerLimit "min_i" ZeroCross off } Block { BlockType Sum Name "Sum" Ports [2, 1] Position [875, 112, 905, 143] Inputs "+-" } Block { BlockType Switch Name "Switch" Position [170, 255, 200, 285] Threshold "0.5" ZeroCross off } Block { BlockType Switch Name "Switch1" Position [180, 130, 210, 160] Threshold "0.5" ZeroCross off } Block { BlockType Switch Name "Switch2" Position [1140, 210, 1170, 240] Threshold "0.5" ZeroCross off } Block { BlockType Switch Name "Switch3" Position [705, 100, 735, 130] Threshold "0.5" ZeroCross off } Block { BlockType UnitDelay Name "Unit Delay4" Position [230, 225, 260, 255] SampleTime "Ts" } Block { BlockType ZeroOrderHold Name "Zero-Order\nHold" Position [1300, 206, 1335, 244] SampleTime "Ts" } Block { BlockType SubSystem Name "netsum" Ports [2, 1] Position [550, 194, 575, 236] TreatAsAtomicUnit off MinAlgLoopOccurrences off RTWSystemCode "Auto" MaskHideContents off MaskDisplay "disp('+')" MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskIconUnits "autoscale" System { Name "netsum" Location [322, 87, 822, 388] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" Block { BlockType Inport Name "In1" Position [20, 50, 40, 70] IconDisplay "Port number" } Block { BlockType Inport Name "In2" Position [20, 90, 40, 110] Port "2" IconDisplay "Port number" } Block { BlockType Sum Name "netsum" Ports [2, 1] Position [90, 59, 115, 101] Inputs "2" } Block { BlockType Outport Name "Out1" Position [145, 80, 165, 100] IconDisplay "Port number" } Line { SrcBlock "In1" SrcPort 1 DstBlock "netsum" DstPort 1 } Line { SrcBlock "In2" SrcPort 1 DstBlock "netsum" DstPort 2 } Line { SrcBlock "netsum" SrcPort 1 DstBlock "Out1" DstPort 1 } } } Block { BlockType SubSystem Name "netsum1" Ports [2, 1] Position [720, 205, 745, 240] TreatAsAtomicUnit off MinAlgLoopOccurrences off RTWSystemCode "Auto" MaskHideContents off MaskDisplay "disp('+')" MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskIconUnits "autoscale" System { Name "netsum1" Location [320, 85, 820, 386] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" Block { BlockType Inport Name "In1" Position [20, 65, 40, 85] IconDisplay "Port number" } Block { BlockType Inport Name "In2" Position [20, 105, 40, 125] Port "2" IconDisplay "Port number" } Block { BlockType Sum Name "netsum1" Ports [2, 1] Position [90, 60, 115, 95] Inputs "2" } Block { BlockType Outport Name "Out1" Position [145, 80, 165, 100] IconDisplay "Port number" } Line { SrcBlock "In1" SrcPort 1 DstBlock "netsum1" DstPort 1 } Line { SrcBlock "In2" SrcPort 1 DstBlock "netsum1" DstPort 2 } Line { SrcBlock "netsum1" SrcPort 1 DstBlock "Out1" DstPort 1 } } } Block { BlockType SubSystem Name "netsum2" Ports [2, 1] Position [550, 334, 575, 376] TreatAsAtomicUnit off MinAlgLoopOccurrences off RTWSystemCode "Auto" MaskHideContents off MaskDisplay "disp('+')" MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskIconUnits "autoscale" System { Name "netsum2" Location [322, 87, 822, 388] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" Block { BlockType Inport Name "In1" Position [20, 50, 40, 70] IconDisplay "Port number" } Block { BlockType Inport Name "In2" Position [20, 90, 40, 110] Port "2" IconDisplay "Port number" } Block { BlockType Sum Name "netsum" Ports [2, 1] Position [90, 59, 115, 101] Inputs "2" } Block { BlockType Outport Name "Out1" Position [145, 80, 165, 100] IconDisplay "Port number" } Line { SrcBlock "In1" SrcPort 1 DstBlock "netsum" DstPort 1 } Line { SrcBlock "In2" SrcPort 1 DstBlock "netsum" DstPort 2 } Line { SrcBlock "netsum" SrcPort 1 DstBlock "Out1" DstPort 1 } } } Block { BlockType SubSystem Name "netsum3" Ports [2, 1] Position [720, 345, 745, 380] TreatAsAtomicUnit off MinAlgLoopOccurrences off RTWSystemCode "Auto" MaskHideContents off MaskDisplay "disp('+')" MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskIconUnits "autoscale" System { Name "netsum3" Location [320, 85, 820, 386] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" Block { BlockType Inport Name "In1" Position [20, 65, 40, 85] IconDisplay "Port number" } Block { BlockType Inport Name "In2" Position [20, 105, 40, 125] Port "2" IconDisplay "Port number" } Block { BlockType Sum Name "netsum1" Ports [2, 1] Position [90, 60, 115, 95] Inputs "2" } Block { BlockType Outport Name "Out1" Position [145, 80, 165, 100] IconDisplay "Port number" } Line { SrcBlock "In1" SrcPort 1 DstBlock "netsum1" DstPort 1 } Line { SrcBlock "In2" SrcPort 1 DstBlock "netsum1" DstPort 2 } Line { SrcBlock "netsum1" SrcPort 1 DstBlock "Out1" DstPort 1 } } } Block { BlockType SubSystem Name "purelin" Ports [1, 1] Position [770, 213, 795, 237] TreatAsAtomicUnit off MinAlgLoopOccurrences off RTWSystemCode "Auto" MaskHideContents off MaskDisplay "plot([-1 1],[0 0],[-1 1],[-1 1])" MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskIconUnits "autoscale" System { Name "purelin" Location [146, 220, 406, 302] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" Block { BlockType Inport Name "n" Position [25, 33, 55, 47] IconDisplay "Port number" } Block { BlockType Outport Name "a" Position [205, 33, 235, 47] IconDisplay "Port number" } Line { SrcBlock "n" SrcPort 1 DstBlock "a" DstPort 1 } } } Block { BlockType SubSystem Name "purelin1" Ports [1, 1] Position [770, 353, 795, 377] TreatAsAtomicUnit off MinAlgLoopOccurrences off RTWSystemCode "Auto" MaskHideContents off MaskDisplay "plot([-1 1],[0 0],[-1 1],[-1 1])" MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskIconUnits "autoscale" System { Name "purelin1" Location [144, 218, 404, 300] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" Block { BlockType Inport Name "n" Position [25, 33, 55, 47] IconDisplay "Port number" } Block { BlockType Outport Name "a" Position [205, 33, 235, 47] IconDisplay "Port number" } Line { SrcBlock "n" SrcPort 1 DstBlock "a" DstPort 1 } } } Block { BlockType SubSystem Name "tansig" Ports [1, 1] Position [600, 203, 625, 227] TreatAsAtomicUnit off MinAlgLoopOccurrences off RTWSystemCode "Auto" MaskHideContents off MaskDisplay "plot([-1 1],[0 0],[-1 -.9 -.8 -.7 -.6 -.5 -" ".4 -.3 -.2 -.1 0 .1 .2 .3 .4 .5 .6 .7 .8 .9 1],2./(1+exp(-8*[-1 -.9 -.8 -.7 -" ".6 -.5 -.4 -.3 -.2 -.1 0 .1 .2 .3 .4 .5 .6 .7 .8 .9 1]))-1)" MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskIconUnits "autoscale" System { Name "tansig" Location [0, 38, 640, 480] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" Block { BlockType Inport Name "n" Position [25, 33, 55, 47] IconDisplay "Port number" } Block { BlockType Math Name "Exp" Ports [1, 1] Position [155, 25, 185, 55] MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskIconUnits "autoscale" } Block { BlockType Gain Name "Gain" Position [90, 25, 120, 55] Gain "-2" } Block { BlockType Gain Name "Gain1" Position [370, 30, 400, 60] Gain "2" } Block { BlockType Math Name "Reciprocal" Ports [1, 1] Position [295, 30, 325, 60] Operator "reciprocal" MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskIconUnits "autoscale" } Block { BlockType Sum Name "Sum" Ports [2, 1] Position [225, 27, 255, 58] } Block { BlockType Sum Name "Sum1" Ports [2, 1] Position [445, 27, 475, 58] Inputs "+-" } Block { BlockType Constant Name "one" Position [160, 85, 180, 105] } Block { BlockType Constant Name "one1" Position [375, 85, 395, 105] } Block { BlockType Outport Name "a" Position [515, 38, 545, 52] IconDisplay "Port number" } Line { SrcBlock "n" SrcPort 1 DstBlock "Gain" DstPort 1 } Line { SrcBlock "Gain" SrcPort 1 DstBlock "Exp" DstPort 1 } Line { SrcBlock "Exp" SrcPort 1 Points [20, 0] DstBlock "Sum" DstPort 1 } Line { SrcBlock "one" SrcPort 1 Points [25, 0] DstBlock "Sum" DstPort 2 } Line { SrcBlock "Sum" SrcPort 1 DstBlock "Reciprocal" DstPort 1 } Line { SrcBlock "Reciprocal" SrcPort 1 DstBlock "Gain1" DstPort 1 } Line { SrcBlock "Gain1" SrcPort 1 Points [25, 0] DstBlock "Sum1" DstPort 1 } Line { SrcBlock "one1" SrcPort 1 Points [30, 0] DstBlock "Sum1" DstPort 2 } Line { SrcBlock "Sum1" SrcPort 1 DstBlock "a" DstPort 1 } } } Block { BlockType SubSystem Name "tansig1" Ports [1, 1] Position [600, 343, 625, 367] TreatAsAtomicUnit off MinAlgLoopOccurrences off RTWSystemCode "Auto" MaskHideContents off MaskDisplay "plot([-1 1],[0 0],[-1 -.9 -.8 -.7 -.6 -.5 -" ".4 -.3 -.2 -.1 0 .1 .2 .3 .4 .5 .6 .7 .8 .9 1],2./(1+exp(-8*[-1 -.9 -.8 -.7 -" ".6 -.5 -.4 -.3 -.2 -.1 0 .1 .2 .3 .4 .5 .6 .7 .8 .9 1]))-1)" MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskIconUnits "autoscale" System { Name "tansig1" Location [0, 38, 640, 480] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" Block { BlockType Inport Name "n" Position [25, 33, 55, 47] IconDisplay "Port number" } Block { BlockType Math Name "Exp" Ports [1, 1] Position [155, 25, 185, 55] MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskIconUnits "autoscale" } Block { BlockType Gain Name "Gain" Position [90, 25, 120, 55] Gain "-2" } Block { BlockType Gain Name "Gain1" Position [370, 30, 400, 60] Gain "2" } Block { BlockType Math Name "Reciprocal" Ports [1, 1] Position [295, 30, 325, 60] Operator "reciprocal" MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskIconUnits "autoscale" } Block { BlockType Sum Name "Sum" Ports [2, 1] Position [225, 27, 255, 58] } Block { BlockType Sum Name "Sum1" Ports [2, 1] Position [445, 27, 475, 58] Inputs "+-" } Block { BlockType Constant Name "one" Position [160, 85, 180, 105] } Block { BlockType Constant Name "one1" Position [375, 85, 395, 105] } Block { BlockType Outport Name "a" Position [515, 38, 545, 52] IconDisplay "Port number" } Line { SrcBlock "n" SrcPort 1 DstBlock "Gain" DstPort 1 } Line { SrcBlock "Gain" SrcPort 1 DstBlock "Exp" DstPort 1 } Line { SrcBlock "Exp" SrcPort 1 Points [20, 0] DstBlock "Sum" DstPort 1 } Line { SrcBlock "one" SrcPort 1 Points [25, 0] DstBlock "Sum" DstPort 2 } Line { SrcBlock "Sum" SrcPort 1 DstBlock "Reciprocal" DstPort 1 } Line { SrcBlock "Reciprocal" SrcPort 1 DstBlock "Gain1" DstPort 1 } Line { SrcBlock "Gain1" SrcPort 1 Points [25, 0] DstBlock "Sum1" DstPort 1 } Line { SrcBlock "one1" SrcPort 1 Points [30, 0] DstBlock "Sum1" DstPort 2 } Line { SrcBlock "Sum1" SrcPort 1 DstBlock "a" DstPort 1 } } } Block { BlockType Outport Name "Control Signal" Position [1395, 215, 1425, 235] IconDisplay "Port number" } Line { SrcBlock "Constant3" SrcPort 1 Points [15, 0] DstBlock "Switch1" DstPort 2 } Line { SrcBlock "Fcn1" SrcPort 1 Points [10, 0] DstBlock "Switch1" DstPort 1 } Line { SrcBlock "Plant Output" SrcPort 1 Points [25, 0] Branch { DstBlock "Fcn1" DstPort 1 } Branch { Points [0, 110; 75, 0] DstBlock "Switch1" DstPort 3 } } Line { SrcBlock "netsum1" SrcPort 1 DstBlock "purelin" DstPort 1 } Line { SrcBlock "Constant1" SrcPort 1 Points [10, 0; 0, -55] DstBlock "netsum1" DstPort 2 } Line { SrcBlock "Matrix\nGain2" SrcPort 1 DstBlock "netsum1" DstPort 1 } Line { SrcBlock "netsum" SrcPort 1 DstBlock "tansig" DstPort 1 } Line { SrcBlock "Constant" SrcPort 1 Points [10, 0] DstBlock "netsum" DstPort 2 } Line { SrcBlock "tansig" SrcPort 1 DstBlock "Matrix\nGain2" DstPort 1 } Line { SrcBlock "Matrix\nGain" SrcPort 1 DstBlock "netsum" DstPort 1 } Line { SrcBlock "netsum3" SrcPort 1 DstBlock "purelin1" DstPort 1 } Line { SrcBlock "Constant6" SrcPort 1 Points [10, 0; 0, -55] DstBlock "netsum3" DstPort 2 } Line { SrcBlock "Matrix\nGain3" SrcPort 1 DstBlock "netsum3" DstPort 1 } Line { SrcBlock "netsum2" SrcPort 1 DstBlock "tansig1" DstPort 1 } Line { SrcBlock "Constant5" SrcPort 1 Points [10, 0] DstBlock "netsum2" DstPort 2 } Line { SrcBlock "tansig1" SrcPort 1 DstBlock "Matrix\nGain3" DstPort 1 } Line { SrcBlock "Matrix\nGain1" SrcPort 1 Points [5, 0] DstBlock "netsum2" DstPort 1 } Line { SrcBlock "purelin" SrcPort 1 DstBlock "Matrix\nGain5" DstPort 1 } Line { SrcBlock "Matrix\nGain5" SrcPort 1 Points [10, 0] DstBlock "Sum" DstPort 2 } Line { SrcBlock "Sum" SrcPort 1 Points [10, 0; 0, 85] DstBlock "Product" DstPort 1 } Line { SrcBlock "purelin1" SrcPort 1 DstBlock "Matrix\nGain8" DstPort 1 } Line { SrcBlock "Matrix\nGain8" SrcPort 1 Points [50, 0] DstBlock "Product" DstPort 2 } Line { SrcBlock "Constant7" SrcPort 1 Points [30, 0] DstBlock "Switch3" DstPort 2 } Line { SrcBlock "Fcn3" SrcPort 1 Points [25, 0] DstBlock "Switch3" DstPort 1 } Line { SrcBlock "Reference" SrcPort 1 Points [60, 0] Branch { DstBlock "Fcn3" DstPort 1 } Branch { Points [0, 110; 90, 0] DstBlock "Switch3" DstPort 3 } } Line { SrcBlock "Switch3" SrcPort 1 Points [120, 0] DstBlock "Sum" DstPort 1 } Line { SrcBlock "Switch1" SrcPort 1 Points [45, 0; 0, 60] DstBlock "Mux" DstPort 1 } Line { SrcBlock "Mux" SrcPort 1 DstBlock "Discrete State-Space4" DstPort 1 } Line { SrcBlock "Discrete State-Space4" SrcPort 1 Points [10, 0] Branch { DstBlock "Matrix\nGain" DstPort 1 } Branch { Points [0, 120] DstBlock "Matrix\nGain1" DstPort 1 } } Line { SrcBlock "Zero-Order\nHold" SrcPort 1 Points [0, 0; 15, 0] Branch { DstBlock "Control Signal" DstPort 1 } Branch { Points [0, 250; -1210, 0] Branch { Points [-105, 0; 0, -255] DstBlock "Fcn" DstPort 1 } Branch { Points [0, -195] DstBlock "Switch" DstPort 3 } } } Line { SrcBlock "Fcn" SrcPort 1 Points [0, 40] DstBlock "Switch" DstPort 1 } Line { SrcBlock "Constant2" SrcPort 1 Points [25, 0] DstBlock "Switch" DstPort 2 } Line { SrcBlock "Unit Delay4" SrcPort 1 Points [5, 0] DstBlock "Mux" DstPort 2 } Line { SrcBlock "Switch" SrcPort 1 Points [0, -30] DstBlock "Unit Delay4" DstPort 1 } Line { SrcBlock "Saturation1" SrcPort 1 DstBlock "Zero-Order\nHold" DstPort 1 } Line { SrcBlock "Product" SrcPort 1 Points [55, 0] Branch { Points [0, -65] DstBlock "Fcn2" DstPort 1 } Branch { Points [0, 70; 95, 0] DstBlock "Switch2" DstPort 3 } } Line { SrcBlock "Constant4" SrcPort 1 DstBlock "Switch2" DstPort 2 } Line { SrcBlock "Switch2" SrcPort 1 DstBlock "Saturation1" DstPort 1 } Line { SrcBlock "Fcn2" SrcPort 1 Points [10, 0] DstBlock "Switch2" DstPort 1 } } } Block { BlockType SubSystem Name "Plant\n(Magnet Levitation)" Ports [1, 1] Position [435, 63, 550, 127] TreatAsAtomicUnit off MinAlgLoopOccurrences off RTWSystemCode "Auto" MaskHideContents off MaskInitialization "x1=[-2 -2 2 2 -2 NaN -2 -2 2 2 -2];\ny1=[5 4 4 " "5 5 NaN 2 0 0 2 2];\nx2=[-2 -2 2 2 -2 NaN -2 2 NaN -2 2 NaN 2 4 NaN " "2 4];\ny2=[4 3 3 4 4 NaN 1.5 1 NaN 1 .5 NaN 1.5 1.5 NaN .5 .5];\nx1t = -" ".5 ; y1t = 4.4;\nx2t = -.5; y2t = 3.4;\n" MaskDisplay "plot([-10],[0],[10],[5]);\nplot([x1 NaN x2],[y1" " NaN y2]);\ntext(x1t,y1t,'N')\ntext(x2t,y2t,'S')" MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskIconUnits "autoscale" Port { PortNumber 1 Name "Position" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } System { Name "Plant\n(Magnet Levitation)" Location [177, 189, 853, 455] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" Block { BlockType Inport Name "Current" Position [15, 93, 45, 107] IconDisplay "Port number" } Block { BlockType Product Name "Division" Ports [3, 1] Position [195, 94, 225, 126] Inputs "**/" RndMeth "Floor" } Block { BlockType Product Name "Division1" Ports [2, 1] Position [340, 52, 370, 83] Inputs "/*" RndMeth "Floor" } Block { BlockType Product Name "Division2" Ports [2, 1] Position [350, 137, 380, 168] Inputs "/*" RndMeth "Floor" } Block { BlockType Gain Name "Gain" Position [250, 95, 280, 125] Gain "15" } Block { BlockType Constant Name "Gravity" Position [225, 160, 255, 190] Value "9.8" } Block { BlockType Integrator Name "Position" Ports [1, 1] Position [540, 100, 570, 130] InitialCondition ".5" ZeroCross off } Block { BlockType Signum Name "Sign" Position [90, 150, 120, 180] ZeroCross off } Block { BlockType Fcn Name "Square Law" Position [85, 85, 145, 115] Expr "u^2" } Block { BlockType Sum Name "Sum" Ports [3, 1] Position [405, 93, 430, 137] ShowName off Inputs "|+--" } Block { BlockType Integrator Name "Velocity" Ports [1, 1] Position [470, 100, 500, 130] ZeroCross off } Block { BlockType Gain Name "Viscous Friction" Position [440, 175, 470, 205] Orientation "left" Gain "12" } Block { BlockType Constant Name "mass" Position [235, 35, 265, 65] Value "3" } Block { BlockType Outport Name "Output" Position [620, 108, 650, 122] IconDisplay "Port number" } Line { SrcBlock "Square Law" SrcPort 1 DstBlock "Division" DstPort 1 } Line { SrcBlock "Division" SrcPort 1 DstBlock "Gain" DstPort 1 } Line { SrcBlock "Gravity" SrcPort 1 Points [35, 0; 0, -55] DstBlock "Sum" DstPort 2 } Line { SrcBlock "Velocity" SrcPort 1 Points [5, 0] Branch { Points [0, 0] DstBlock "Position" DstPort 1 } Branch { Points [0, 75] DstBlock "Viscous Friction" DstPort 1 } } Line { SrcBlock "Sum" SrcPort 1 DstBlock "Velocity" DstPort 1 } Line { SrcBlock "Gain" SrcPort 1 Points [40, 0] DstBlock "Division1" DstPort 2 } Line { SrcBlock "Division1" SrcPort 1 Points [15, 0] DstBlock "Sum" DstPort 1 } Line { SrcBlock "mass" SrcPort 1 Points [40, 0] Branch { Points [15, 0] DstBlock "Division1" DstPort 1 } Branch { Points [0, 95] DstBlock "Division2" DstPort 1 } } Line { SrcBlock "Viscous Friction" SrcPort 1 Points [-110, 0; 0, -30] DstBlock "Division2" DstPort 2 } Line { SrcBlock "Division2" SrcPort 1 Points [5, 0] DstBlock "Sum" DstPort 3 } Line { SrcBlock "Current" SrcPort 1 Points [10, 0] Branch { DstBlock "Square Law" DstPort 1 } Branch { Points [0, 65] DstBlock "Sign" DstPort 1 } } Line { SrcBlock "Position" SrcPort 1 Points [15, 0] Branch { DstBlock "Output" DstPort 1 } Branch { Points [0, 120; -410, 0] DstBlock "Division" DstPort 3 } } Line { SrcBlock "Sign" SrcPort 1 Points [25, 0; 0, -55] DstBlock "Division" DstPort 2 } } } Block { BlockType UniformRandomNumber Name "Random Reference" Position [45, 44, 75, 76] Minimum "0.5" Maximum "4" Seed "round(now)" SampleTime "5" } Block { BlockType SubSystem Name "X(2Y)\n Graph" Ports [3] Position [685, 72, 720, 118] CopyFcn "sfunxy2([],[],[],'CopyBlock')" DeleteFcn "sfunxy2([],[],[],'DeleteBlock')" LoadFcn "sfunxy2([],[],[],'LoadBlock')" StartFcn "sfunxy2([],[],[],'Start')" StopFcn "sfunxy2([],[],[],'Stop')" NameChangeFcn "sfunxy2([],[],[],'NameChange')" TreatAsAtomicUnit off MinAlgLoopOccurrences off RTWSystemCode "Auto" MaskHideContents off MaskType "X(2Y) scope." MaskDescription "X(2Y) scope using MATLAB graph window. First i" "nput is used as time base. Enter plotting ranges." MaskHelp "This block can be used to explore limit cycles." " Look at the m-file sfunxy.m to see how it works." MaskPromptString "x-min:|x-max:|y-min:|y-max:|Sample time:" MaskStyleString "edit,edit,edit,edit,edit" MaskTunableValueString "on,on,on,on,on" MaskCallbackString "||||" MaskEnableString "on,on,on,on,on" MaskVisibilityString "on,on,on,on,on" MaskToolTipString "on,on,on,on,on" MaskVarAliasString ",,,," MaskVariables "xmin=@1;xmax=@2;ymin=@3;ymax=@4;st=@5;" MaskDisplay "plot([.05 .95 .95 .05 .05],[.45 .45 .95 .95 .45" "], 0.5+cos(0:0.1:2*pi)*0.3,0.7+sin(0:0.1:2*pi)*0.2)" MaskSelfModifiable on MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskIconUnits "normalized" MaskValueString "0|5|-1|1|-1" MaskTabNameString ",,,," System { Name "X(2Y)\n Graph" Location [82, 157, 342, 335] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" Block { BlockType Inport Name "x" Position [25, 27, 55, 43] IconDisplay "Port number" } Block { BlockType Inport Name "y1" Position [25, 67, 55, 83] Port "2" IconDisplay "Port number" } Block { BlockType Inport Name "y2" Position [25, 107, 55, 123] Port "3" IconDisplay "Port number" } Block { BlockType Mux Name "Mux" Ports [3, 1] Position [105, 48, 135, 102] ShowName off Inputs "3" } Block { BlockType "S-Function" Name "sfunxy" Ports [1] Position [175, 65, 225, 85] ShowName off FunctionName "sfunxy2" Parameters "[xmin xmax ymin ymax], st" } Line { SrcBlock "y2" SrcPort 1 Points [15, 0; 0, -20] DstBlock "Mux" DstPort 3 } Line { SrcBlock "y1" SrcPort 1 DstBlock "Mux" DstPort 2 } Line { SrcBlock "x" SrcPort 1 Points [15, 0; 0, 20] DstBlock "Mux" DstPort 1 } Line { SrcBlock "Mux" SrcPort 1 DstBlock "sfunxy" DstPort 1 } } } Line { SrcBlock "Clock" SrcPort 1 Points [15, 0; 0, 25] DstBlock "X(2Y)\n Graph" DstPort 1 } Line { Labels [1, 0] SrcBlock "Random Reference" SrcPort 1 Points [50, 0] Branch { Points [0, 140; 530, 0; 0, -90] DstBlock "X(2Y)\n Graph" DstPort 3 } Branch { DstBlock "NARMA-L2 Controller" DstPort 1 } } Line { Name "Current" Labels [0, 0] SrcBlock "NARMA-L2 Controller" SrcPort 1 DstBlock "Plant\n(Magnet Levitation)" DstPort 1 } Line { Name "Position" Labels [0, 0] SrcBlock "Plant\n(Magnet Levitation)" SrcPort 1 Points [60, 0] Branch { Points [0, 80; -445, 0; 0, -50] DstBlock "NARMA-L2 Controller" DstPort 2 } Branch { DstBlock "X(2Y)\n Graph" DstPort 2 } } Annotation { Name "NARMA-L2 Control of a Magnet Levitation System" "\n(Double click on the \"?\" for more info)" Position [198, 232] UseDisplayTextAsClickCallback off } Annotation { Name "To start and stop the simulation, use the \"Sta" "rt/Stop\"\nselection in the \"Simulation\" pull-down menu" Position [201, 277] UseDisplayTextAsClickCallback off } } }