Model { Name "claw2" Version 6.5 MdlSubVersion 0 GraphicalInterface { NumRootInports 0 NumRootOutports 1 Outport { BusObject "" BusOutputAsStruct "off" Name "Out1" } ParameterArgumentNames "" ComputedModelVersion "1.99" 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 "Thu May 10 09:11:25 2007" Creator "adam" UpdateHistory "UpdateHistoryNever" ModifiedByFormat "%" LastModifiedBy "adam" ModifiedDateFormat "%" LastModifiedDate "Tue May 22 08:48:04 2007" ModelVersionFormat "1.%" ConfigurationManager "None" LinearizationMsg "none" Profile off ParamWorkspaceSource "MATLABWorkspace" AccelSystemTargetFile "accel.tlc" AccelTemplateMakefile "accel_default_tmf" AccelMakeCommand "make_rtw" TryForcingSFcnDF off RecordCoverage off CovPath "/" CovSaveName "covdata" CovMetricSettings "dw" CovNameIncrementing off CovHtmlReporting on covSaveCumulativeToWorkspaceVar on CovSaveSingleToWorkspaceVar on CovCumulativeVarName "covCumulativeData" CovCumulativeReport off CovReportOnPause on ExtModeBatchMode off ExtModeEnableFloating on ExtModeTrigType "manual" ExtModeTrigMode "normal" ExtModeTrigPort "1" ExtModeTrigElement "any" ExtModeTrigDuration 1000 ExtModeTrigDurationFloating "auto" ExtModeTrigHoldOff 0 ExtModeTrigDelay 0 ExtModeTrigDirection "rising" ExtModeTrigLevel 0 ExtModeArchiveMode "off" ExtModeAutoIncOneShot off ExtModeIncDirWhenArm off ExtModeAddSuffixToVar off ExtModeWriteAllDataToWs off ExtModeArmWhenConnect on ExtModeSkipDownloadWhenConnect off ExtModeLogAll on ExtModeAutoUpdateStatusClock on BufferReuse on ProdHWDeviceType "32-bit Generic" ShowModelReferenceBlockVersion off ShowModelReferenceBlockIO off Array { Type "Handle" Dimension 1 Simulink.ConfigSet { $ObjectID 1 Version "1.2.0" Array { Type "Handle" Dimension 8 Simulink.SolverCC { $ObjectID 2 Version "1.2.0" StartTime "0.0" StopTime "10" AbsTol "auto" FixedStep ".001" InitialStep "auto" MaxNumMinSteps "-1" MaxOrder 5 ConsecutiveZCsStepRelTol "10*128*eps" MaxConsecutiveZCs "1000" ExtrapolationOrder 4 NumberNewtonIterations 1 MaxStep "auto" MinStep "auto" MaxConsecutiveMinStep "1" RelTol "1e-3" SolverMode "Auto" Solver "ode5" SolverName "ode5" ZeroCrossControl "UseLocalSettings" AlgebraicLoopSolver "TrustRegion" SolverResetMethod "Fast" PositivePriorityOrder off AutoInsertRateTranBlk off SampleTimeConstraint "Unconstrained" RateTranMode "Deterministic" } Simulink.DataIOCC { $ObjectID 3 Version "1.2.0" Decimation "1" ExternalInput "[t, u]" FinalStateName "xFinal" InitialState "xInitial" LimitDataPoints off MaxDataPoints "1000" LoadExternalInput off LoadInitialState off SaveFinalState off SaveFormat "Array" SaveOutput off SaveState off SignalLogging off InspectSignalLogs off SaveTime off StateSaveName "xout" TimeSaveName "tout" OutputSaveName "yout" SignalLoggingName "logsout" OutputOption "RefineOutputTimes" OutputTimes "[]" Refine "1" } Simulink.OptimizationCC { $ObjectID 4 Array { Type "Cell" Dimension 5 Cell "ZeroExternalMemoryAtStartup" Cell "ZeroInternalMemoryAtStartup" Cell "InitFltsAndDblsToZero" Cell "OptimizeModelRefInitCode" Cell "NoFixptDivByZeroProtection" PropName "DisabledProps" } Version "1.2.0" BlockReduction on BooleanDataType on ConditionallyExecuteInputs on InlineParams off InlineInvariantSignals off OptimizeBlockIOStorage on BufferReuse on EnforceIntegerDowncast on ExpressionFolding on FoldNonRolledExpr on LocalBlockOutputs on ParameterPooling on RollThreshold 5 SystemCodeInlineAuto off StateBitsets off DataBitsets off UseTempVars off ZeroExternalMemoryAtStartup on ZeroInternalMemoryAtStartup on InitFltsAndDblsToZero on NoFixptDivByZeroProtection off EfficientFloat2IntCast off OptimizeModelRefInitCode off LifeSpan "inf" BufferReusableBoundary on } Simulink.DebuggingCC { $ObjectID 5 Version "1.2.0" RTPrefix "error" ConsistencyChecking "none" ArrayBoundsChecking "none" SignalInfNanChecking "none" ReadBeforeWriteMsg "UseLocalSettings" WriteAfterWriteMsg "UseLocalSettings" WriteAfterReadMsg "UseLocalSettings" AlgebraicLoopMsg "none" ArtificialAlgebraicLoopMsg "warning" CheckSSInitialOutputMsg on CheckExecutionContextPreStartOutputMsg off CheckExecutionContextRuntimeOutputMsg off SignalResolutionControl "UseLocalSettings" BlockPriorityViolationMsg "warning" MinStepSizeMsg "warning" TimeAdjustmentMsg "none" MaxConsecutiveZCsMsg "error" SolverPrmCheckMsg "warning" InheritedTsInSrcMsg "warning" DiscreteInheritContinuousMsg "warning" MultiTaskDSMMsg "error" MultiTaskCondExecSysMsg "error" MultiTaskRateTransMsg "error" SingleTaskRateTransMsg "none" TasksWithSamePriorityMsg "warning" SigSpecEnsureSampleTimeMsg "warning" CheckMatrixSingularityMsg "none" IntegerOverflowMsg "warning" Int32ToFloatConvMsg "warning" ParameterDowncastMsg "error" ParameterOverflowMsg "error" ParameterUnderflowMsg "none" ParameterPrecisionLossMsg "warning" UnderSpecifiedDataTypeMsg "none" UnnecessaryDatatypeConvMsg "none" VectorMatrixConversionMsg "none" InvalidFcnCallConnMsg "error" FcnCallInpInsideContextMsg "Use local settings" SignalLabelMismatchMsg "none" UnconnectedInputMsg "none" UnconnectedOutputMsg "none" UnconnectedLineMsg "none" SFcnCompatibilityMsg "none" UniqueDataStoreMsg "none" BusObjectLabelMismatch "warning" RootOutportRequireBusObject "warning" AssertControl "UseLocalSettings" EnableOverflowDetection off ModelReferenceIOMsg "none" ModelReferenceVersionMismatchMessage "none" ModelReferenceIOMismatchMessage "none" ModelReferenceCSMismatchMessage "none" ModelReferenceSimTargetVerbose off UnknownTsInhSupMsg "warning" ModelReferenceDataLoggingMessage "warning" ModelReferenceSymbolNameMessage "warning" ModelReferenceExtraNoncontSigs "error" StrictBusMsg "Warning" } Simulink.HardwareCC { $ObjectID 6 Version "1.2.0" ProdBitPerChar 8 ProdBitPerShort 16 ProdBitPerInt 32 ProdBitPerLong 32 ProdIntDivRoundTo "Undefined" ProdEndianess "Unspecified" ProdWordSize 32 ProdShiftRightIntArith on ProdHWDeviceType "32-bit Generic" TargetBitPerChar 8 TargetBitPerShort 16 TargetBitPerInt 32 TargetBitPerLong 32 TargetShiftRightIntArith on TargetIntDivRoundTo "Undefined" TargetEndianess "Unspecified" TargetWordSize 32 TargetTypeEmulationWarnSuppressLevel 0 TargetPreprocMaxBitsSint 32 TargetPreprocMaxBitsUint 32 TargetHWDeviceType "Specified" TargetUnknown off ProdEqTarget on } Simulink.ModelReferenceCC { $ObjectID 7 Version "1.2.0" UpdateModelReferenceTargets "IfOutOfDateOrStructuralChange" CheckModelReferenceTargetMessage "error" ModelReferenceNumInstancesAllowed "Multi" ModelReferencePassRootInputsByReference on ModelReferenceMinAlgLoopOccurrences off } Simulink.RTWCC { $BackupClass "Simulink.RTWCC" $ObjectID 8 Array { Type "Cell" Dimension 1 Cell "IncludeHyperlinkInReport" PropName "DisabledProps" } Version "1.2.0" SystemTargetFile "grt.tlc" GenCodeOnly off MakeCommand "make_rtw" GenerateMakefile on TemplateMakefile "grt_default_tmf" GenerateReport off SaveLog off RTWVerbose on RetainRTWFile off ProfileTLC off TLCDebug off TLCCoverage off TLCAssert off ProcessScriptMode "Default" ConfigurationMode "Optimized" ConfigAtBuild off IncludeHyperlinkInReport off LaunchReport off TargetLang "C" IncludeBusHierarchyInRTWFileBlockHierarchyMap off IncludeERTFirstTime off Array { Type "Handle" Dimension 2 Simulink.CodeAppCC { $ObjectID 9 Array { Type "Cell" Dimension 16 Cell "IgnoreCustomStorageClasses" Cell "InsertBlockDesc" Cell "SFDataObjDesc" Cell "SimulinkDataObjDesc" Cell "DefineNamingRule" Cell "SignalNamingRule" Cell "ParamNamingRule" Cell "InlinedPrmAccess" Cell "CustomSymbolStr" Cell "CustomSymbolStrGlobalVar" Cell "CustomSymbolStrType" Cell "CustomSymbolStrField" Cell "CustomSymbolStrFcn" Cell "CustomSymbolStrBlkIO" Cell "CustomSymbolStrTmpVar" Cell "CustomSymbolStrMacro" PropName "DisabledProps" } Version "1.2.0" ForceParamTrailComments off GenerateComments on IgnoreCustomStorageClasses on IncHierarchyInIds off MaxIdLength 31 PreserveName off PreserveNameWithParent off ShowEliminatedStatement off IncAutoGenComments off SimulinkDataObjDesc off SFDataObjDesc off IncDataTypeInIds off PrefixModelToSubsysFcnNames on MangleLength 1 CustomSymbolStrGlobalVar "$R$N$M" CustomSymbolStrType "$N$R$M" CustomSymbolStrField "$N$M" CustomSymbolStrFcn "$R$N$M$F" CustomSymbolStrBlkIO "rtb_$N$M" CustomSymbolStrTmpVar "$N$M" CustomSymbolStrMacro "$R$N$M" DefineNamingRule "None" ParamNamingRule "None" SignalNamingRule "None" InsertBlockDesc off SimulinkBlockComments on EnableCustomComments off InlinedPrmAccess "Literals" ReqsInCode off } Simulink.GRTTargetCC { $BackupClass "Simulink.TargetCC" $ObjectID 10 Array { Type "Cell" Dimension 15 Cell "IncludeMdlTerminateFcn" Cell "CombineOutputUpdateFcns" Cell "SuppressErrorStatus" Cell "ERTCustomFileBanners" Cell "GenerateSampleERTMain" Cell "GenerateTestInterfaces" Cell "ModelStepFunctionPrototypeControlComp" "liant" Cell "MultiInstanceERTCode" Cell "PurelyIntegerCode" Cell "SupportNonFinite" Cell "SupportComplex" Cell "SupportAbsoluteTime" Cell "SupportContinuousTime" Cell "SupportNonInlinedSFcns" Cell "PortableWordSizes" PropName "DisabledProps" } Version "1.2.0" TargetFcnLib "ansi_tfl_tmw.mat" TargetLibSuffix "" TargetPreCompLibLocation "" GenFloatMathFcnCalls "ANSI_C" UtilityFuncGeneration "Auto" GenerateFullHeader on GenerateSampleERTMain off GenerateTestInterfaces off IsPILTarget off ModelReferenceCompliant on IncludeMdlTerminateFcn on CombineOutputUpdateFcns off SuppressErrorStatus off IncludeFileDelimiter "Auto" ERTCustomFileBanners off SupportAbsoluteTime on LogVarNameModifier "rt_" MatFileLogging on MultiInstanceERTCode off SupportNonFinite on SupportComplex on PurelyIntegerCode off SupportContinuousTime on SupportNonInlinedSFcns on EnableShiftOperators on ParenthesesLevel "Nominal" ExtMode off ExtModeStaticAlloc off ExtModeTesting off ExtModeStaticAllocSize 1000000 ExtModeTransport 0 ExtModeMexFile "ext_comm" RTWCAPISignals off RTWCAPIParams off RTWCAPIStates off GenerateASAP2 off } PropName "Components" } } hdlcoderui.hdlcc { $ObjectID 11 Description "HDL Coder custom configuration component" Version "1.2.0" Name "HDL Coder" Array { Type "Cell" Dimension 1 Cell "" PropName "HDLConfigFile" } HDLCActiveTab "0" } PropName "Components" } Name "Configuration" SimulationMode "normal" CurrentDlgPage "Solver" } PropName "ConfigurationSets" } Simulink.ConfigSet { $PropName "ActiveConfigurationSet" $ObjectID 1 } BlockDefaults { Orientation "right" ForegroundColor "black" BackgroundColor "white" DropShadow off NamePlacement "normal" FontName "Arial" FontSize 10 FontWeight "normal" FontAngle "normal" ShowName on } BlockParameterDefaults { Block { BlockType Clock DisplayTime off } Block { BlockType Constant } Block { BlockType Fcn Expr "sin(u[1])" SampleTime "-1" } Block { BlockType Inport Port "1" UseBusObject off BusObject "BusObject" BusOutputAsStruct off PortDimensions "-1" SampleTime "-1" DataType "auto" OutDataType "sfix(16)" OutScaling "2^0" SignalType "auto" SamplingMode "auto" LatchByDelayingOutsideSignal off LatchByCopyingInsideSignal off Interpolate on } Block { BlockType Integrator ExternalReset "none" InitialConditionSource "internal" InitialCondition "0" LimitOutput off UpperSaturationLimit "inf" LowerSaturationLimit "-inf" ShowSaturationPort off ShowStatePort off AbsoluteTolerance "auto" IgnoreLimit off ZeroCross on } Block { BlockType Mux Inputs "4" DisplayOption "none" UseBusObject off BusObject "BusObject" NonVirtualBus off } Block { BlockType Outport Port "1" UseBusObject off BusObject "BusObject" BusOutputAsStruct off PortDimensions "-1" SampleTime "-1" DataType "auto" OutDataType "sfix(16)" OutScaling "2^0" SignalType "auto" SamplingMode "auto" OutputWhenDisabled "held" InitialOutput "[]" } Block { BlockType Product Inputs "2" Multiplication "Element-wise(.*)" InputSameDT on OutDataTypeMode "Same as first input" OutDataType "sfix(16)" OutScaling "2^0" LockScale off RndMeth "Zero" SaturateOnIntegerOverflow on SampleTime "-1" } Block { BlockType Saturate UpperLimit "0.5" LowerLimit "-0.5" LinearizeAsGain on ZeroCross on SampleTime "-1" } Block { BlockType "S-Function" FunctionName "system" SFunctionModules "''" PortCounts "[]" } Block { BlockType Sin SineType "Time based" TimeSource "Use simulation time" Amplitude "1" Bias "0" Frequency "1" Phase "0" Samples "10" Offset "0" SampleTime "-1" VectorParams1D on } Block { BlockType SubSystem ShowPortLabels on Permissions "ReadWrite" PermitHierarchicalResolution "All" TreatAsAtomicUnit off SystemSampleTime "-1" RTWFcnNameOpts "Auto" RTWFileNameOpts "Auto" RTWMemSecFuncInitTerm "Inherit from model" RTWMemSecFuncExecute "Inherit from model" RTWMemSecDataConstants "Inherit from model" RTWMemSecDataInternal "Inherit from model" RTWMemSecDataParameters "Inherit from model" SimViewingDevice off DataTypeOverride "UseLocalSettings" MinMaxOverflowLogging "UseLocalSettings" } Block { BlockType Sum IconShape "rectangular" Inputs "++" InputSameDT on OutDataTypeMode "Same as first input" OutDataType "sfix(16)" OutScaling "2^0" LockScale off RndMeth "Floor" SaturateOnIntegerOverflow on SampleTime "-1" } Block { BlockType Switch Criteria "u2 >= Threshold" Threshold "0" InputSameDT on OutDataTypeMode "Inherit via internal rule" RndMeth "Floor" SaturateOnIntegerOverflow on ZeroCross on SampleTime "-1" } Block { BlockType ToWorkspace VariableName "simulink_output" MaxDataPoints "1000" Decimation "1" SampleTime "0" FixptAsFi off } } AnnotationDefaults { HorizontalAlignment "center" VerticalAlignment "middle" ForegroundColor "black" BackgroundColor "white" DropShadow off FontName "Arial" FontSize 10 FontWeight "normal" FontAngle "normal" } LineDefaults { FontName "Arial" FontSize 9 FontWeight "normal" FontAngle "normal" } System { Name "claw2" Location [603, 101, 1546, 789] Open on ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" ReportName "simulink-default.rpt" Block { BlockType Constant Name "Constant" Position [785, 400, 815, 430] Orientation "left" Value "2.5" VectorParams1D on SamplingMode "Sample based" OutDataTypeMode "Inherit from 'Constant value'" OutDataType "sfix(16)" ConRadixGroup "Use specified scaling" OutScaling "2^0" SampleTime "inf" FramePeriod "inf" } Block { BlockType Constant Name "Constant1" Position [380, 320, 410, 350] Orientation "left" Value "4.5" VectorParams1D on SamplingMode "Sample based" OutDataTypeMode "Inherit from 'Constant value'" OutDataType "sfix(16)" ConRadixGroup "Use specified scaling" OutScaling "2^0" SampleTime "inf" FramePeriod "inf" } Block { BlockType Constant Name "Constant2" Position [750, 315, 780, 345] Orientation "left" Value "3" VectorParams1D on SamplingMode "Sample based" OutDataTypeMode "Inherit from 'Constant value'" OutDataType "sfix(16)" ConRadixGroup "Use specified scaling" OutScaling "2^0" SampleTime "inf" FramePeriod "inf" } Block { BlockType Constant Name "Constant3" Position [790, 535, 820, 565] Orientation "left" Value "1.5" VectorParams1D on SamplingMode "Sample based" OutDataTypeMode "Inherit from 'Constant value'" OutDataType "sfix(16)" ConRadixGroup "Use specified scaling" OutScaling "2^0" SampleTime "inf" FramePeriod "inf" } Block { BlockType Constant Name "Constant4" Position [365, 435, 395, 465] Orientation "left" Value "4" VectorParams1D on SamplingMode "Sample based" OutDataTypeMode "Inherit from 'Constant value'" OutDataType "sfix(16)" ConRadixGroup "Use specified scaling" OutScaling "2^0" SampleTime "inf" FramePeriod "inf" } Block { BlockType Constant Name "Constant5" Position [700, 345, 730, 375] Orientation "left" Value "3" VectorParams1D on SamplingMode "Sample based" OutDataTypeMode "Inherit from 'Constant value'" OutDataType "sfix(16)" ConRadixGroup "Use specified scaling" OutScaling "2^0" SampleTime "inf" FramePeriod "inf" } Block { BlockType Constant Name "Constant6" Position [695, 445, 725, 475] Orientation "left" Value "2" VectorParams1D on SamplingMode "Sample based" OutDataTypeMode "Inherit from 'Constant value'" OutDataType "sfix(16)" ConRadixGroup "Use specified scaling" OutScaling "2^0" SampleTime "inf" FramePeriod "inf" } Block { BlockType Constant Name "Constant7" Position [665, 580, 695, 610] Orientation "left" Value "1.2" VectorParams1D on SamplingMode "Sample based" OutDataTypeMode "Inherit from 'Constant value'" OutDataType "sfix(16)" ConRadixGroup "Use specified scaling" OutScaling "2^0" SampleTime "inf" FramePeriod "inf" } Block { BlockType Integrator Name "Integrator" Ports [1, 1] Position [545, 230, 575, 260] IgnoreLimit off Port { PortNumber 1 Name "xdot" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } } Block { BlockType Integrator Name "Integrator1" Ports [1, 1] Position [695, 225, 725, 255] IgnoreLimit off } Block { BlockType Reference Name "Manual Switch" Ports [2, 1] Position [220, 237, 250, 273] SourceBlock "simulink/Signal\nRouting/Manual Switch" SourceType "Manual Switch" ShowPortLabels on SystemSampleTime "-1" FunctionWithSeparateData off RTWMemSecFuncInitTerm "Inherit from model" RTWMemSecFuncExecute "Inherit from model" RTWMemSecDataConstants "Inherit from model" RTWMemSecDataInternal "Inherit from model" RTWMemSecDataParameters "Inherit from model" sw "0" action "0" } Block { BlockType Reference Name "Manual Switch1" Ports [2, 1] Position [280, 327, 310, 363] Orientation "left" SourceBlock "simulink/Signal\nRouting/Manual Switch" SourceType "Manual Switch" ShowPortLabels on SystemSampleTime "-1" FunctionWithSeparateData off RTWMemSecFuncInitTerm "Inherit from model" RTWMemSecFuncExecute "Inherit from model" RTWMemSecDataConstants "Inherit from model" RTWMemSecDataInternal "Inherit from model" RTWMemSecDataParameters "Inherit from model" sw "0" action "0" } Block { BlockType Reference Name "Manual Switch2" Ports [2, 1] Position [585, 542, 615, 578] Orientation "left" SourceBlock "simulink/Signal\nRouting/Manual Switch" SourceType "Manual Switch" ShowPortLabels on SystemSampleTime "-1" FunctionWithSeparateData off RTWMemSecFuncInitTerm "Inherit from model" RTWMemSecFuncExecute "Inherit from model" RTWMemSecDataConstants "Inherit from model" RTWMemSecDataInternal "Inherit from model" RTWMemSecDataParameters "Inherit from model" sw "0" action "0" } Block { BlockType Reference Name "Manual Switch3" Ports [2, 1] Position [640, 402, 670, 438] Orientation "left" SourceBlock "simulink/Signal\nRouting/Manual Switch" SourceType "Manual Switch" ShowPortLabels on SystemSampleTime "-1" FunctionWithSeparateData off RTWMemSecFuncInitTerm "Inherit from model" RTWMemSecFuncExecute "Inherit from model" RTWMemSecDataConstants "Inherit from model" RTWMemSecDataInternal "Inherit from model" RTWMemSecDataParameters "Inherit from model" sw "0" action "0" } Block { BlockType Reference Name "Manual Switch4" Ports [2, 1] Position [630, 292, 660, 328] Orientation "left" SourceBlock "simulink/Signal\nRouting/Manual Switch" SourceType "Manual Switch" ShowPortLabels on SystemSampleTime "-1" FunctionWithSeparateData off RTWMemSecFuncInitTerm "Inherit from model" RTWMemSecFuncExecute "Inherit from model" RTWMemSecDataConstants "Inherit from model" RTWMemSecDataInternal "Inherit from model" RTWMemSecDataParameters "Inherit from model" sw "0" action "0" } Block { BlockType Product Name "Product" Ports [2, 1] Position [575, 282, 605, 313] Orientation "left" InputSameDT off OutDataTypeMode "Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Product Name "Product1" Ports [2, 1] Position [335, 227, 365, 258] InputSameDT off OutDataTypeMode "Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Product Name "Product2" Ports [2, 1] Position [575, 387, 605, 418] Orientation "left" InputSameDT off OutDataTypeMode "Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Product Name "Product3" Ports [3, 1] Position [485, 470, 520, 530] Orientation "left" Inputs "3" InputSameDT off OutDataTypeMode "Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Sin Name "Sine Wave" Ports [0, 1] Position [780, 450, 810, 480] Orientation "left" SineType "Time based" Amplitude "1.5" SampleTime "0" } Block { BlockType Sin Name "Sine Wave1" Ports [0, 1] Position [775, 265, 805, 295] Orientation "left" SineType "Time based" Amplitude "2" SampleTime "0" } Block { BlockType Sin Name "Sine Wave2" Ports [0, 1] Position [370, 375, 400, 405] Orientation "left" SineType "Time based" Amplitude "1.5" SampleTime "0" } Block { BlockType Sin Name "Sine Wave3" Ports [0, 1] Position [785, 585, 815, 615] Orientation "left" SineType "Time based" Amplitude ".5" SampleTime "0" } Block { BlockType Sum Name "Sum" Ports [2, 1] Position [720, 405, 740, 425] Orientation "left" ShowName off IconShape "round" Inputs "|++" InputSameDT off OutDataTypeMode "Inherit via internal rule" SaturateOnIntegerOverflow off Port { PortNumber 1 Name "a2" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } } Block { BlockType Sum Name "Sum1" Ports [2, 1] Position [500, 235, 520, 255] ShowName off IconShape "round" Inputs "|+-" InputSameDT off OutDataTypeMode "Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Sum Name "Sum2" Ports [2, 1] Position [340, 325, 360, 345] Orientation "left" ShowName off IconShape "round" Inputs "|++" InputSameDT off OutDataTypeMode "Inherit via internal rule" SaturateOnIntegerOverflow off Port { PortNumber 1 Name "b" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } } Block { BlockType Sum Name "Sum3" Ports [2, 1] Position [455, 235, 475, 255] ShowName off IconShape "round" Inputs "|+-" InputSameDT off OutDataTypeMode "Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Sum Name "Sum4" Ports [2, 1] Position [725, 540, 745, 560] Orientation "left" ShowName off IconShape "round" Inputs "|++" InputSameDT off OutDataTypeMode "Inherit via internal rule" SaturateOnIntegerOverflow off Port { PortNumber 1 Name "a3" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } } Block { BlockType Sum Name "Sum5" Ports [2, 1] Position [695, 280, 715, 300] Orientation "left" ShowName off IconShape "round" Inputs "|++" InputSameDT off OutDataTypeMode "Inherit via internal rule" SaturateOnIntegerOverflow off Port { PortNumber 1 Name "a1" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } } Block { BlockType Sum Name "Sum6" Ports [2, 1] Position [415, 235, 435, 255] ShowName off IconShape "round" Inputs "|+-" InputSameDT off OutDataTypeMode "Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType ToWorkspace Name "To Workspace" Position [845, 165, 905, 195] VariableName "x" MaxDataPoints "inf" SampleTime "-1" SaveFormat "Array" } Block { BlockType ToWorkspace Name "To Workspace1" Position [710, 120, 770, 150] VariableName "u" MaxDataPoints "inf" SampleTime "-1" SaveFormat "Array" } Block { BlockType SubSystem Name "adaptive control" Ports [2, 1] Position [50, 349, 150, 391] MinAlgLoopOccurrences off RTWSystemCode "Auto" FunctionWithSeparateData off MaskHideContents off System { Name "adaptive control" Location [322, 109, 1460, 1062] Open on ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" Block { BlockType Inport Name "x" Position [20, 338, 50, 352] IconDisplay "Port number" Port { PortNumber 1 Name "x" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } } Block { BlockType Inport Name "xdot" Position [20, 303, 50, 317] Port "2" IconDisplay "Port number" Port { PortNumber 1 Name "xdot" PropagatedSignals "xdot" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } } Block { BlockType Clock Name "Clock" Position [35, 545, 55, 565] Decimation "10" } Block { BlockType Integrator Name "Integrator" Ports [1, 1] Position [245, 325, 275, 355] IgnoreLimit off } Block { BlockType Integrator Name "Integrator1" Ports [1, 1] Position [295, 325, 325, 355] IgnoreLimit off } Block { BlockType Integrator Name "Integrator2" Ports [1, 1] Position [595, 235, 625, 265] IgnoreLimit off Port { PortNumber 1 Name "ar" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } } Block { BlockType Integrator Name "Integrator3" Ports [1, 1] Position [605, 325, 635, 355] IgnoreLimit off Port { PortNumber 1 Name "a1" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } } Block { BlockType Integrator Name "Integrator4" Ports [1, 1] Position [670, 380, 700, 410] IgnoreLimit off Port { PortNumber 1 Name "a2" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } } Block { BlockType Mux Name "Mux" Ports [3, 1] Position [135, 305, 140, 365] ShowName off Inputs "3" DisplayOption "bar" } Block { BlockType Mux Name "Mux1" Ports [6, 1] Position [785, 58, 795, 192] ShowName off Inputs "6" DisplayOption "bar" } Block { BlockType Mux Name "Mux2" Ports [2, 1] Position [495, 236, 500, 274] ShowName off Inputs "2" DisplayOption "bar" } Block { BlockType Mux Name "Mux3" Ports [2, 1] Position [500, 321, 505, 359] ShowName off Inputs "2" DisplayOption "bar" } Block { BlockType Mux Name "Mux4" Ports [2, 1] Position [565, 376, 570, 414] ShowName off Inputs "2" DisplayOption "bar" } Block { BlockType Sum Name "Sum" Ports [2, 1] Position [355, 330, 375, 350] ShowName off IconShape "round" Inputs "|-+" InputSameDT off OutDataTypeMode "Inherit via internal rule" SaturateOnIntegerOverflow off Port { PortNumber 1 Name "errror" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } } Block { BlockType Sum Name "Sum1" Ports [2, 1] Position [280, 230, 300, 250] ShowName off IconShape "round" Inputs "|-+" InputSameDT off OutDataTypeMode "Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType ToWorkspace Name "To Workspace1" Position [370, 535, 430, 565] VariableName "xdesired_adpt" MaxDataPoints "inf" SampleTime "-1" SaveFormat "Array" } Block { BlockType ToWorkspace Name "To Workspace2" Position [120, 540, 180, 570] VariableName "time_adpt" MaxDataPoints "inf" SampleTime "-1" SaveFormat "Array" } Block { BlockType ToWorkspace Name "To Workspace3" Position [555, 465, 615, 495] VariableName "error_adpt1" MaxDataPoints "inf" SampleTime "-1" SaveFormat "Array" } Block { BlockType ToWorkspace Name "To Workspace4" Position [780, 220, 840, 250] VariableName "ar" MaxDataPoints "inf" SampleTime "-1" SaveFormat "Array" } Block { BlockType ToWorkspace Name "To Workspace5" Position [785, 295, 845, 325] VariableName "a1" MaxDataPoints "inf" SampleTime "-1" SaveFormat "Array" } Block { BlockType Fcn Name "a1" Position [525, 325, 585, 355] Expr "-4*alpha*u[1]*u[2]" } Block { BlockType Fcn Name "a2" Position [590, 380, 650, 410] Expr "-4*alpha*u[1]*(u[2]+u[2]^2)" } Block { BlockType Fcn Name "ar" Position [520, 235, 580, 265] Expr "-4*alpha*u[1]*u[2]" } Block { BlockType Fcn Name "conrol out" Position [825, 95, 885, 125] Expr "u[1]*u[2]+u[3]*u[4]+u[5]*(u[6]+u[6]^2)" } Block { BlockType Fcn Name "model out" Position [160, 320, 220, 350] Expr "-2.8*u[1]-4*u[2]+u[3]" } Block { BlockType Fcn Name "rt" Position [125, 470, 185, 500] Expr "4*sin(u(1)*3)" Port { PortNumber 1 Name "r" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } } Block { BlockType Outport Name "u(t)" Position [965, 103, 995, 117] IconDisplay "Port number" BusOutputAsStruct off } Line { SrcBlock "Clock" SrcPort 1 Points [25, 0; 0, 0] Branch { Points [0, 0] DstBlock "To Workspace2" DstPort 1 } Branch { Points [0, -70] DstBlock "rt" DstPort 1 } } Line { Name "r" Labels [0, 0] SrcBlock "rt" SrcPort 1 Points [10, 0; 0, -25; -80, 0; 0, -45] Branch { DstBlock "Mux" DstPort 3 } Branch { Labels [4, 0] Points [0, 5; -110, 0; 0, -325; 440, 0] Branch { DstBlock "Mux1" DstPort 2 } Branch { Labels [2, 0] Points [0, 170] DstBlock "Mux2" DstPort 2 } } } Line { SrcBlock "Mux" SrcPort 1 DstBlock "model out" DstPort 1 } Line { Name "xdot" Labels [0, 0] SrcBlock "xdot" SrcPort 1 Points [20, 0; 0, -50] Branch { Labels [2, 0] Points [0, -125] DstBlock "Mux1" DstPort 4 } Branch { Points [0, 5; 215, 0] Branch { DstBlock "Sum1" DstPort 2 } Branch { Points [140, 0; 0, 85] DstBlock "Mux3" DstPort 2 } } } Line { Name "x" Labels [0, 0] SrcBlock "x" SrcPort 1 Points [30, 0; 0, -5] Branch { Points [0, 60; 265, 0; 0, 0] Branch { Points [15, 0] DstBlock "Sum" DstPort 2 } Branch { Points [0, 5] DstBlock "Mux4" DstPort 2 } } Branch { Labels [4, 0] Points [0, -5; 5, 0; 0, -160] DstBlock "Mux1" DstPort 6 } } Line { SrcBlock "Mux1" SrcPort 1 Points [0, -15] DstBlock "conrol out" DstPort 1 } Line { SrcBlock "Mux2" SrcPort 1 DstBlock "ar" DstPort 1 } Line { SrcBlock "Mux3" SrcPort 1 DstBlock "a1" DstPort 1 } Line { SrcBlock "Mux4" SrcPort 1 DstBlock "a2" DstPort 1 } Line { SrcBlock "conrol out" SrcPort 1 DstBlock "u(t)" DstPort 1 } Line { SrcBlock "model out" SrcPort 1 Points [0, 5] DstBlock "Integrator" DstPort 1 } Line { SrcBlock "Integrator" SrcPort 1 Points [0, 0] Branch { DstBlock "Integrator1" DstPort 1 } Branch { Points [0, -40; -25, 0] Branch { Points [-135, 0] DstBlock "Mux" DstPort 1 } Branch { Points [0, -60] DstBlock "Sum1" DstPort 1 } } } Line { SrcBlock "Integrator1" SrcPort 1 Points [5, 0] Branch { DstBlock "Sum" DstPort 1 } Branch { Points [0, -5] Branch { Points [0, -130; -225, 0; 0, 130] DstBlock "Mux" DstPort 2 } Branch { Points [0, 215] DstBlock "To Workspace1" DstPort 1 } } } Line { Name "errror" Labels [0, 0] SrcBlock "Sum" SrcPort 1 Points [5, 0; 0, -5] Branch { Points [0, 45; 45, 0] Branch { Labels [1, 0] Points [120, 0] DstBlock "Mux4" DstPort 1 } Branch { Points [0, 100] DstBlock "To Workspace3" DstPort 1 } } Branch { Labels [2, 0] Points [0, -90] DstBlock "Mux2" DstPort 1 } } Line { SrcBlock "a1" SrcPort 1 DstBlock "Integrator3" DstPort 1 } Line { SrcBlock "a2" SrcPort 1 DstBlock "Integrator4" DstPort 1 } Line { Name "ar" Labels [0, 0] SrcBlock "Integrator2" SrcPort 1 Points [10, 0; 0, -15; 5, 0] Branch { DstBlock "To Workspace4" DstPort 1 } Branch { Labels [3, 0] Points [-5, 0; 0, -160] DstBlock "Mux1" DstPort 1 } } Line { Name "a1" Labels [0, 0] SrcBlock "Integrator3" SrcPort 1 Points [30, 0; 0, -30] Branch { DstBlock "To Workspace5" DstPort 1 } Branch { Labels [2, 0] Points [0, -195] DstBlock "Mux1" DstPort 3 } } Line { Name "a2" Labels [3, 0] SrcBlock "Integrator4" SrcPort 1 Points [30, 0; 0, -240] DstBlock "Mux1" DstPort 5 } Line { SrcBlock "ar" SrcPort 1 DstBlock "Integrator2" DstPort 1 } Line { SrcBlock "Sum1" SrcPort 1 Points [0, 15; 130, 0; 0, 75] DstBlock "Mux3" DstPort 1 } } } Block { BlockType SubSystem Name "sliding mode" Ports [2, 2] Position [65, 219, 165, 261] MinAlgLoopOccurrences off RTWSystemCode "Auto" FunctionWithSeparateData off MaskHideContents off System { Name "sliding mode" Location [230, 295, 1312, 926] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" Block { BlockType Inport Name "x" Position [165, 353, 195, 367] IconDisplay "Port number" } Block { BlockType Inport Name "xdot" Position [150, 173, 180, 187] Port "2" IconDisplay "Port number" } Block { BlockType Clock Name "Clock" Position [35, 545, 55, 565] Decimation "10" } Block { BlockType Mux Name "Mux" Ports [6, 1] Position [410, 197, 415, 348] ShowName off Inputs "6" DisplayOption "bar" } Block { BlockType Product Name "Product" Ports [2, 1] Position [485, 387, 515, 418] Orientation "left" InputSameDT off OutDataTypeMode "Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Saturate Name "Saturation" Position [705, 310, 735, 340] UpperLimit "1" LowerLimit "-1" } Block { BlockType Sum Name "Sum" Ports [2, 1] Position [360, 470, 380, 490] ShowName off IconShape "round" Inputs "|+-" InputSameDT off OutDataTypeMode "Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType ToWorkspace Name "To Workspace" Position [420, 464, 495, 496] VariableName "tracking_error" MaxDataPoints "inf" SampleTime "-1" SaveFormat "Array" } Block { BlockType ToWorkspace Name "To Workspace1" Position [260, 535, 320, 565] VariableName "xdesired" MaxDataPoints "inf" SampleTime "-1" SaveFormat "Array" } Block { BlockType ToWorkspace Name "To Workspace2" Position [120, 540, 180, 570] VariableName "time" MaxDataPoints "inf" SampleTime "-1" SaveFormat "Array" } Block { BlockType Fcn Name "Uhat" Position [470, 250, 890, 280] Expr "(1/6)*(5*u[1]+4*u[2]+2*u[2]^2-u[3]-lambda*u" "[1]+lambda*u[4]-u[5])" } Block { BlockType Fcn Name "k" Position [700, 441, 870, 469] Expr "abs(2*u[2]+1.5*u[1]+.5*u[1]^2)+abs(u[1]-u[4" "]+u[2]-u[6])+eta" } Block { BlockType Fcn Name "s" Position [485, 309, 660, 341] Expr "(u[1]-u[4]+lambda*(u[2]-u[6]))/phi" } Block { BlockType Fcn Name "xd" Position [125, 470, 185, 500] Expr "4*sin(u(1)*3)" } Block { BlockType Fcn Name "xdotd" Position [110, 275, 200, 305] Expr "cos(u(1)*3)*12" } Block { BlockType Fcn Name "xdoubledot d" Position [120, 94, 230, 126] Expr "-sin(u(1)*3)*4*3*3" } Block { BlockType Outport Name "u" Position [950, 253, 980, 267] IconDisplay "Port number" BusOutputAsStruct off } Block { BlockType Outport Name "Out1" Position [500, 518, 530, 532] Port "2" IconDisplay "Port number" BusOutputAsStruct off } Line { SrcBlock "x" SrcPort 1 Points [0, 30; 60, 0] Branch { Points [0, -155] DstBlock "Mux" DstPort 2 } Branch { Points [55, 0; 0, 90] DstBlock "Sum" DstPort 1 } } Line { SrcBlock "xd" SrcPort 1 Points [25, 0] Branch { Points [70, 0] Branch { Points [0, 30; 85, 0] DstBlock "Sum" DstPort 2 } Branch { Points [0, -150] DstBlock "Mux" DstPort 6 } } Branch { Points [0, 65] DstBlock "To Workspace1" DstPort 1 } } Line { SrcBlock "Clock" SrcPort 1 Points [25, 0; 0, 0] Branch { Points [0, -70] Branch { DstBlock "xd" DstPort 1 } Branch { Points [0, -5; -25, 0; 0, -190] Branch { DstBlock "xdotd" DstPort 1 } Branch { Points [0, -180] DstBlock "xdoubledot d" DstPort 1 } } } Branch { Points [0, 0] DstBlock "To Workspace2" DstPort 1 } } Line { SrcBlock "Sum" SrcPort 1 Points [10, 0] Branch { DstBlock "To Workspace" DstPort 1 } Branch { Points [0, 45] DstBlock "Out1" DstPort 1 } } Line { SrcBlock "Uhat" SrcPort 1 Points [5, 0; 0, -5] DstBlock "u" DstPort 1 } Line { SrcBlock "Mux" SrcPort 1 Points [0, -10; 15, 0] Branch { DstBlock "Uhat" DstPort 1 } Branch { Points [0, 60; 10, 0] Branch { DstBlock "s" DstPort 1 } Branch { Points [0, 130] DstBlock "k" DstPort 1 } } } Line { SrcBlock "xdot" SrcPort 1 Points [105, 0; 0, 30] DstBlock "Mux" DstPort 1 } Line { SrcBlock "xdoubledot d" SrcPort 1 Points [155, 0; 0, 150] DstBlock "Mux" DstPort 3 } Line { SrcBlock "xdotd" SrcPort 1 Points [0, -5] DstBlock "Mux" DstPort 4 } Line { SrcBlock "Product" SrcPort 1 Points [-90, 0; 0, -95] DstBlock "Mux" DstPort 5 } Line { SrcBlock "s" SrcPort 1 DstBlock "Saturation" DstPort 1 } Line { SrcBlock "Saturation" SrcPort 1 Points [70, 0; 0, 70] DstBlock "Product" DstPort 1 } Line { SrcBlock "k" SrcPort 1 Points [15, 0; 0, -45] DstBlock "Product" DstPort 2 } } } Block { BlockType Outport Name "Out1" Position [115, 283, 145, 297] Orientation "left" IconDisplay "Port number" BusOutputAsStruct off } Line { SrcBlock "Sum1" SrcPort 1 DstBlock "Integrator" DstPort 1 } Line { Name "xdot" Labels [0, 0; 2, 0] SrcBlock "Integrator" SrcPort 1 Points [0, -5; 45, 0] Branch { Points [40, 0] Branch { DstBlock "Integrator1" DstPort 1 } Branch { Points [0, -135; -640, 0; 0, 275] DstBlock "adaptive control" DstPort 2 } } Branch { Points [0, 50] DstBlock "Product" DstPort 1 } } Line { SrcBlock "Constant" SrcPort 1 DstBlock "Sum" DstPort 1 } Line { SrcBlock "Integrator1" SrcPort 1 Points [40, 0; 0, -5] Branch { Points [85, 0; 0, 135; -5, 0] Branch { Points [-60, 0; 0, 25] DstBlock "Product2" DstPort 1 } Branch { Points [0, 130; -295, 0] Branch { DstBlock "Product3" DstPort 2 } Branch { Points [0, -20] DstBlock "Product3" DstPort 1 } } } Branch { Points [0, -30] Branch { Points [0, -25] DstBlock "To Workspace" DstPort 1 } Branch { Points [0, -35; -730, 0; 0, 190] DstBlock "adaptive control" DstPort 1 } } } Line { SrcBlock "Sine Wave1" SrcPort 1 Points [-40, 0] DstBlock "Sum5" DstPort 1 } Line { SrcBlock "Sine Wave" SrcPort 1 Points [-45, 0] DstBlock "Sum" DstPort 2 } Line { SrcBlock "Constant1" SrcPort 1 DstBlock "Sum2" DstPort 1 } Line { SrcBlock "Sine Wave2" SrcPort 1 Points [-15, 0] DstBlock "Sum2" DstPort 2 } Line { SrcBlock "Sum3" SrcPort 1 DstBlock "Sum1" DstPort 1 } Line { SrcBlock "sliding mode" SrcPort 2 Points [5, 0; 0, 40] DstBlock "Out1" DstPort 1 } Line { SrcBlock "Constant3" SrcPort 1 DstBlock "Sum4" DstPort 1 } Line { SrcBlock "Sine Wave3" SrcPort 1 Points [-45, 0] DstBlock "Sum4" DstPort 2 } Line { SrcBlock "Product" SrcPort 1 Points [-60, 0] DstBlock "Sum1" DstPort 2 } Line { SrcBlock "Product1" SrcPort 1 DstBlock "Sum6" DstPort 1 } Line { SrcBlock "Sum6" SrcPort 1 DstBlock "Sum3" DstPort 1 } Line { SrcBlock "Product2" SrcPort 1 Points [-105, 0] DstBlock "Sum3" DstPort 2 } Line { SrcBlock "Product3" SrcPort 1 Points [-55, 0] DstBlock "Sum6" DstPort 2 } Line { SrcBlock "sliding mode" SrcPort 1 Points [10, 0; 0, 15] DstBlock "Manual Switch" DstPort 1 } Line { SrcBlock "Manual Switch" SrcPort 1 Points [30, 0; 0, -20; 5, 0] Branch { DstBlock "Product1" DstPort 1 } Branch { Points [0, -100] DstBlock "To Workspace1" DstPort 1 } } Line { SrcBlock "Constant2" SrcPort 1 Points [-40, 0] DstBlock "Sum5" DstPort 2 } Line { Name "b" Labels [0, 0] SrcBlock "Sum2" SrcPort 1 DstBlock "Manual Switch1" DstPort 1 } Line { SrcBlock "Manual Switch1" SrcPort 1 Points [0, -85; 45, 0] DstBlock "Product1" DstPort 2 } Line { Name "a3" Labels [0, 0] SrcBlock "Sum4" SrcPort 1 DstBlock "Manual Switch2" DstPort 1 } Line { SrcBlock "Manual Switch2" SrcPort 1 Points [-20, 0; 0, -40] DstBlock "Product3" DstPort 3 } Line { SrcBlock "Manual Switch3" SrcPort 1 Points [-5, 0; 0, -10] DstBlock "Product2" DstPort 2 } Line { Name "a2" Labels [0, 0] SrcBlock "Sum" SrcPort 1 Points [-30, 0] DstBlock "Manual Switch3" DstPort 1 } Line { SrcBlock "Manual Switch4" SrcPort 1 Points [0, -5] DstBlock "Product" DstPort 2 } Line { Name "a1" Labels [0, 0] SrcBlock "Sum5" SrcPort 1 Points [-5, 0; 0, 10] DstBlock "Manual Switch4" DstPort 1 } Line { SrcBlock "Constant4" SrcPort 1 Points [-20, 0] Branch { Points [0, -95] DstBlock "Manual Switch1" DstPort 2 } Branch { Points [0, 45; -155, 0; 0, -245; -135, 0] Branch { DstBlock "sliding mode" DstPort 1 } Branch { DstBlock "sliding mode" DstPort 2 } } } Line { SrcBlock "Constant5" SrcPort 1 Points [-10, 0; 0, -40] DstBlock "Manual Switch4" DstPort 2 } Line { SrcBlock "Constant6" SrcPort 1 Points [0, -30] DstBlock "Manual Switch3" DstPort 2 } Line { SrcBlock "Constant7" SrcPort 1 Points [-15, 0; 0, -25] DstBlock "Manual Switch2" DstPort 2 } Line { SrcBlock "adaptive control" SrcPort 1 Points [40, 0; 0, -105] DstBlock "Manual Switch" DstPort 2 } Annotation { Name "lambda=1000;eta=20;phi=3;" Position [351, 88] UseDisplayTextAsClickCallback off } } }