Model { Name "kalman_filter_simulation" Version 4.00 SampleTimeColors off LibraryLinkDisplay "none" WideLines off ShowLineDimensions off ShowPortDataTypes off ShowStorageClass off ExecutionOrder off RecordCoverage off CovPath "/" CovSaveName "covdata" CovMetricSettings "dw" CovNameIncrementing off CovHtmlReporting on BlockNameDataTip off BlockParametersDataTip off BlockDescriptionStringDataTip off ToolBar on StatusBar on BrowserShowLibraryLinks off BrowserLookUnderMasks off Created "Mon Oct 16 09:58:45 2006" UpdateHistory "UpdateHistoryNever" ModifiedByFormat "%" LastModifiedBy "simani" ModifiedDateFormat "%" LastModifiedDate "Mon Oct 16 10:29:54 2006" ModelVersionFormat "1.%" ConfigurationManager "None" SimParamPage "Solver" StartTime "0.0" StopTime "100.0" SolverMode "Auto" Solver "VariableStepDiscrete" RelTol "1e-3" AbsTol "auto" Refine "1" MaxStep "auto" MinStep "auto" MaxNumMinSteps "-1" InitialStep "auto" FixedStep "auto" MaxOrder 5 OutputOption "RefineOutputTimes" OutputTimes "[]" LoadExternalInput off ExternalInput "[t, u]" SaveTime on TimeSaveName "tout" SaveState off StateSaveName "xout" SaveOutput on OutputSaveName "yout" LoadInitialState off InitialState "xInitial" SaveFinalState off FinalStateName "xFinal" SaveFormat "Array" LimitDataPoints on MaxDataPoints "1000" Decimation "1" AlgebraicLoopMsg "warning" MinStepSizeMsg "warning" UnconnectedInputMsg "warning" UnconnectedOutputMsg "warning" UnconnectedLineMsg "warning" InheritedTsInSrcMsg "warning" SingleTaskRateTransMsg "none" MultiTaskRateTransMsg "error" IntegerOverflowMsg "warning" CheckForMatrixSingularity "none" UnnecessaryDatatypeConvMsg "none" Int32ToFloatConvMsg "warning" InvalidFcnCallConnMsg "error" SignalLabelMismatchMsg "none" LinearizationMsg "none" VectorMatrixConversionMsg "none" SfunCompatibilityCheckMsg "none" BlockPriorityViolationMsg "warning" ArrayBoundsChecking "none" ConsistencyChecking "none" ZeroCross on Profile off SimulationMode "normal" RTWSystemTargetFile "grt.tlc" RTWInlineParameters off RTWRetainRTWFile off RTWTemplateMakefile "grt_default_tmf" RTWMakeCommand "make_rtw" RTWGenerateCodeOnly off TLCProfiler off TLCDebug off TLCCoverage off AccelSystemTargetFile "accel.tlc" AccelTemplateMakefile "accel_default_tmf" AccelMakeCommand "make_rtw" TryForcingSFcnDF off ExtModeMexFile "ext_comm" ExtModeBatchMode off ExtModeTrigType "manual" ExtModeTrigMode "normal" 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 on ExtModeSkipDownloadWhenConnect off ExtModeLogAll on ExtModeAutoUpdateStatusClock on OptimizeBlockIOStorage on BufferReuse on ParameterPooling on BlockReductionOpt on RTWExpressionDepthLimit 5 BooleanDataType off BlockDefaults { Orientation "right" ForegroundColor "black" BackgroundColor "white" DropShadow off NamePlacement "normal" FontName "Helvetica" FontSize 10 FontWeight "normal" FontAngle "normal" ShowName on } 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 "kalman_filter_simulation" Location [167, 93, 980, 742] Open on ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "automatic" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "A4" PaperUnits "centimeters" ZoomFactor "100" ReportName "simulink-default.rpt" Block { BlockType Scope Name "Confronto\nStime" Ports [1] Position [690, 429, 720, 461] Floating off Location [188, 365, 512, 604] Open off NumInputPorts "1" TickLabels "OneTimeTick" ZoomMode "on" List { ListType AxesTitles axes1 "%" } List { ListType SelectedSignals axes1 "" } Grid "on" TimeRange "auto" YMin "-5" YMax "5" SaveToWorkspace off SaveName "ScopeData3" DataFormat "StructureWithTime" LimitDataPoints on MaxDataPoints "5000" Decimation "1" SampleInput off SampleTime "0" } Block { BlockType Scope Name "Estimation Error\nOutput Observer" Ports [1] Position [585, 539, 615, 571] Floating off Location [188, 365, 512, 604] Open off NumInputPorts "1" TickLabels "OneTimeTick" ZoomMode "on" List { ListType AxesTitles axes1 "%" } List { ListType SelectedSignals axes1 "" } Grid "on" TimeRange "auto" YMin "-5" YMax "5" SaveToWorkspace off SaveName "ScopeData2" DataFormat "StructureWithTime" LimitDataPoints on MaxDataPoints "5000" Decimation "1" SampleInput off SampleTime "0" } Block { BlockType Scope Name "Estimation Error \nKalman Filter" Ports [1] Position [585, 334, 615, 366] Floating off Location [188, 365, 512, 604] Open off NumInputPorts "1" TickLabels "OneTimeTick" ZoomMode "on" List { ListType AxesTitles axes1 "%" } List { ListType SelectedSignals axes1 "" } Grid "on" TimeRange "auto" YMin "-5" YMax "5" SaveToWorkspace off SaveName "ScopeData1" DataFormat "StructureWithTime" LimitDataPoints on MaxDataPoints "5000" Decimation "1" SampleInput off SampleTime "0" } Block { BlockType DiscreteStateSpace Name "Filtro di Kalman" Position [280, 332, 400, 368] FontSize 10 A "Akf" B "Bkf" C "Ckf" D "Dkf" X0 "0" SampleTime "Tc" Realization "auto" RTWStateStorageClass "Auto" } Block { BlockType FromWorkspace Name "Ingresso" Position [25, 98, 90, 122] FontSize 10 VariableName "[t u]" SampleTime "0" Interpolate on OutputAfterFinalValue "Extrapolation" } Block { BlockType Mux Name "Mux" Ports [2, 1] Position [195, 136, 200, 174] ShowName off Inputs "2" DisplayOption "bar" } Block { BlockType Mux Name "Mux1" Ports [2, 1] Position [190, 320, 195, 380] ShowName off Inputs "2" DisplayOption "bar" } Block { BlockType Mux Name "Mux2" Ports [2, 1] Position [190, 525, 195, 585] ShowName off Inputs "2" DisplayOption "bar" } Block { BlockType Mux Name "Mux3" Ports [2, 1] Position [640, 415, 645, 475] ShowName off Inputs "2" DisplayOption "bar" } Block { BlockType DiscreteStateSpace Name "Osservatore Dinamico\ndello Stato" Position [285, 537, 405, 573] FontSize 10 A "Ao" B "Bo" C "Co" D "Do" X0 "0" SampleTime "Tc" Realization "auto" RTWStateStorageClass "Auto" } Block { BlockType FromWorkspace Name "Rumore\nGaussiano" Position [25, 193, 90, 217] FontSize 10 VariableName "[t w]" SampleTime "Tc" Interpolate on OutputAfterFinalValue "Extrapolation" } Block { BlockType FromWorkspace Name "Rumore\nGaussiano " Position [355, 203, 420, 227] FontSize 10 VariableName "[t v]" SampleTime "Tc" Interpolate on OutputAfterFinalValue "Extrapolation" } Block { BlockType Scope Name "Scope" Ports [1] Position [560, 139, 590, 171] Floating off Location [188, 365, 512, 604] Open off NumInputPorts "1" TickLabels "OneTimeTick" ZoomMode "on" List { ListType AxesTitles axes1 "%" } List { ListType SelectedSignals axes1 "" } Grid "on" TimeRange "auto" YMin "-5" YMax "5" SaveToWorkspace off SaveName "ScopeData" DataFormat "StructureWithTime" LimitDataPoints on MaxDataPoints "5000" Decimation "1" SampleInput off SampleTime "0" } Block { BlockType DiscreteStateSpace Name "Sistema Dinamico\nDiscreto" Position [255, 137, 375, 173] FontSize 10 A "A" B "[B B]" C "C" D "D" X0 "0" SampleTime "Tc" Realization "auto" RTWStateStorageClass "Auto" } Block { BlockType Sum Name "Sum" Ports [2, 1] Position [430, 145, 450, 165] ShowName off IconShape "round" Inputs "|++" SaturateOnIntegerOverflow on } Block { BlockType Sum Name "Sum1" Ports [2, 1] Position [485, 340, 505, 360] ShowName off IconShape "round" Inputs "|+-" SaturateOnIntegerOverflow on } Block { BlockType Sum Name "Sum2" Ports [2, 1] Position [510, 545, 530, 565] ShowName off IconShape "round" Inputs "|+-" SaturateOnIntegerOverflow on } Line { SrcBlock "Ingresso" SrcPort 1 Points [45, 0; 0, 35] Branch { DstBlock "Mux" DstPort 1 } Branch { Points [0, 190] Branch { DstBlock "Mux1" DstPort 1 } Branch { Points [0, 205] DstBlock "Mux2" DstPort 1 } } } Line { SrcBlock "Rumore\nGaussiano" SrcPort 1 Points [15, 0; 0, -40] DstBlock "Mux" DstPort 2 } Line { SrcBlock "Mux" SrcPort 1 DstBlock "Sistema Dinamico\nDiscreto" DstPort 1 } Line { SrcBlock "Sistema Dinamico\nDiscreto" SrcPort 1 DstBlock "Sum" DstPort 1 } Line { SrcBlock "Sum" SrcPort 1 Points [35, 0] Branch { DstBlock "Scope" DstPort 1 } Branch { Points [0, 110; -390, 0; 0, 100] Branch { DstBlock "Mux1" DstPort 2 } Branch { Points [0, 60] Branch { Points [0, 145] Branch { DstBlock "Mux2" DstPort 2 } Branch { Points [0, 55; 420, 0] DstBlock "Sum2" DstPort 2 } } Branch { Points [395, 0] DstBlock "Sum1" DstPort 2 } } } } Line { SrcBlock "Rumore\nGaussiano " SrcPort 1 Points [15, 0] DstBlock "Sum" DstPort 2 } Line { SrcBlock "Sum2" SrcPort 1 Points [15, 0] Branch { DstBlock "Estimation Error\nOutput Observer" DstPort 1 } Branch { Points [0, -95] DstBlock "Mux3" DstPort 2 } } Line { SrcBlock "Sum1" SrcPort 1 Points [40, 0] Branch { DstBlock "Estimation Error \nKalman Filter" DstPort 1 } Branch { Points [0, 80] DstBlock "Mux3" DstPort 1 } } Line { SrcBlock "Mux3" SrcPort 1 DstBlock "Confronto\nStime" DstPort 1 } Line { SrcBlock "Mux2" SrcPort 1 DstBlock "Osservatore Dinamico\ndello Stato" DstPort 1 } Line { SrcBlock "Osservatore Dinamico\ndello Stato" SrcPort 1 DstBlock "Sum2" DstPort 1 } Line { SrcBlock "Mux1" SrcPort 1 DstBlock "Filtro di Kalman" DstPort 1 } Line { SrcBlock "Filtro di Kalman" SrcPort 1 DstBlock "Sum1" DstPort 1 } Annotation { Position [159, 112] Text "u(t)" } Annotation { Position [164, 184] Text "w(t)" } Annotation { Position [471, 137] Text "y(t)" } Annotation { Position [452, 218] Text "v(t)" } Annotation { Position [160, 321] Text "u(t)" } Annotation { Position [161, 381] Text "y(t)" } Annotation { Position [160, 526] Text "u(t)" } Annotation { Position [161, 586] Text "y(t)" } } }