# $Revision: 1.1.8.1 $
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  Created		  "Tue Sep 14 01:24:40 2004"
  Creator		  "The MathWorks Inc."
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      BlockType		      SubSystem
      Name		      "More Info"
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	Annotation {
	  Position		  [162, 22]
	  Text			  "This system simulates a cart carrying an in"
"verted\npendulum and displays an animation."
	}
	Annotation {
	  Position		  [162, 67]
	  Text			  "The animation is created using MATLAB's \nH"
"andle Graphics. The animation block is \njust a masked S-function."
	}
	Annotation {
	  Position		  [162, 122]
	  Text			  "For more information on what the S-function"
" \ndoes, look at the functions pendan.m, pend0.m, \nand pendsets.m."
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      MaskDescription	      "Look under mask to see dynamics"
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"."
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      SampleTime	      "0"
      VectorParams1D	      on
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      Position		      [380, 115, 400, 135]
      ShowName		      off
      IconShape		      "round"
      Inputs		      "++-"
      SaturateOnIntegerOverflow	on
    }
    Block {
      BlockType		      Sum
      Name		      "Sum2"
      Ports		      [2, 1]
      Position		      [260, 85, 280, 105]
      ShowName		      off
      IconShape		      "rectangular"
      Inputs		      "+-"
      SaturateOnIntegerOverflow	on
    }
    Block {
      BlockType		      Terminator
      Name		      "Terminator"
      Position		      [690, 152, 705, 168]
    }
    Block {
      BlockType		      Terminator
      Name		      "Terminator1"
      Position		      [690, 112, 705, 128]
    }
    Block {
      BlockType		      ToWorkspace
      Name		      "To Workspace"
      Position		      [845, 96, 880, 114]
      ShowName		      off
      VariableName	      "ypid"
      MaxDataPoints	      "inf"
      Decimation	      "1"
      SampleTime	      "0"
      SaveFormat	      "Array"
    }
    Block {
      BlockType		      ToWorkspace
      Name		      "To Workspace1"
      Position		      [845, 141, 880, 159]
      ShowName		      off
      VariableName	      "tpid"
      MaxDataPoints	      "inf"
      Decimation	      "1"
      SampleTime	      "0"
      SaveFormat	      "Array"
    }
    Line {
      SrcBlock		      "Mux"
      SrcPort		      1
      Points		      [10, 0; 0, 60]
      DstBlock		      "To Workspace"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Clock"
      SrcPort		      1
      DstBlock		      "To Workspace1"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Pendulum"
      SrcPort		      1
      Points		      [5, 0]
      Branch {
	Points			[0, -60]
	DstBlock		"Mux"
	DstPort			2
      }
      Branch {
	Points			[50, 0; 0, 135; -525, 0; 0, -135]
	DstBlock		"Sum2"
	DstPort			2
      }
    }
    Line {
      SrcBlock		      "Pendulum"
      SrcPort		      3
      Points		      [65, 0]
      Branch {
	Points			[0, -110]
	DstBlock		"Mux"
	DstPort			1
      }
      Branch {
	Points			[0, 115; -510, 0; 0, -100]
	DstBlock		"Position\nController1"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Saturation"
      SrcPort		      1
      Points		      [5, 0]
      Branch {
	Points			[0, 95]
	DstBlock		"Scope"
	DstPort			1
      }
      Branch {
	Points			[0, -60]
	DstBlock		"Mux"
	DstPort			3
      }
      Branch {
	DstBlock		"Pendulum"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Sum1"
      SrcPort		      1
      Points		      [0, -15]
      DstBlock		      "Saturation"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Disturbo\n(botte all'asta..)1"
      SrcPort		      1
      DstBlock		      "Pendulum"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Step"
      SrcPort		      1
      Points		      [50, 0]
      Branch {
	Points			[0, -30]
	DstBlock		"Mux"
	DstPort			4
      }
      Branch {
	DstBlock		"Sum2"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Sum2"
      SrcPort		      1
      Points		      [5, 0]
      Branch {
	DstBlock		"Position\nController"
	DstPort			1
      }
      Branch {
	Points			[0, -70]
	DstBlock		"Scope1"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Pendulum"
      SrcPort		      4
      DstBlock		      "Terminator"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Pendulum"
      SrcPort		      2
      DstBlock		      "Terminator1"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Position\nController"
      SrcPort		      1
      Points		      [50, 0]
      DstBlock		      "Sum1"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Position\nController1"
      SrcPort		      1
      Points		      [10, 0; 0, -30]
      DstBlock		      "Sum1"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Random\nNumber"
      SrcPort		      1
      Points		      [10, 0]
      DstBlock		      "Sum1"
      DstPort		      3
    }
    Annotation {
      Position		      [313, 292]
      Text		      "Inverted pendulum on cart with Animation\n(Doub"
"le click on the \"?\" for more info)"
    }
  }
}