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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 Controller\na taratura empirica" SID "34" Ports [1, 1] Position [280, 487, 320, 523] ZOrder 29 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 "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 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 "4" Position [540, 77, 600, 113] ZOrder 4 Numerator "numGs" Denominator "denGs" } Block { BlockType TransferFcn Name "G(s)1" SID "8" Position [560, 212, 620, 248] ZOrder 9 Numerator "numGs" Denominator "denGs" } Block { BlockType TransferFcn Name "G(s)2" SID "15" Position [570, 352, 630, 388] ZOrder 15 Numerator "numGs" Denominator "denGs" } Block { BlockType TransferFcn Name "G(s)3" SID "28" Position [570, 487, 630, 523] ZOrder 25 Numerator "numGs" Denominator "denGs" } Block { BlockType TransferFcn Name "G(s)4" SID "37" Position [570, 647, 630, 683] ZOrder 32 Numerator "numGs" Denominator "denGs" } Block { BlockType Mux Name "Mux" SID "6" Ports [2, 1] Position [750, 18, 755, 122] ZOrder 5 ShowName off Inputs "2" DisplayOption "bar" } Block { BlockType Mux Name "Mux1" SID "9" Ports [3, 1] Position [750, 153, 755, 257] ZOrder 10 ShowName off Inputs "3" DisplayOption "bar" } Block { BlockType Mux Name "Mux2" SID "16" Ports [3, 1] Position [760, 293, 765, 397] ZOrder 16 ShowName off Inputs "3" DisplayOption "bar" } Block { BlockType Mux Name "Mux3" SID "29" Ports [3, 1] Position [760, 428, 765, 532] ZOrder 26 ShowName off Inputs "3" DisplayOption "bar" } Block { BlockType Mux Name "Mux4" SID "38" Ports [3, 1] Position [760, 588, 765, 692] ZOrder 33 ShowName off Inputs "3" DisplayOption "bar" } Block { BlockType Reference Name "PID Controller taratura automatica" SID "17" Ports [1, 1] Position [330, 352, 370, 388] 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 "2.10028328430997" I "0.976712169260572" D "1.11561718216383" N "118.384971292491" 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 taratura empirica" SID "14" Ports [1, 1] Position [320, 212, 360, 248] ZOrder 12 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 [810, 54, 840, 86] ZOrder 6 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')" NumInputPorts "1" } Block { BlockType Scope Name "Scope1" SID "10" Ports [1] Position [810, 189, 840, 221] ZOrder 11 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','-0.16601','MaxYLimReal','1.49405','YLabelReal','','MinYLimMag" "','0.00000','MaxYLimMag','1.49405','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)','G(s)1'}},'ShowContent',true,'Placement',1)},'DisplayPropertyDefaults',struct('M" "inYLimReal','-0.16601','MaxYLimReal','1.49405','YLabelReal','','MinYLimMag','0.00000','MaxYLimMag','1.49405','Le" "gendVisibility','off','XGrid',true,'YGrid',true,'PlotMagPhase',false,'AxesColor',[0 0 0],'AxesTickColor',[0.6862" "74509803922 0.686274509803922 0.686274509803922],'ColorOrder',[0.0745098039215686 0.623529411764706 1;1 0.411764" "705882353 0.16078431372549;1 1 0.0666666666666667;0.717647058823529 0.274509803921569 1;0.392156862745098 0.8313" "72549019608 0.0745098039215686;0.0588235294117647 1 1;1 0.0745098039215686 0.650980392156863])),extmgr.Configura" "tion('Tools','Plot Navigation',true),extmgr.Configuration('Tools','Measurements',true,'Version','2016b')),'Versi" "on','2016b','Position',[243 145 810 505],'VisibleAtModelOpen','on')" NumInputPorts "1" } Block { BlockType Scope Name "Scope2" SID "18" Ports [1] Position [820, 329, 850, 361] 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','-0.16601','MaxYLimReal','1.49405','YLabelReal','','MinYLimMag" "','0.00000','MaxYLimMag','1.49405','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','-0.16601','MaxYLimReal','1.49405','YLabelReal','','MinYLimMag','0.00000','MaxYLimMag','1.49405','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',[243 145 810 505])" NumInputPorts "1" } Block { BlockType Scope Name "Scope3" SID "31" Ports [1] Position [820, 464, 850, 496] ZOrder 27 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','-0.17071','MaxYLimReal','1.53642','YLabelReal','','MinYLimMag" "','0.00000','MaxYLimMag','1.53642','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','-0.17071','MaxYLimReal','1.53642','YLabelReal','','MinYLimMag','0.00000','MaxYLimMag','1.53642','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',[243 145 810 505])" NumInputPorts "1" } Block { BlockType Scope Name "Scope4" SID "39" Ports [1] Position [820, 624, 850, 656] ZOrder 34 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','-0.13768','MaxYLimReal','1.23915','YLabelReal','','MinYLimMag" "','0.00000','MaxYLimMag','1.23915','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','-0.13768','MaxYLimReal','1.23915','YLabelReal','','MinYLimMag','0.00000','MaxYLimMag','1.23915','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',[243 145 810 505])" NumInputPorts "1" } Block { BlockType Step Name "Step" SID "1" Position [40, 80, 70, 110] ZOrder 1 Time "0" SampleTime "0" } Block { BlockType Sum Name "Sum" SID "2" Ports [2, 1] Position [200, 85, 220, 105] ZOrder 2 ShowName off IconShape "round" Inputs "|+-" InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Sum Name "Sum1" SID "12" Ports [2, 1] Position [200, 220, 220, 240] ZOrder 8 ShowName off IconShape "round" Inputs "|+-" InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Sum Name "Sum2" SID "20" Ports [2, 1] Position [210, 360, 230, 380] ZOrder 14 ShowName off IconShape "round" Inputs "|+-" InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Sum Name "Sum3" SID "32" Ports [2, 1] Position [210, 495, 230, 515] ZOrder 24 ShowName off IconShape "round" Inputs "|+-" InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Sum Name "Sum4" SID "40" Ports [2, 1] Position [210, 655, 230, 675] ZOrder 31 ShowName off IconShape "round" Inputs "|+-" InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType ZeroOrderHold Name "Zero-Order\nHold" SID "35" Position [425, 490, 460, 520] ZOrder 30 SampleTime "T" } Block { BlockType ZeroOrderHold Name "Zero-Order\nHold1" SID "41" Position [425, 650, 460, 680] ZOrder 36 SampleTime "T" } Line { ZOrder 3 SrcBlock "Sum" SrcPort 1 DstBlock "G(s)" DstPort 1 } Line { ZOrder 4 SrcBlock "G(s)" SrcPort 1 Points [53, 0] Branch { ZOrder 10 DstBlock "Mux" DstPort 2 } Branch { ZOrder 6 Points [0, 45] Branch { ZOrder 31 Points [73, 0; 0, 65] DstBlock "Mux1" DstPort 2 } Branch { ZOrder 30 Points [-448, 0] DstBlock "Sum" DstPort 2 } } } Line { ZOrder 16 SrcBlock "Mux" SrcPort 1 DstBlock "Scope" DstPort 1 } Line { ZOrder 24 SrcBlock "Mux1" SrcPort 1 DstBlock "Scope1" DstPort 1 } Line { ZOrder 26 SrcBlock "Sum1" SrcPort 1 DstBlock "PID Controller taratura empirica" DstPort 1 } Line { ZOrder 27 SrcBlock "PID Controller taratura empirica" SrcPort 1 DstBlock "G(s)1" DstPort 1 } Line { ZOrder 35 SrcBlock "G(s)2" SrcPort 1 Points [33, 0] Branch { ZOrder 34 Points [77, 0] DstBlock "Mux2" DstPort 3 } Branch { ZOrder 33 Points [0, 43] Branch { ZOrder 109 Points [25, 0; 0, 227] DstBlock "Mux4" DstPort 2 } Branch { ZOrder 108 Points [0, 2; -448, 0] DstBlock "Sum2" DstPort 2 } } } Line { ZOrder 39 SrcBlock "Mux2" SrcPort 1 DstBlock "Scope2" DstPort 1 } Line { ZOrder 40 SrcBlock "Sum2" SrcPort 1 DstBlock "PID Controller taratura automatica" DstPort 1 } Line { ZOrder 41 SrcBlock "PID Controller taratura automatica" SrcPort 1 DstBlock "G(s)2" DstPort 1 } Line { ZOrder 20 SrcBlock "G(s)1" SrcPort 1 Points [31, 0] Branch { ZOrder 29 Points [0, 10] DstBlock "Mux1" DstPort 3 } Branch { ZOrder 28 Points [2, 0; 0, 45] Branch { ZOrder 90 Points [0, 8; 51, 0; 0, 197] DstBlock "Mux3" DstPort 2 } Branch { ZOrder 51 Points [83, 0; 0, 70] DstBlock "Mux2" DstPort 2 } Branch { ZOrder 50 Points [-448, 0] DstBlock "Sum1" DstPort 2 } } } Line { ZOrder 79 SrcBlock "G(s)3" SrcPort 1 Points [33, 0] Branch { ZOrder 78 Points [77, 0] DstBlock "Mux3" DstPort 3 } Branch { ZOrder 77 Points [0, 45; -448, 0] DstBlock "Sum3" DstPort 2 } } Line { ZOrder 83 SrcBlock "Mux3" SrcPort 1 DstBlock "Scope3" DstPort 1 } Line { ZOrder 91 SrcBlock "Sum3" SrcPort 1 DstBlock "Discrete PID Controller\na taratura empirica" DstPort 1 } Line { ZOrder 94 SrcBlock "Zero-Order\nHold" SrcPort 1 DstBlock "G(s)3" DstPort 1 } Line { ZOrder 93 SrcBlock "Discrete PID Controller\na taratura empirica" SrcPort 1 DstBlock "Zero-Order\nHold" DstPort 1 } Line { ZOrder 98 SrcBlock "G(s)4" SrcPort 1 Points [33, 0] Branch { ZOrder 97 Points [77, 0] DstBlock "Mux4" DstPort 3 } Branch { ZOrder 96 Points [0, 45; -448, 0] DstBlock "Sum4" DstPort 2 } } Line { ZOrder 1 SrcBlock "Step" SrcPort 1 Points [47, 0] Branch { ZOrder 43 Points [0, 135] Branch { ZOrder 45 Points [0, 80] Branch { ZOrder 48 DstBlock "Mux2" DstPort 1 } Branch { ZOrder 46 Points [0, 60] Branch { ZOrder 87 Points [0, 75] Branch { ZOrder 81 DstBlock "Mux3" DstPort 1 } Branch { ZOrder 80 Points [0, 60] Branch { ZOrder 107 Points [0, 100] Branch { ZOrder 100 DstBlock "Mux4" DstPort 1 } Branch { ZOrder 99 Points [0, 60] DstBlock "Sum4" DstPort 1 } } Branch { ZOrder 106 DstBlock "Sum3" DstPort 1 } } } Branch { ZOrder 86 DstBlock "Sum2" DstPort 1 } } } Branch { ZOrder 44 Points [44, 0] Branch { ZOrder 22 Points [0, -60] DstBlock "Mux1" DstPort 1 } Branch { ZOrder 21 DstBlock "Sum1" DstPort 1 } } } Branch { ZOrder 42 DstBlock "Sum" DstPort 1 } Branch { ZOrder 14 Points [0, -50] DstBlock "Mux" DstPort 1 } } Line { ZOrder 102 SrcBlock "Mux4" SrcPort 1 DstBlock "Scope4" DstPort 1 } Line { ZOrder 103 SrcBlock "Sum4" SrcPort 1 DstBlock "Discrete PID Controller\na taratura automatica" DstPort 1 } Line { ZOrder 104 SrcBlock "Zero-Order\nHold1" SrcPort 1 DstBlock "G(s)4" DstPort 1 } Line { ZOrder 105 SrcBlock "Discrete PID Controller\na taratura automatica" SrcPort 1 DstBlock "Zero-Order\nHold1" DstPort 1 } Annotation { SID "5" Name "\n" "\n

Sistema non compensato in retroazione un" "itaria

" Position [191, 50, 532, 71] InternalMargins [0, 0, 0, 0] FixedHeight off FixedWidth off HorizontalAlignment "left" VerticalAlignment "top" Interpreter "rich" } Annotation { SID "13" Name "\n" "\n

Sistema compensato con regolatore PID em" "pirico in retroazione unitaria

" Position [189, 184, 705, 205] InternalMargins [0, 0, 0, 0] FixedHeight off FixedWidth off HorizontalAlignment "left" VerticalAlignment "top" Interpreter "rich" ZOrder -1 } Annotation { SID "21" Name "\n" "\n

Sistema compensato con PID a taratura au" "tomatica in retroazione unitaria

" Position [143, 318, 673, 339] InternalMargins [0, 0, 0, 0] FixedHeight off FixedWidth off HorizontalAlignment "left" VerticalAlignment "top" Interpreter "rich" ZOrder -2 } Annotation { SID "33" Name "\n" "\n

Sistema compensato con PID empirico in r" "etroazione unitaria a tempo discreto

" Position [143, 458, 705, 479] InternalMargins [0, 0, 0, 0] FixedHeight off FixedWidth off HorizontalAlignment "left" VerticalAlignment "top" Interpreter "rich" ZOrder -4 } Annotation { SID "42" Name "\n" "\n

Sistema compensato con PID a taratura au" "tomatica in retroazione unitaria a tempo discreto

" Position [93, 608, 745, 629] InternalMargins [0, 0, 0, 0] FixedHeight off FixedWidth off HorizontalAlignment "left" VerticalAlignment "top" Interpreter "rich" ZOrder -5 } } }