Model { Name "lq1" Version 5.0 SaveDefaultBlockParams on SampleTimeColors off LibraryLinkDisplay "none" WideLines off ShowLineDimensions off ShowPortDataTypes off ShowLoopsOnError on IgnoreBidirectionalLines off ShowStorageClass off ExecutionOrder off RecordCoverage off CovPath "/" CovSaveName "covdata" CovMetricSettings "dw" CovNameIncrementing off CovHtmlReporting on covSaveCumulativeToWorkspaceVar on CovSaveSingleToWorkspaceVar on CovCumulativeVarName "covCumulativeData" CovCumulativeReport off DataTypeOverride "UseLocalSettings" MinMaxOverflowLogging "UseLocalSettings" MinMaxOverflowArchiveMode "Overwrite" BlockNameDataTip off BlockParametersDataTip on BlockDescriptionStringDataTip off ToolBar on StatusBar on BrowserShowLibraryLinks off BrowserLookUnderMasks off Created "Tue Nov 26 17:12:53 2002" UpdateHistory "UpdateHistoryNever" ModifiedByFormat "%" LastModifiedBy "jislp" ModifiedDateFormat "%" LastModifiedDate "Fri Nov 29 12:36:02 2002" ModelVersionFormat "1.%" ConfigurationManager "none" SimParamPage "Solver" LinearizationMsg "none" Profile off ParamWorkspaceSource "MATLABWorkspace" AccelSystemTargetFile "accel.tlc" AccelTemplateMakefile "accel_default_tmf" AccelMakeCommand "make_rtw" TryForcingSFcnDF off ExtModeMexFile "ext_comm" ExtModeBatchMode off ExtModeTrigType "manual" ExtModeTrigMode "oneshot" ExtModeTrigPort "1" ExtModeTrigElement "any" ExtModeTrigDuration 1000 ExtModeTrigHoldOff 0 ExtModeTrigDelay 0 ExtModeTrigDirection "rising" ExtModeTrigLevel 0 ExtModeArchiveMode "off" ExtModeAutoIncOneShot off ExtModeIncDirWhenArm off ExtModeAddSuffixToVar off ExtModeWriteAllDataToWs off ExtModeArmWhenConnect off ExtModeSkipDownloadWhenConnect off ExtModeLogAll on ExtModeAutoUpdateStatusClock on BufferReuse on RTWExpressionDepthLimit 5 SimulationMode "normal" Solver "ode45" SolverMode "Auto" StartTime "0.0" StopTime "10" MaxOrder 5 MaxStep "auto" MinStep "auto" MaxNumMinSteps "-1" InitialStep "auto" FixedStep "auto" RelTol "1e-3" AbsTol "auto" OutputOption "RefineOutputTimes" OutputTimes "[]" Refine "1" LoadExternalInput off ExternalInput "[t, u]" LoadInitialState on InitialState "[1 1 1 1 1]" SaveTime on TimeSaveName "tout" SaveState on StateSaveName "xout" SaveOutput on OutputSaveName "yout" SaveFinalState off FinalStateName "xFinal" SaveFormat "Array" Decimation "1" LimitDataPoints off MaxDataPoints "1000" SignalLoggingName "sigsOut" ConsistencyChecking "none" ArrayBoundsChecking "none" AlgebraicLoopMsg "warning" BlockPriorityViolationMsg "warning" MinStepSizeMsg "warning" InheritedTsInSrcMsg "warning" DiscreteInheritContinuousMsg "warning" MultiTaskRateTransMsg "error" SingleTaskRateTransMsg "none" CheckForMatrixSingularity "none" IntegerOverflowMsg "warning" Int32ToFloatConvMsg "warning" ParameterDowncastMsg "error" ParameterOverflowMsg "error" ParameterPrecisionLossMsg "warning" UnderSpecifiedDataTypeMsg "none" UnnecessaryDatatypeConvMsg "none" VectorMatrixConversionMsg "none" InvalidFcnCallConnMsg "error" SignalLabelMismatchMsg "none" UnconnectedInputMsg "warning" UnconnectedOutputMsg "warning" UnconnectedLineMsg "warning" SfunCompatibilityCheckMsg "none" RTWInlineParameters off BlockReductionOpt on BooleanDataType off ConditionallyExecuteInputs on ParameterPooling on OptimizeBlockIOStorage on ZeroCross on AssertionControl "UseLocalSettings" ProdHWDeviceType "Microprocessor" ProdHWWordLengths "8,16,32,32" RTWSystemTargetFile "grt.tlc" RTWTemplateMakefile "grt_default_tmf" RTWMakeCommand "make_rtw" RTWGenerateCodeOnly off RTWRetainRTWFile off TLCProfiler off TLCDebug off TLCCoverage off TLCAssertion off BlockDefaults { Orientation "right" ForegroundColor "black" BackgroundColor "white" DropShadow off NamePlacement "normal" FontName "Helvetica" FontSize 10 FontWeight "normal" FontAngle "normal" ShowName on } BlockParameterDefaults { Block { BlockType Gain Gain "1" Multiplication "Element-wise(K.*u)" ShowAdditionalParam off ParameterDataTypeMode "Same as input" ParameterDataType "sfix(16)" ParameterScalingMode "Best Precision: Matrix-wise" ParameterScaling "2^0" OutDataTypeMode "Same as input" OutDataType "sfix(16)" OutScaling "2^0" LockScale off RndMeth "Floor" SaturateOnIntegerOverflow on } Block { BlockType Scope Floating off ModelBased off TickLabels "OneTimeTick" ZoomMode "on" Grid "on" TimeRange "auto" YMin "-5" YMax "5" SaveToWorkspace off SaveName "ScopeData" LimitDataPoints on MaxDataPoints "5000" Decimation "1" SampleInput off SampleTime "0" } Block { BlockType Sum IconShape "rectangular" Inputs "++" ShowAdditionalParam off InputSameDT on OutDataTypeMode "Same as first input" OutDataType "sfix(16)" OutScaling "2^0" LockScale off RndMeth "Floor" SaturateOnIntegerOverflow on } Block { BlockType UnitDelay X0 "0" SampleTime "1" RTWStateStorageClass "Auto" } } AnnotationDefaults { HorizontalAlignment "center" VerticalAlignment "middle" ForegroundColor "black" BackgroundColor "white" DropShadow off FontName "Helvetica" FontSize 10 FontWeight "normal" FontAngle "normal" } LineDefaults { FontName "Helvetica" FontSize 9 FontWeight "normal" FontAngle "normal" } System { Name "lq1" Location [316, 74, 912, 451] Open on ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" ReportName "simulink-default.rpt" Block { BlockType Scope Name "Akcni zasah" Ports [1] Position [150, 254, 180, 286] Location [7, 445, 331, 684] Open off NumInputPorts "1" List { ListType AxesTitles axes1 "%" } SaveToWorkspace on SaveName "AkcniZasah" DataFormat "StructureWithTime" } Block { BlockType Gain Name "C" Position [330, 140, 360, 170] Gain "C" Multiplication "Matrix(K*u)" } Block { BlockType Gain Name "D" Position [255, 15, 285, 45] Gain "D" Multiplication "Matrix(K*u)" } Block { BlockType Gain Name "Gain" Position [85, 140, 115, 170] Gain "-1" } Block { BlockType Gain Name "K" Position [30, 140, 60, 170] Gain "K_x" Multiplication "Matrix(K*u)" } Block { BlockType Gain Name "M" Position [250, 220, 280, 250] Orientation "left" Gain "M" Multiplication "Matrix(K*u)" } Block { BlockType Gain Name "N" Position [150, 140, 180, 170] Gain "N" Multiplication "Matrix(K*u)" } Block { BlockType Scope Name "Scope" Ports [1] Position [380, 229, 410, 261] Location [1, 49, 1025, 739] Open off NumInputPorts "1" List { ListType AxesTitles axes1 "%" } List { ListType SelectedSignals axes1 "" } SaveToWorkspace on SaveName "Stavy" DataFormat "StructureWithTime" } Block { BlockType Sum Name "Sum" Ports [2, 1] Position [205, 145, 225, 165] ShowName off IconShape "round" Inputs "|++" } Block { BlockType Sum Name "Sum1" Ports [2, 1] Position [400, 145, 420, 165] ShowName off IconShape "round" Inputs "++|" } Block { BlockType UnitDelay Name "Unit Delay" Position [250, 135, 285, 175] X0 "[1 1 1 1 1]" SampleTime "0.1" } Block { BlockType Scope Name "Vstup do soustavy" Ports [1] Position [150, 194, 180, 226] Location [668, 445, 992, 684] Open off NumInputPorts "1" List { ListType AxesTitles axes1 "%" } SaveToWorkspace on SaveName "Vstup" DataFormat "StructureWithTime" } Block { BlockType Scope Name "Vystup systemu" Ports [1] Position [445, 139, 475, 171] Location [338, 445, 662, 684] Open off NumInputPorts "1" List { ListType AxesTitles axes1 "%" } SaveToWorkspace on SaveName "Vystup" DataFormat "StructureWithTime" } Line { SrcBlock "Unit Delay" SrcPort 1 Points [15, 0] Branch { DstBlock "C" DstPort 1 } Branch { Points [0, 80] Branch { DstBlock "M" DstPort 1 } Branch { Points [0, 10] Branch { Points [0, 70; -290, 0] DstBlock "K" DstPort 1 } Branch { DstBlock "Scope" DstPort 1 } } } } Line { SrcBlock "M" SrcPort 1 Points [-30, 0] DstBlock "Sum" DstPort 2 } Line { SrcBlock "D" SrcPort 1 Points [120, 0] DstBlock "Sum1" DstPort 1 } Line { SrcBlock "Sum1" SrcPort 1 DstBlock "Vystup systemu" DstPort 1 } Line { SrcBlock "C" SrcPort 1 DstBlock "Sum1" DstPort 2 } Line { SrcBlock "N" SrcPort 1 DstBlock "Sum" DstPort 1 } Line { SrcBlock "K" SrcPort 1 Points [0, 0] Branch { Points [0, 115] DstBlock "Akcni zasah" DstPort 1 } Branch { DstBlock "Gain" DstPort 1 } } Line { SrcBlock "Gain" SrcPort 1 Points [5, 0] Branch { DstBlock "N" DstPort 1 } Branch { Points [0, 0] Branch { Points [0, -125] DstBlock "D" DstPort 1 } Branch { Points [0, 55] DstBlock "Vstup do soustavy" DstPort 1 } } } Line { SrcBlock "Sum" SrcPort 1 DstBlock "Unit Delay" DstPort 1 } } }