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ModifiedDateFormat "%" LastModifiedDate "Tue May 15 09:55:25 2018" RTWModifiedTimeStamp 448278166 ModelVersionFormat "1.%" ConfigurationManager "none" SampleTimeColors off SampleTimeAnnotations off LibraryLinkDisplay "disabled" WideLines off ShowLineDimensions off ShowPortDataTypes off ShowEditTimeErrors on ShowEditTimeWarnings on ShowEditTimeAdvisorChecks off ShowPortUnits off ShowDesignRanges off ShowLoopsOnError on IgnoreBidirectionalLines off ShowStorageClass off ShowTestPointIcons on ShowSignalResolutionIcons on ShowViewerIcons on SortedOrder off VariantCondition off ExecutionContextIcon off ShowLinearizationAnnotations on ShowVisualizeInsertedRTB on ShowMarkup on BlockNameDataTip off BlockParametersDataTip off BlockDescriptionStringDataTip off ToolBar on StatusBar on BrowserShowLibraryLinks off FunctionConnectors off BrowserLookUnderMasks off SimulationMode "normal" PauseTimes "5" NumberOfSteps 1 SnapshotBufferSize 10 SnapshotInterval 10 NumberOfLastSnapshots 0 LinearizationMsg 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Inherit via internal rule" POutMin "[]" POutMax "[]" POutDataTypeStr "Inherit: Inherit via internal rule" PGainOutDataTypeStr "Inherit: Inherit via internal rule" PProdOutDataTypeStr "Inherit: Inherit via internal rule" IOutMin "[]" IOutMax "[]" IOutDataTypeStr "Inherit: Inherit via internal rule" IGainOutDataTypeStr "Inherit: Inherit via internal rule" IProdOutDataTypeStr "Inherit: Inherit via internal rule" DOutMin "[]" DOutMax "[]" DOutDataTypeStr "Inherit: Inherit via internal rule" DGainOutDataTypeStr "Inherit: Inherit via internal rule" DProdOutDataTypeStr "Inherit: Inherit via internal rule" NOutMin "[]" NOutMax "[]" NOutDataTypeStr "Inherit: Inherit via internal rule" NGainOutDataTypeStr "Inherit: Inherit via internal rule" NProdOutDataTypeStr "Inherit: Inherit via internal rule" KbOutMin "[]" KbOutMax "[]" KbOutDataTypeStr "Inherit: Inherit via internal rule" KtOutMin "[]" KtOutMax "[]" KtOutDataTypeStr "Inherit: Inherit via internal rule" IntegratorOutMin "[]" IntegratorOutMax "[]" IntegratorOutDataTypeStr "Inherit: Inherit via internal rule" FilterOutMin "[]" FilterOutMax "[]" FilterOutDataTypeStr "Inherit: Inherit via internal rule" SumOutMin "[]" SumOutMax "[]" SumOutDataTypeStr "Inherit: Inherit via internal rule" SumI1OutMin "[]" SumI1OutMax "[]" SumI1OutDataTypeStr "Inherit: Inherit via internal rule" SumI2OutMin "[]" SumI2OutMax "[]" SumI2OutDataTypeStr "Inherit: Inherit via internal rule" SumI3OutMin "[]" SumI3OutMax "[]" SumI3OutDataTypeStr "Inherit: Inherit via internal rule" SumDOutMin "[]" SumDOutMax "[]" SumDOutDataTypeStr "Inherit: Inherit via internal rule" SumAccumDataTypeStr "Inherit: Inherit via internal rule" SumI1AccumDataTypeStr "Inherit: Inherit via internal rule" SumI2AccumDataTypeStr "Inherit: Inherit via internal rule" SumI3AccumDataTypeStr "Inherit: Inherit via internal rule" SumDAccumDataTypeStr "Inherit: Inherit via internal rule" SaturationOutMin "[]" SaturationOutMax "[]" SaturationOutDataTypeStr "Inherit: Same as input" IntegratorContinuousStateAttributes "''" IntegratorStateMustResolveToSignalObject off IntegratorRTWStateStorageClass "Auto" FilterContinuousStateAttributes "''" FilterStateMustResolveToSignalObject off FilterRTWStateStorageClass "Auto" DifferentiatorICPrevScaledInput "0" DifferentiatorOutMin "[]" DifferentiatorOutMax "[]" DifferentiatorOutDataTypeStr "Inherit: Inherit via internal rule" } Block { BlockType Reference Name "Discrete PID Controller1" SID "32" Ports [1, 1] Position [220, 547, 260, 583] ZOrder 33 LibraryVersion "1.388" SourceBlock "simulink/Continuous/PID Controller" SourceType "PID 1dof" ContentPreviewEnabled off Controller "PID" TimeDomain "Discrete-time" SampleTime "T" IntegratorMethod "Forward Euler" FilterMethod "Backward Euler" Form "Parallel" UseFilter on ControllerParametersSource "internal" P "2.24147889654074" I "0.828288189596989" D "1.46501974817622" N "23.3269064894998" InitialConditionSource "internal" InitialConditionForIntegrator "0" InitialConditionForFilter "0" ExternalReset "none" IgnoreLimit off ZeroCross on LimitOutput off UpperSaturationLimit "inf" LowerSaturationLimit "-inf" LinearizeAsGain off AntiWindupMode "none" Kb "1" TrackingMode off Kt "1" RndMeth "Floor" SaturateOnIntegerOverflow off LockScale off PParamMin "[]" PParamMax "[]" PParamDataTypeStr "Inherit: Inherit via internal rule" IParamMin "[]" IParamMax "[]" IParamDataTypeStr "Inherit: Inherit via internal rule" DParamMin "[]" DParamMax "[]" DParamDataTypeStr "Inherit: Inherit via internal rule" NParamMin "[]" NParamMax "[]" NParamDataTypeStr "Inherit: Inherit via internal rule" KbParamMin "[]" KbParamMax "[]" KbParamDataTypeStr "Inherit: Inherit via internal rule" KtParamMin "[]" KtParamMax "[]" KtParamDataTypeStr "Inherit: Inherit via internal rule" POutMin "[]" POutMax "[]" POutDataTypeStr "Inherit: Inherit via internal rule" PGainOutDataTypeStr "Inherit: Inherit via internal rule" PProdOutDataTypeStr "Inherit: Inherit via internal rule" IOutMin "[]" IOutMax "[]" IOutDataTypeStr "Inherit: Inherit via internal rule" IGainOutDataTypeStr "Inherit: Inherit via internal rule" IProdOutDataTypeStr "Inherit: Inherit via internal rule" DOutMin "[]" DOutMax "[]" DOutDataTypeStr "Inherit: Inherit via internal rule" DGainOutDataTypeStr "Inherit: Inherit via internal rule" DProdOutDataTypeStr "Inherit: Inherit via internal rule" NOutMin "[]" NOutMax "[]" NOutDataTypeStr "Inherit: Inherit via internal rule" NGainOutDataTypeStr "Inherit: Inherit via internal rule" NProdOutDataTypeStr "Inherit: Inherit via internal rule" KbOutMin "[]" KbOutMax "[]" KbOutDataTypeStr "Inherit: Inherit via internal rule" KtOutMin "[]" KtOutMax "[]" KtOutDataTypeStr "Inherit: Inherit via internal rule" IntegratorOutMin "[]" IntegratorOutMax "[]" IntegratorOutDataTypeStr "Inherit: Inherit via internal rule" FilterOutMin "[]" FilterOutMax "[]" FilterOutDataTypeStr "Inherit: Inherit via internal rule" SumOutMin "[]" SumOutMax "[]" SumOutDataTypeStr "Inherit: Inherit via internal rule" SumI1OutMin "[]" SumI1OutMax "[]" SumI1OutDataTypeStr "Inherit: Inherit via internal rule" SumI2OutMin "[]" SumI2OutMax "[]" SumI2OutDataTypeStr "Inherit: Inherit via internal rule" SumI3OutMin "[]" SumI3OutMax "[]" SumI3OutDataTypeStr "Inherit: Inherit via internal rule" SumDOutMin "[]" SumDOutMax "[]" SumDOutDataTypeStr "Inherit: Inherit via internal rule" SumAccumDataTypeStr "Inherit: Inherit via internal rule" SumI1AccumDataTypeStr "Inherit: Inherit via internal rule" SumI2AccumDataTypeStr "Inherit: Inherit via internal rule" SumI3AccumDataTypeStr "Inherit: Inherit via internal rule" SumDAccumDataTypeStr "Inherit: Inherit via internal rule" SaturationOutMin "[]" SaturationOutMax "[]" SaturationOutDataTypeStr "Inherit: Same as input" IntegratorContinuousStateAttributes "''" IntegratorStateMustResolveToSignalObject off IntegratorRTWStateStorageClass "Auto" FilterContinuousStateAttributes "''" FilterStateMustResolveToSignalObject off FilterRTWStateStorageClass "Auto" DifferentiatorICPrevScaledInput "0" DifferentiatorOutMin "[]" DifferentiatorOutMax "[]" DifferentiatorOutDataTypeStr "Inherit: Inherit via internal rule" } Block { BlockType TransferFcn Name "G(s)" SID "3" Position [450, 72, 510, 108] ZOrder 3 Numerator "numGs" Denominator "denGs" } Block { BlockType TransferFcn Name "G(s)1" SID "8" Position [450, 177, 510, 213] ZOrder 9 Numerator "numGs" Denominator "denGs" } Block { BlockType TransferFcn Name "G(s)2" SID "14" Position [450, 292, 510, 328] ZOrder 14 Numerator "numGs" Denominator "denGs" } Block { BlockType TransferFcn Name "G(s)3" SID "23" Position [450, 422, 510, 458] ZOrder 20 Numerator "numGs" Denominator "denGs" } Block { BlockType TransferFcn Name "G(s)4" SID "33" Position [450, 547, 510, 583] ZOrder 28 Numerator "numGs" Denominator "denGs" } Block { BlockType Mux Name "Mux" SID "6" Ports [2, 1] Position [580, 31, 585, 109] ZOrder 6 ShowName off Inputs "2" DisplayOption "bar" } Block { BlockType Mux Name "Mux1" SID "9" Ports [2, 1] Position [580, 136, 585, 214] ZOrder 11 ShowName off Inputs "2" DisplayOption "bar" } Block { BlockType Mux Name "Mux2" SID "15" Ports [3, 1] Position [580, 251, 585, 329] ZOrder 16 ShowName off Inputs "3" DisplayOption "bar" } Block { BlockType Mux Name "Mux3" SID "24" Ports [3, 1] Position [580, 381, 585, 459] ZOrder 22 ShowName off Inputs "3" DisplayOption "bar" } Block { BlockType Mux Name "Mux4" SID "34" Ports [3, 1] Position [580, 506, 585, 584] ZOrder 30 ShowName off Inputs "3" DisplayOption "bar" } Block { BlockType Reference Name "PID Controller\nAutotuning" SID "16" Ports [1, 1] Position [285, 292, 325, 328] ZOrder 18 LibraryVersion "1.388" SourceBlock "simulink/Continuous/PID Controller" SourceType "PID 1dof" ContentPreviewEnabled off Controller "PID" TimeDomain "Continuous-time" SampleTime "-1" IntegratorMethod "Forward Euler" FilterMethod "Forward Euler" Form "Parallel" UseFilter on ControllerParametersSource "internal" P "2.16941104111668" I "0.855279204966312" D "1.19066838344014" N "94.2813015702774" InitialConditionSource "internal" InitialConditionForIntegrator "0" InitialConditionForFilter "0" ExternalReset "none" IgnoreLimit off ZeroCross on LimitOutput off UpperSaturationLimit "inf" LowerSaturationLimit "-inf" LinearizeAsGain on AntiWindupMode "none" Kb "1" TrackingMode off Kt "1" RndMeth "Floor" SaturateOnIntegerOverflow off LockScale off PParamMin "[]" PParamMax "[]" PParamDataTypeStr "Inherit: Inherit via internal rule" IParamMin "[]" IParamMax "[]" IParamDataTypeStr "Inherit: Inherit via internal rule" DParamMin "[]" DParamMax "[]" DParamDataTypeStr "Inherit: Inherit via internal rule" NParamMin "[]" NParamMax "[]" NParamDataTypeStr "Inherit: Inherit via internal rule" KbParamMin "[]" KbParamMax "[]" KbParamDataTypeStr "Inherit: Inherit via internal rule" KtParamMin "[]" KtParamMax "[]" KtParamDataTypeStr "Inherit: Inherit via internal rule" POutMin "[]" POutMax "[]" POutDataTypeStr "Inherit: Inherit via internal rule" PGainOutDataTypeStr "Inherit: Inherit via internal rule" PProdOutDataTypeStr "Inherit: Inherit via internal rule" IOutMin "[]" IOutMax "[]" IOutDataTypeStr "Inherit: Inherit via internal rule" IGainOutDataTypeStr "Inherit: Inherit via internal rule" IProdOutDataTypeStr "Inherit: Inherit via internal rule" DOutMin "[]" DOutMax "[]" DOutDataTypeStr "Inherit: Inherit via internal rule" DGainOutDataTypeStr "Inherit: Inherit via internal rule" DProdOutDataTypeStr "Inherit: Inherit via internal rule" NOutMin "[]" NOutMax "[]" NOutDataTypeStr "Inherit: Inherit via internal rule" NGainOutDataTypeStr "Inherit: Inherit via internal rule" NProdOutDataTypeStr "Inherit: Inherit via internal rule" KbOutMin "[]" KbOutMax "[]" KbOutDataTypeStr "Inherit: Inherit via internal rule" KtOutMin "[]" KtOutMax "[]" KtOutDataTypeStr "Inherit: Inherit via internal rule" IntegratorOutMin "[]" IntegratorOutMax "[]" IntegratorOutDataTypeStr "Inherit: Inherit via internal rule" FilterOutMin "[]" FilterOutMax "[]" FilterOutDataTypeStr "Inherit: Inherit via internal rule" SumOutMin "[]" SumOutMax "[]" SumOutDataTypeStr "Inherit: Inherit via internal rule" SumI1OutMin "[]" SumI1OutMax "[]" SumI1OutDataTypeStr "Inherit: Inherit via internal rule" SumI2OutMin "[]" SumI2OutMax "[]" SumI2OutDataTypeStr "Inherit: Inherit via internal rule" SumI3OutMin "[]" SumI3OutMax "[]" SumI3OutDataTypeStr "Inherit: Inherit via internal rule" SumDOutMin "[]" SumDOutMax "[]" SumDOutDataTypeStr "Inherit: Inherit via internal rule" SumAccumDataTypeStr "Inherit: Inherit via internal rule" SumI1AccumDataTypeStr "Inherit: Inherit via internal rule" SumI2AccumDataTypeStr "Inherit: Inherit via internal rule" SumI3AccumDataTypeStr "Inherit: Inherit via internal rule" SumDAccumDataTypeStr "Inherit: Inherit via internal rule" SaturationOutMin "[]" SaturationOutMax "[]" SaturationOutDataTypeStr "Inherit: Same as input" IntegratorContinuousStateAttributes "''" IntegratorStateMustResolveToSignalObject off IntegratorRTWStateStorageClass "Auto" FilterContinuousStateAttributes "''" FilterStateMustResolveToSignalObject off FilterRTWStateStorageClass "Auto" DifferentiatorICPrevScaledInput "0" DifferentiatorOutMin "[]" DifferentiatorOutMax "[]" DifferentiatorOutDataTypeStr "Inherit: Inherit via internal rule" } Block { BlockType Reference Name "PID Controller\nZiegler Nichols" SID "13" Ports [1, 1] Position [285, 177, 325, 213] ZOrder 13 LibraryVersion "1.388" SourceBlock "simulink/Continuous/PID Controller" SourceType "PID 1dof" ContentPreviewEnabled off Controller "PID" TimeDomain "Continuous-time" SampleTime "-1" IntegratorMethod "Forward Euler" FilterMethod "Forward Euler" Form "Parallel" UseFilter on ControllerParametersSource "internal" P "Kp" I "Ki" D "Kd" N "100" InitialConditionSource "internal" InitialConditionForIntegrator "0" InitialConditionForFilter "0" ExternalReset "none" IgnoreLimit off ZeroCross on LimitOutput off UpperSaturationLimit "inf" LowerSaturationLimit "-inf" LinearizeAsGain on AntiWindupMode "none" Kb "1" TrackingMode off Kt "1" RndMeth "Floor" SaturateOnIntegerOverflow off LockScale off PParamMin "[]" PParamMax "[]" PParamDataTypeStr "Inherit: Inherit via internal rule" IParamMin "[]" IParamMax "[]" IParamDataTypeStr "Inherit: Inherit via internal rule" DParamMin "[]" DParamMax "[]" DParamDataTypeStr "Inherit: Inherit via internal rule" NParamMin "[]" NParamMax "[]" NParamDataTypeStr "Inherit: Inherit via internal rule" KbParamMin "[]" KbParamMax "[]" KbParamDataTypeStr "Inherit: Inherit via internal rule" KtParamMin "[]" KtParamMax "[]" KtParamDataTypeStr "Inherit: Inherit via internal rule" POutMin "[]" POutMax "[]" POutDataTypeStr "Inherit: Inherit via internal rule" PGainOutDataTypeStr "Inherit: Inherit via internal rule" PProdOutDataTypeStr "Inherit: Inherit via internal rule" IOutMin "[]" IOutMax "[]" IOutDataTypeStr "Inherit: Inherit via internal rule" IGainOutDataTypeStr "Inherit: Inherit via internal rule" IProdOutDataTypeStr "Inherit: Inherit via internal rule" DOutMin "[]" DOutMax "[]" DOutDataTypeStr "Inherit: Inherit via internal rule" DGainOutDataTypeStr "Inherit: Inherit via internal rule" DProdOutDataTypeStr "Inherit: Inherit via internal rule" NOutMin "[]" NOutMax "[]" NOutDataTypeStr "Inherit: Inherit via internal rule" NGainOutDataTypeStr "Inherit: Inherit via internal rule" NProdOutDataTypeStr "Inherit: Inherit via internal rule" KbOutMin "[]" KbOutMax "[]" KbOutDataTypeStr "Inherit: Inherit via internal rule" KtOutMin "[]" KtOutMax "[]" KtOutDataTypeStr "Inherit: Inherit via internal rule" IntegratorOutMin "[]" IntegratorOutMax "[]" IntegratorOutDataTypeStr "Inherit: Inherit via internal rule" FilterOutMin "[]" FilterOutMax "[]" FilterOutDataTypeStr "Inherit: Inherit via internal rule" SumOutMin "[]" SumOutMax "[]" SumOutDataTypeStr "Inherit: Inherit via internal rule" SumI1OutMin "[]" SumI1OutMax "[]" SumI1OutDataTypeStr "Inherit: Inherit via internal rule" SumI2OutMin "[]" SumI2OutMax "[]" SumI2OutDataTypeStr "Inherit: Inherit via internal rule" SumI3OutMin "[]" SumI3OutMax "[]" SumI3OutDataTypeStr "Inherit: Inherit via internal rule" SumDOutMin "[]" SumDOutMax "[]" SumDOutDataTypeStr "Inherit: Inherit via internal rule" SumAccumDataTypeStr "Inherit: Inherit via internal rule" SumI1AccumDataTypeStr "Inherit: Inherit via internal rule" SumI2AccumDataTypeStr "Inherit: Inherit via internal rule" SumI3AccumDataTypeStr "Inherit: Inherit via internal rule" SumDAccumDataTypeStr "Inherit: Inherit via internal rule" SaturationOutMin "[]" SaturationOutMax "[]" SaturationOutDataTypeStr "Inherit: Same as input" IntegratorContinuousStateAttributes "''" IntegratorStateMustResolveToSignalObject off IntegratorRTWStateStorageClass "Auto" FilterContinuousStateAttributes "''" FilterStateMustResolveToSignalObject off FilterRTWStateStorageClass "Auto" DifferentiatorICPrevScaledInput "0" DifferentiatorOutMin "[]" DifferentiatorOutMax "[]" DifferentiatorOutDataTypeStr "Inherit: Inherit via internal rule" } Block { BlockType Scope Name "Scope" SID "7" Ports [1] Position [630, 54, 660, 86] ZOrder 7 ScopeSpecificationString "Simulink.scopes.TimeScopeBlockCfg('CurrentConfiguration', extmgr.ConfigurationSet(extm" "gr.Configuration('Core','General UI',true),extmgr.Configuration('Core','Source UI',true),extmgr.Configuration('S" "ources','WiredSimulink',true),extmgr.Configuration('Visuals','Time Domain',true,'SerializedDisplays',{struct('Mi" "nYLimReal','-0.125','MaxYLimReal','1.125','YLabelReal','','MinYLimMag','0.00000','MaxYLimMag','1.125','LegendVis" "ibility','off','XGrid',true,'YGrid',true,'PlotMagPhase',false,'AxesColor',[0 0 0],'AxesTickColor',[0.68627450980" "3922 0.686274509803922 0.686274509803922],'ColorOrder',[1 1 0.0666666666666667;0.0745098039215686 0.623529411764" "706 1;1 0.411764705882353 0.16078431372549;0.392156862745098 0.831372549019608 0.0745098039215686;0.717647058823" "529 0.274509803921569 1;0.0588235294117647 1 1;1 0.0745098039215686 0.650980392156863],'Title','%'," "'LinePropertiesCache',{{}},'UserDefinedChannelNames',{{}},'NumLines',2,'LineNames',{{'Step','G(s)'}},'ShowConten" "t',true,'Placement',1)},'DisplayPropertyDefaults',struct('MinYLimReal','-0.125','MaxYLimReal','1.125','YLabelRea" "l','','MinYLimMag','0.00000','MaxYLimMag','1.125','LegendVisibility','off','XGrid',true,'YGrid',true,'PlotMagPha" "se',false,'AxesColor',[0 0 0],'AxesTickColor',[0.686274509803922 0.686274509803922 0.686274509803922],'ColorOrde" "r',[0.0745098039215686 0.623529411764706 1;1 0.411764705882353 0.16078431372549;1 1 0.0666666666666667;0.7176470" "58823529 0.274509803921569 1;0.392156862745098 0.831372549019608 0.0745098039215686;0.0588235294117647 1 1;1 0.0" "745098039215686 0.650980392156863])),extmgr.Configuration('Tools','Plot Navigation',true),extmgr.Configuration('" "Tools','Measurements',true,'Version','2016b')),'Version','2016b','VisibleAtModelOpen','on')" NumInputPorts "1" } Block { BlockType Scope Name "Scope1" SID "10" Ports [1] Position [630, 159, 660, 191] ZOrder 12 ScopeSpecificationString "Simulink.scopes.TimeScopeBlockCfg('CurrentConfiguration', extmgr.ConfigurationSet(extm" "gr.Configuration('Core','General UI',true),extmgr.Configuration('Core','Source UI',true),extmgr.Configuration('S" "ources','WiredSimulink',true,'DataLoggingVariableName','ScopeData1'),extmgr.Configuration('Visuals','Time Domain" "',true,'SerializedDisplays',{struct('MinYLimReal','-0.17625','MaxYLimReal','1.58623','YLabelReal','','MinYLimMag" "','0.00000','MaxYLimMag','1.58623','LegendVisibility','off','XGrid',true,'YGrid',true,'PlotMagPhase',false,'Axes" "Color',[0 0 0],'AxesTickColor',[0.686274509803922 0.686274509803922 0.686274509803922],'ColorOrder',[1 1 0.06666" "66666666667;0.0745098039215686 0.623529411764706 1;1 0.411764705882353 0.16078431372549;0.392156862745098 0.8313" "72549019608 0.0745098039215686;0.717647058823529 0.274509803921569 1;0.0588235294117647 1 1;1 0.0745098039215686" " 0.650980392156863],'Title','%','LinePropertiesCache',{{}},'UserDefinedChannelNames',{{}},'NumLines" "',2,'LineNames',{{'Step','G(s)1'}},'ShowContent',true,'Placement',1)},'DisplayPropertyDefaults',struct('MinYLimR" "eal','-0.17625','MaxYLimReal','1.58623','YLabelReal','','MinYLimMag','0.00000','MaxYLimMag','1.58623','LegendVis" "ibility','off','XGrid',true,'YGrid',true,'PlotMagPhase',false,'AxesColor',[0 0 0],'AxesTickColor',[0.68627450980" "3922 0.686274509803922 0.686274509803922],'ColorOrder',[0.0745098039215686 0.623529411764706 1;1 0.4117647058823" "53 0.16078431372549;1 1 0.0666666666666667;0.717647058823529 0.274509803921569 1;0.392156862745098 0.83137254901" "9608 0.0745098039215686;0.0588235294117647 1 1;1 0.0745098039215686 0.650980392156863])),extmgr.Configuration('T" "ools','Plot Navigation',true),extmgr.Configuration('Tools','Measurements',true,'Version','2016b')),'Version','20" "16b','Position',[120 48 680 462])" NumInputPorts "1" } Block { BlockType Scope Name "Scope2" SID "17" Ports [1] Position [630, 274, 660, 306] ZOrder 17 ScopeSpecificationString "Simulink.scopes.TimeScopeBlockCfg('CurrentConfiguration', extmgr.ConfigurationSet(extm" "gr.Configuration('Core','General UI',true),extmgr.Configuration('Core','Source UI',true),extmgr.Configuration('S" "ources','WiredSimulink',true,'DataLoggingVariableName','ScopeData2'),extmgr.Configuration('Visuals','Time Domain" "',true,'SerializedDisplays',{struct('MinYLimReal','-0.17625','MaxYLimReal','1.58623','YLabelReal','','MinYLimMag" "','0.00000','MaxYLimMag','1.58623','LegendVisibility','off','XGrid',true,'YGrid',true,'PlotMagPhase',false,'Axes" "Color',[0 0 0],'AxesTickColor',[0.686274509803922 0.686274509803922 0.686274509803922],'ColorOrder',[1 1 0.06666" "66666666667;0.0745098039215686 0.623529411764706 1;1 0.411764705882353 0.16078431372549;0.392156862745098 0.8313" "72549019608 0.0745098039215686;0.717647058823529 0.274509803921569 1;0.0588235294117647 1 1;1 0.0745098039215686" " 0.650980392156863],'Title','%','LinePropertiesCache',{{}},'UserDefinedChannelNames',{{}},'NumLines" "',3,'LineNames',{{'Step','G(s)1','G(s)2'}},'ShowContent',true,'Placement',1)},'DisplayPropertyDefaults',struct('" "MinYLimReal','-0.17625','MaxYLimReal','1.58623','YLabelReal','','MinYLimMag','0.00000','MaxYLimMag','1.58623','L" "egendVisibility','off','XGrid',true,'YGrid',true,'PlotMagPhase',false,'AxesColor',[0 0 0],'AxesTickColor',[0.686" "274509803922 0.686274509803922 0.686274509803922],'ColorOrder',[0.0745098039215686 0.623529411764706 1;1 0.41176" "4705882353 0.16078431372549;1 1 0.0666666666666667;0.717647058823529 0.274509803921569 1;0.392156862745098 0.831" "372549019608 0.0745098039215686;0.0588235294117647 1 1;1 0.0745098039215686 0.650980392156863])),extmgr.Configur" "ation('Tools','Plot Navigation',true),extmgr.Configuration('Tools','Measurements',true,'Version','2016b')),'Vers" "ion','2016b','Position',[120 48 680 462])" NumInputPorts "1" } Block { BlockType Scope Name "Scope3" SID "26" Ports [1] Position [630, 404, 660, 436] ZOrder 23 ScopeSpecificationString "Simulink.scopes.TimeScopeBlockCfg('CurrentConfiguration', extmgr.ConfigurationSet(extm" "gr.Configuration('Core','General UI',true),extmgr.Configuration('Core','Source UI',true),extmgr.Configuration('S" "ources','WiredSimulink',true,'DataLoggingVariableName','ScopeData3'),extmgr.Configuration('Visuals','Time Domain" "',true,'SerializedDisplays',{struct('MinYLimReal','-0.18238','MaxYLimReal','1.64142','YLabelReal','','MinYLimMag" "','0.00000','MaxYLimMag','1.64142','LegendVisibility','off','XGrid',true,'YGrid',true,'PlotMagPhase',false,'Axes" "Color',[0 0 0],'AxesTickColor',[0.686274509803922 0.686274509803922 0.686274509803922],'ColorOrder',[1 1 0.06666" "66666666667;0.0745098039215686 0.623529411764706 1;1 0.411764705882353 0.16078431372549;0.392156862745098 0.8313" "72549019608 0.0745098039215686;0.717647058823529 0.274509803921569 1;0.0588235294117647 1 1;1 0.0745098039215686" " 0.650980392156863],'Title','%','LinePropertiesCache',{{}},'UserDefinedChannelNames',{{}},'NumLines" "',3,'LineNames',{{'Step','G(s)1','G(s)3'}},'ShowContent',true,'Placement',1)},'DisplayPropertyDefaults',struct('" "MinYLimReal','-0.18238','MaxYLimReal','1.64142','YLabelReal','','MinYLimMag','0.00000','MaxYLimMag','1.64142','L" "egendVisibility','off','XGrid',true,'YGrid',true,'PlotMagPhase',false,'AxesColor',[0 0 0],'AxesTickColor',[0.686" "274509803922 0.686274509803922 0.686274509803922],'ColorOrder',[0.0745098039215686 0.623529411764706 1;1 0.41176" "4705882353 0.16078431372549;1 1 0.0666666666666667;0.717647058823529 0.274509803921569 1;0.392156862745098 0.831" "372549019608 0.0745098039215686;0.0588235294117647 1 1;1 0.0745098039215686 0.650980392156863])),extmgr.Configur" "ation('Tools','Plot Navigation',true),extmgr.Configuration('Tools','Measurements',true,'Version','2016b')),'Vers" "ion','2016b','Position',[120 48 680 462])" NumInputPorts "1" } Block { BlockType Scope Name "Scope4" SID "35" Ports [1] Position [630, 529, 660, 561] ZOrder 31 ScopeSpecificationString "Simulink.scopes.TimeScopeBlockCfg('CurrentConfiguration', extmgr.ConfigurationSet(extm" "gr.Configuration('Core','General UI',true),extmgr.Configuration('Core','Source UI',true),extmgr.Configuration('S" "ources','WiredSimulink',true,'DataLoggingVariableName','ScopeData4'),extmgr.Configuration('Visuals','Time Domain" "',true,'SerializedDisplays',{struct('MinYLimReal','-0.13485','MaxYLimReal','1.21366','YLabelReal','','MinYLimMag" "','0.00000','MaxYLimMag','1.21366','LegendVisibility','off','XGrid',true,'YGrid',true,'PlotMagPhase',false,'Axes" "Color',[0 0 0],'AxesTickColor',[0.686274509803922 0.686274509803922 0.686274509803922],'ColorOrder',[1 1 0.06666" "66666666667;0.0745098039215686 0.623529411764706 1;1 0.411764705882353 0.16078431372549;0.392156862745098 0.8313" "72549019608 0.0745098039215686;0.717647058823529 0.274509803921569 1;0.0588235294117647 1 1;1 0.0745098039215686" " 0.650980392156863],'Title','%','LinePropertiesCache',{{}},'UserDefinedChannelNames',{{}},'NumLines" "',3,'LineNames',{{'Step','G(s)2','G(s)4'}},'ShowContent',true,'Placement',1)},'DisplayPropertyDefaults',struct('" "MinYLimReal','-0.13485','MaxYLimReal','1.21366','YLabelReal','','MinYLimMag','0.00000','MaxYLimMag','1.21366','L" "egendVisibility','off','XGrid',true,'YGrid',true,'PlotMagPhase',false,'AxesColor',[0 0 0],'AxesTickColor',[0.686" "274509803922 0.686274509803922 0.686274509803922],'ColorOrder',[0.0745098039215686 0.623529411764706 1;1 0.41176" "4705882353 0.16078431372549;1 1 0.0666666666666667;0.717647058823529 0.274509803921569 1;0.392156862745098 0.831" "372549019608 0.0745098039215686;0.0588235294117647 1 1;1 0.0745098039215686 0.650980392156863])),extmgr.Configur" "ation('Tools','Plot Navigation',true),extmgr.Configuration('Tools','Measurements',true,'Version','2016b')),'Vers" "ion','2016b','Position',[83 54 680 462])" NumInputPorts "1" } Block { BlockType Step Name "Step" SID "4" Position [45, 75, 75, 105] ZOrder 4 Time "0" SampleTime "0" } Block { BlockType Sum Name "Sum" SID "5" Ports [2, 1] Position [145, 80, 165, 100] ZOrder 5 ShowName off IconShape "round" Inputs "|+-" InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Sum Name "Sum1" SID "11" Ports [2, 1] Position [145, 185, 165, 205] ZOrder 10 ShowName off IconShape "round" Inputs "|+-" InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Sum Name "Sum2" SID "18" Ports [2, 1] Position [145, 300, 165, 320] ZOrder 15 ShowName off IconShape "round" Inputs "|+-" InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Sum Name "Sum3" SID "27" Ports [2, 1] Position [145, 430, 165, 450] ZOrder 21 ShowName off IconShape "round" Inputs "|+-" InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Sum Name "Sum4" SID "36" Ports [2, 1] Position [145, 555, 165, 575] ZOrder 29 ShowName off IconShape "round" Inputs "|+-" InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType ToWorkspace Name "To Workspace" SID "2" Ports [1] Position [125, 20, 185, 50] ZOrder 2 VariableName "t" MaxDataPoints "inf" Save2DSignal "3-D array (concatenate along third dimension)" FixptAsFi on SampleTime "-1" } Block { BlockType ToWorkspace Name "To Workspace1" SID "22" Ports [1] Position [630, 340, 690, 370] ZOrder 19 VariableName "yc" MaxDataPoints "inf" Save2DSignal "3-D array (concatenate along third dimension)" FixptAsFi on SampleTime "-1" } Block { BlockType ZeroOrderHold Name "Zero-Order\nHold" SID "30" Position [355, 425, 390, 455] ZOrder 26 SampleTime "T" } Block { BlockType ZeroOrderHold Name "Zero-Order\nHold1" SID "37" Position [355, 550, 390, 580] ZOrder 32 SampleTime "T" } Line { ZOrder 2 SrcBlock "Clock" SrcPort 1 DstBlock "To Workspace" DstPort 1 } Line { ZOrder 10 SrcBlock "G(s)" SrcPort 1 Points [34, 0] Branch { ZOrder 15 DstBlock "Mux" DstPort 2 } Branch { ZOrder 12 Points [0, 45; -394, 0] DstBlock "Sum" DstPort 2 } } Line { ZOrder 8 SrcBlock "Sum" SrcPort 1 DstBlock "G(s)" DstPort 1 } Line { ZOrder 19 SrcBlock "Mux" SrcPort 1 DstBlock "Scope" DstPort 1 } Line { FontName "Helvetica" FontSize 9 FontWeight "normal" FontAngle "normal" ZOrder 27 SrcBlock "Mux1" SrcPort 1 DstBlock "Scope1" DstPort 1 } Line { ZOrder 41 SrcBlock "Sum1" SrcPort 1 DstBlock "PID Controller\nZiegler Nichols" DstPort 1 } Line { ZOrder 42 SrcBlock "PID Controller\nZiegler Nichols" SrcPort 1 DstBlock "G(s)1" DstPort 1 } Line { FontName "Helvetica" FontSize 9 FontWeight "normal" FontAngle "normal" ZOrder 45 SrcBlock "G(s)2" SrcPort 1 Points [29, 0; 0, 5] Branch { ZOrder 57 DstBlock "Mux2" DstPort 3 } Branch { ZOrder 56 Points [0, 40] Branch { ZOrder 59 DstBlock "To Workspace1" DstPort 1 } Branch { ZOrder 97 Points [0, 69; 7, 0; 0, 121] DstBlock "Mux4" DstPort 2 } Branch { ZOrder 58 Points [-389, 0] DstBlock "Sum2" DstPort 2 } } } Line { FontName "Helvetica" FontSize 9 FontWeight "normal" FontAngle "normal" ZOrder 49 SrcBlock "Mux2" SrcPort 1 DstBlock "Scope2" DstPort 1 } Line { ZOrder 50 SrcBlock "Sum2" SrcPort 1 DstBlock "PID Controller\nAutotuning" DstPort 1 } Line { ZOrder 51 SrcBlock "PID Controller\nAutotuning" SrcPort 1 DstBlock "G(s)2" DstPort 1 } Line { FontName "Helvetica" FontSize 9 FontWeight "normal" FontAngle "normal" ZOrder 22 SrcBlock "G(s)1" SrcPort 1 Points [34, 0] Branch { ZOrder 21 DstBlock "Mux1" DstPort 2 } Branch { ZOrder 20 Points [0, 45] Branch { ZOrder 55 Points [0, 50; 6, 0] Branch { ZOrder 81 DstBlock "Mux2" DstPort 2 } Branch { ZOrder 80 Points [0, 130] DstBlock "Mux3" DstPort 2 } } Branch { ZOrder 54 Points [-394, 0] DstBlock "Sum1" DstPort 2 } } } Line { FontName "Helvetica" FontSize 9 FontWeight "normal" FontAngle "normal" ZOrder 65 SrcBlock "G(s)3" SrcPort 1 Points [29, 0; 0, 5] Branch { ZOrder 64 DstBlock "Mux3" DstPort 3 } Branch { ZOrder 63 Points [0, 40; -389, 0] DstBlock "Sum3" DstPort 2 } } Line { FontName "Helvetica" FontSize 9 FontWeight "normal" FontAngle "normal" ZOrder 69 SrcBlock "Mux3" SrcPort 1 DstBlock "Scope3" DstPort 1 } Line { ZOrder 75 SrcBlock "Zero-Order\nHold" SrcPort 1 DstBlock "G(s)3" DstPort 1 } Line { ZOrder 78 SrcBlock "Discrete PID Controller" SrcPort 1 DstBlock "Zero-Order\nHold" DstPort 1 } Line { ZOrder 77 SrcBlock "Sum3" SrcPort 1 DstBlock "Discrete PID Controller" DstPort 1 } Line { FontName "Helvetica" FontSize 9 FontWeight "normal" FontAngle "normal" ZOrder 85 SrcBlock "G(s)4" SrcPort 1 Points [29, 0; 0, 5] Branch { ZOrder 84 DstBlock "Mux4" DstPort 3 } Branch { ZOrder 83 Points [0, 40; -389, 0] DstBlock "Sum4" DstPort 2 } } Line { FontName "Helvetica" FontSize 9 FontWeight "normal" FontAngle "normal" ZOrder 6 SrcBlock "Step" SrcPort 1 Points [27, 0] Branch { ZOrder 36 Points [0, 65] Branch { ZOrder 38 Points [0, 40] Branch { ZOrder 53 Points [0, 75] Branch { ZOrder 47 Points [0, 40] Branch { ZOrder 73 Points [0, 90] Branch { ZOrder 67 Points [0, 40] Branch { ZOrder 95 Points [0, 85] Branch { ZOrder 87 Points [0, 40] DstBlock "Sum4" DstPort 1 } Branch { ZOrder 86 Points [458, 0] DstBlock "Mux4" DstPort 1 } } Branch { ZOrder 94 DstBlock "Sum3" DstPort 1 } } Branch { ZOrder 66 Points [458, 0] DstBlock "Mux3" DstPort 1 } } Branch { ZOrder 72 DstBlock "Sum2" DstPort 1 } } Branch { ZOrder 46 Points [458, 0] DstBlock "Mux2" DstPort 1 } } Branch { ZOrder 52 DstBlock "Sum1" DstPort 1 } } Branch { ZOrder 25 DstBlock "Mux1" DstPort 1 } } Branch { ZOrder 18 Points [0, -22; 457, 0; 0, -18] DstBlock "Mux" DstPort 1 } Branch { ZOrder 13 DstBlock "Sum" DstPort 1 } } Line { FontName "Helvetica" FontSize 9 FontWeight "normal" FontAngle "normal" ZOrder 89 SrcBlock "Mux4" SrcPort 1 DstBlock "Scope4" DstPort 1 } Line { ZOrder 90 SrcBlock "Zero-Order\nHold1" SrcPort 1 DstBlock "G(s)4" DstPort 1 } Line { ZOrder 91 SrcBlock "Discrete PID Controller1" SrcPort 1 DstBlock "Zero-Order\nHold1" DstPort 1 } Line { ZOrder 92 SrcBlock "Sum4" SrcPort 1 DstBlock "Discrete PID Controller1" DstPort 1 } Annotation { SID "21" Name "\n" "\n

Sistema compensato da PID con autotuning" "

" Position [168, 247, 485, 268] InternalMargins [0, 0, 0, 0] FixedHeight off FixedWidth off HorizontalAlignment "left" VerticalAlignment "top" Interpreter "rich" } Annotation { SID "20" Name "\n" "\n

Sistema compensato con PID tarato second" "o Ziegler-Nichols

" Position [125, 136, 564, 157] InternalMargins [0, 0, 0, 0] FixedHeight off FixedWidth off HorizontalAlignment "left" VerticalAlignment "top" Interpreter "rich" } Annotation { SID "19" Name "\n" "\n

Sistema in retroazione unitaria non comp" "ensato

" Position [209, 31, 550, 52] InternalMargins [0, 0, 0, 0] FixedHeight off FixedWidth off HorizontalAlignment "left" VerticalAlignment "top" Interpreter "rich" } Annotation { SID "29" Name "\n" "\n

Sistema compensato da PID digitale Ziegl" "er Nichols

" Position [168, 377, 543, 398] InternalMargins [0, 0, 0, 0] FixedHeight off FixedWidth off HorizontalAlignment "left" VerticalAlignment "top" Interpreter "rich" ZOrder -1 } Annotation { SID "38" Name "\n" "\n

Sistema compensato da PID digitale con a" "utotuning

" Position [168, 502, 541, 523] InternalMargins [0, 0, 0, 0] FixedHeight off FixedWidth off HorizontalAlignment "left" VerticalAlignment "top" Interpreter "rich" ZOrder -2 } } }