Model { Name "robot_v4" Version 7.2 MdlSubVersion 0 GraphicalInterface { NumRootInports 0 NumRootOutports 0 ParameterArgumentNames "" ComputedModelVersion "1.96" NumModelReferences 0 NumTestPointedSignals 0 } SavedCharacterEncoding "ISO-8859-1" SaveDefaultBlockParams on ScopeRefreshTime 0.035000 OverrideScopeRefreshTime on DisableAllScopes off DataTypeOverride "UseLocalSettings" MinMaxOverflowLogging "UseLocalSettings" MinMaxOverflowArchiveMode "Overwrite" Created "Wed Feb 08 10:28:32 2006" Creator "tdang" UpdateHistory "UpdateHistoryNever" ModifiedByFormat "%" LastModifiedBy "tdang" ModifiedDateFormat "%" LastModifiedDate "Tue Sep 27 15:17:18 2011" RTWModifiedTimeStamp 219588107 ModelVersionFormat "1.%" ConfigurationManager "None" SampleTimeColors off SampleTimeAnnotations off LibraryLinkDisplay "none" WideLines off ShowLineDimensions off ShowPortDataTypes off ShowLoopsOnError on IgnoreBidirectionalLines off ShowStorageClass off ShowTestPointIcons on ShowSignalResolutionIcons on ShowViewerIcons on SortedOrder off ExecutionContextIcon off ShowLinearizationAnnotations on BlockNameDataTip on BlockParametersDataTip on BlockDescriptionStringDataTip on ToolBar on StatusBar on BrowserShowLibraryLinks off BrowserLookUnderMasks off SimulationMode "normal" 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 CovModelRefEnable "Off" 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 off BufferReuse on ShowModelReferenceBlockVersion off ShowModelReferenceBlockIO off Array { Type "Handle" Dimension 1 Simulink.ConfigSet { $ObjectID 1 Version "1.5.1" Array { Type "Handle" Dimension 8 Simulink.SolverCC { $ObjectID 2 Version "1.5.1" StartTime "0.0" StopTime "10" AbsTol "auto" FixedStep "auto" InitialStep "auto" MaxNumMinSteps "-1" MaxOrder 5 ZcThreshold "auto" ConsecutiveZCsStepRelTol "10*128*eps" MaxConsecutiveZCs "1000" ExtrapolationOrder 4 NumberNewtonIterations 1 MaxStep "auto" MinStep "auto" MaxConsecutiveMinStep "1" RelTol "1e-3" SolverMode "Auto" Solver "ode45" SolverName "ode45" ShapePreserveControl "DisableAll" ZeroCrossControl "UseLocalSettings" ZeroCrossAlgorithm "Nonadaptive" AlgebraicLoopSolver "TrustRegion" SolverResetMethod "Fast" PositivePriorityOrder off AutoInsertRateTranBlk off SampleTimeConstraint "Unconstrained" InsertRTBMode "Whenever possible" SignalSizeVariationType "Allow only fixed size" } Simulink.DataIOCC { $ObjectID 3 Version "1.5.1" Decimation "1" ExternalInput "[t, u]" FinalStateName "xFinal" InitialState "xInitial" LimitDataPoints on MaxDataPoints "1000" LoadExternalInput off LoadInitialState off SaveFinalState off SaveFormat "Array" SaveOutput on SaveState off SignalLogging on InspectSignalLogs off SaveTime on StateSaveName "xout" TimeSaveName "tout" OutputSaveName "yout" SignalLoggingName "sigsOut" OutputOption "RefineOutputTimes" OutputTimes "[]" Refine "1" } Simulink.OptimizationCC { $ObjectID 4 Version "1.5.1" Array { Type "Cell" Dimension 4 Cell "ZeroExternalMemoryAtStartup" Cell "ZeroInternalMemoryAtStartup" Cell "NoFixptDivByZeroProtection" Cell "OptimizeModelRefInitCode" PropName "DisabledProps" } BlockReduction on BooleanDataType on ConditionallyExecuteInputs on InlineParams off InlineInvariantSignals off OptimizeBlockIOStorage on BufferReuse on EnhancedBackFolding off EnforceIntegerDowncast on ExpressionFolding on EnableMemcpy on MemcpyThreshold 64 ExpressionDepthLimit 2147483647 FoldNonRolledExpr on LocalBlockOutputs on RollThreshold 5 SystemCodeInlineAuto off StateBitsets off DataBitsets off UseTempVars off ZeroExternalMemoryAtStartup on ZeroInternalMemoryAtStartup on InitFltsAndDblsToZero on NoFixptDivByZeroProtection off EfficientFloat2IntCast off EfficientMapNaN2IntZero on OptimizeModelRefInitCode off LifeSpan "inf" BufferReusableBoundary on SimCompilerOptimization "Off" AccelVerboseBuild off } Simulink.DebuggingCC { $ObjectID 5 Version "1.5.1" RTPrefix "error" ConsistencyChecking "none" ArrayBoundsChecking "none" SignalInfNanChecking "none" SignalRangeChecking "none" ReadBeforeWriteMsg "UseLocalSettings" WriteAfterWriteMsg "UseLocalSettings" WriteAfterReadMsg "UseLocalSettings" AlgebraicLoopMsg "warning" ArtificialAlgebraicLoopMsg "warning" SaveWithDisabledLinksMsg "warning" SaveWithParameterizedLinksMsg "none" CheckSSInitialOutputMsg on UnderspecifiedInitializationDetection "Classic" MergeDetectMultiDrivingBlocksExec "none" CheckExecutionContextPreStartOutputMsg off CheckExecutionContextRuntimeOutputMsg off SignalResolutionControl "TryResolveAllWithWarning" BlockPriorityViolationMsg "warning" MinStepSizeMsg "warning" TimeAdjustmentMsg "none" MaxConsecutiveZCsMsg "error" SolverPrmCheckMsg "none" InheritedTsInSrcMsg "warning" DiscreteInheritContinuousMsg "warning" MultiTaskDSMMsg "warning" MultiTaskCondExecSysMsg "none" MultiTaskRateTransMsg "error" SingleTaskRateTransMsg "none" TasksWithSamePriorityMsg "warning" SigSpecEnsureSampleTimeMsg "warning" CheckMatrixSingularityMsg "none" IntegerOverflowMsg "warning" Int32ToFloatConvMsg "warning" ParameterDowncastMsg "error" ParameterOverflowMsg "error" ParameterUnderflowMsg "none" ParameterPrecisionLossMsg "warning" ParameterTunabilityLossMsg "warning" UnderSpecifiedDataTypeMsg "none" UnnecessaryDatatypeConvMsg "none" VectorMatrixConversionMsg "none" InvalidFcnCallConnMsg "error" FcnCallInpInsideContextMsg "Use local settings" SignalLabelMismatchMsg "none" UnconnectedInputMsg "warning" UnconnectedOutputMsg "warning" UnconnectedLineMsg "warning" SFcnCompatibilityMsg "none" UniqueDataStoreMsg "none" BusObjectLabelMismatch "warning" RootOutportRequireBusObject "warning" AssertControl "UseLocalSettings" EnableOverflowDetection off ModelReferenceIOMsg "none" ModelReferenceVersionMismatchMessage "none" ModelReferenceIOMismatchMessage "none" ModelReferenceCSMismatchMessage "none" UnknownTsInhSupMsg "warning" ModelReferenceDataLoggingMessage "warning" ModelReferenceSymbolNameMessage "warning" ModelReferenceExtraNoncontSigs "error" StateNameClashWarn "warning" StrictBusMsg "None" LoggingUnavailableSignals "error" BlockIODiagnostic "none" } Simulink.HardwareCC { $ObjectID 6 Version "1.5.1" 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 on ProdEqTarget on } Simulink.ModelReferenceCC { $ObjectID 7 Version "1.5.1" UpdateModelReferenceTargets "IfOutOfDateOrStructuralChange" CheckModelReferenceTargetMessage "error" ModelReferenceNumInstancesAllowed "Multi" ModelReferencePassRootInputsByReference on ModelReferenceMinAlgLoopOccurrences off } Simulink.SFSimCC { $ObjectID 8 Version "1.5.1" SFSimEnableDebug on SFSimOverflowDetection on SFSimEcho on SimUseLocalCustomCode off SimBuildMode "sf_incremental_build" } Simulink.RTWCC { $BackupClass "Simulink.RTWCC" $ObjectID 9 Version "1.5.1" Array { Type "Cell" Dimension 2 Cell "IncludeHyperlinkInReport" Cell "GenerateTraceInfo" PropName "DisabledProps" } 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 RTWUseLocalCustomCode off RTWUseSimCustomCode off IncludeHyperlinkInReport off LaunchReport off TargetLang "C" IncludeBusHierarchyInRTWFileBlockHierarchyMap off IncludeERTFirstTime on GenerateTraceInfo off GenerateTraceReport off GenerateTraceReportSl off GenerateTraceReportSf off GenerateTraceReportEml off GenerateCodeInfo off RTWCompilerOptimization "Off" Array { Type "Handle" Dimension 2 Simulink.CodeAppCC { $ObjectID 10 Version "1.5.1" Array { Type "Cell" Dimension 16 Cell "IgnoreCustomStorageClasses" Cell "InsertBlockDesc" Cell "SFDataObjDesc" Cell "SimulinkDataObjDesc" Cell "DefineNamingRule" Cell "SignalNamingRule" Cell "ParamNamingRule" Cell "InlinedPrmAccess" Cell "CustomSymbolStr" Cell "CustomSymbolStrGlobalVar" Cell "CustomSymbolStrType" Cell "CustomSymbolStrField" Cell "CustomSymbolStrFcn" Cell "CustomSymbolStrBlkIO" Cell "CustomSymbolStrTmpVar" Cell "CustomSymbolStrMacro" PropName "DisabledProps" } ForceParamTrailComments off GenerateComments on IgnoreCustomStorageClasses on IgnoreTestpoints off IncHierarchyInIds off MaxIdLength 31 PreserveName off PreserveNameWithParent off ShowEliminatedStatement off IncAutoGenComments off SimulinkDataObjDesc off SFDataObjDesc off IncDataTypeInIds off MangleLength 1 CustomSymbolStrGlobalVar "$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 UseSimReservedNames off } Simulink.GRTTargetCC { $BackupClass "Simulink.TargetCC" $ObjectID 11 Version "1.5.1" Array { Type "Cell" Dimension 14 Cell "IncludeMdlTerminateFcn" Cell "CombineOutputUpdateFcns" Cell "SuppressErrorStatus" Cell "ERTCustomFileBanners" Cell "GenerateSampleERTMain" Cell "GenerateTestInterfaces" Cell "ModelStepFunctionPrototypeControlCompliant" Cell "MultiInstanceERTCode" Cell "PurelyIntegerCode" Cell "PortableWordSizes" Cell "SupportComplex" Cell "SupportAbsoluteTime" Cell "SupportContinuousTime" Cell "SupportNonInlinedSFcns" PropName "DisabledProps" } TargetFcnLib "ansi_tfl_table_tmw.mat" TargetLibSuffix "" TargetPreCompLibLocation "" TargetFunctionLibrary "ANSI_C" UtilityFuncGeneration "Auto" ERTMultiwordTypeDef "System defined" ERTMultiwordLength 256 MultiwordLength 2048 GenerateFullHeader on GenerateSampleERTMain off GenerateTestInterfaces off IsPILTarget off ModelReferenceCompliant on CompOptLevelCompliant on IncludeMdlTerminateFcn on CombineOutputUpdateFcns off SuppressErrorStatus off ERTFirstTimeCompliant 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" PortableWordSizes off ModelStepFunctionPrototypeControlCompliant off CPPClassGenCompliant off AutosarCompliant off UseMalloc off ExtMode off ExtModeStaticAlloc off ExtModeTesting off ExtModeStaticAllocSize 1000000 ExtModeTransport 0 ExtModeMexFile "ext_comm" ExtModeIntrfLevel "Level1" RTWCAPISignals off RTWCAPIParams off RTWCAPIStates off GenerateASAP2 off } PropName "Components" } } PropName "Components" } Name "Configuration" CurrentDlgPage "Solver" ConfigPrmDlgPosition " [ 200, 197, 1080, 827 ] " } PropName "ConfigurationSets" } Simulink.ConfigSet { $PropName "ActiveConfigurationSet" $ObjectID 1 } 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" UseDisplayTextAsClickCallback off } LineDefaults { FontName "Helvetica" FontSize 9 FontWeight "normal" FontAngle "normal" } BlockParameterDefaults { Block { BlockType Abs ZeroCross on SampleTime "-1" OutMax "[]" OutDataTypeMode "Same as input" OutDataType "fixdt(1,16,0)" OutScaling "[]" OutDataTypeStr "Inherit: Same as input" LockScale off RndMeth "Floor" SaturateOnIntegerOverflow on } Block { BlockType Constant Value "1" VectorParams1D on SamplingMode "Sample based" OutMin "[]" OutMax "[]" OutDataTypeMode "Inherit from 'Constant value'" OutDataType "fixdt(1,16,0)" ConRadixGroup "Use specified scaling" OutScaling "[]" OutDataTypeStr "Inherit: Inherit from 'Constant value'" LockScale off SampleTime "inf" FramePeriod "inf" } Block { BlockType Gain Gain "1" Multiplication "Element-wise(K.*u)" ParamMin "[]" ParamMax "[]" ParameterDataTypeMode "Same as input" ParameterDataType "fixdt(1,16,0)" ParameterScalingMode "Best Precision: Matrix-wise" ParameterScaling "[]" ParamDataTypeStr "Inherit: Same as input" OutMin "[]" OutMax "[]" OutDataTypeMode "Same as input" OutDataType "fixdt(1,16,0)" OutScaling "[]" OutDataTypeStr "Inherit: Same as input" LockScale off RndMeth "Floor" SaturateOnIntegerOverflow on SampleTime "-1" } Block { BlockType Inport Port "1" UseBusObject off BusObject "BusObject" BusOutputAsStruct off PortDimensions "-1" SampleTime "-1" OutMin "[]" OutMax "[]" DataType "auto" OutDataType "fixdt(1,16,0)" OutScaling "[]" OutDataTypeStr "Inherit: auto" LockScale off 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 ContinuousStateAttributes "''" } 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" OutMin "[]" OutMax "[]" DataType "auto" OutDataType "fixdt(1,16,0)" OutScaling "[]" OutDataTypeStr "Inherit: auto" LockScale off SignalType "auto" SamplingMode "auto" SourceOfInitialOutputValue "Dialog" OutputWhenDisabled "held" InitialOutput "[]" } Block { BlockType Product Inputs "2" Multiplication "Element-wise(.*)" CollapseMode "All dimensions" CollapseDim "1" InputSameDT on OutMin "[]" OutMax "[]" OutDataTypeMode "Same as first input" OutDataType "fixdt(1,16,0)" OutScaling "[]" OutDataTypeStr "Inherit: Same as first input" LockScale off RndMeth "Zero" SaturateOnIntegerOverflow on SampleTime "-1" } Block { BlockType Saturate UpperLimit "0.5" LowerLimit "-0.5" LinearizeAsGain on ZeroCross on SampleTime "-1" OutMin "[]" OutMax "[]" OutDataTypeMode "Same as input" OutDataType "fixdt(1,16,0)" OutScaling "[]" OutDataTypeStr "Inherit: Same as input" LockScale off RndMeth "Floor" } Block { BlockType Scope ModelBased off TickLabels "OneTimeTick" ZoomMode "on" Grid "on" TimeRange "auto" YMin "-5" YMax "5" SaveToWorkspace off SaveName "ScopeData" LimitDataPoints on MaxDataPoints "5000" Decimation "1" SampleInput off SampleTime "-1" } Block { BlockType SubSystem ShowPortLabels "FromPortIcon" Permissions "ReadWrite" PermitHierarchicalResolution "All" TreatAsAtomicUnit off CheckFcnCallInpInsideContextMsg 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 "++" CollapseMode "All dimensions" CollapseDim "1" InputSameDT on AccumDataTypeStr "Inherit: Inherit via internal rule" OutMin "[]" OutMax "[]" OutDataTypeMode "Same as first input" OutDataType "fixdt(1,16,0)" OutScaling "[]" OutDataTypeStr "Inherit: Same as first input" LockScale off RndMeth "Floor" SaturateOnIntegerOverflow on SampleTime "-1" } Block { BlockType Switch Criteria "u2 >= Threshold" Threshold "0" InputSameDT on OutMin "[]" OutMax "[]" OutDataTypeMode "Inherit via internal rule" OutDataType "fixdt(1,16,0)" OutScaling "[]" OutDataTypeStr "Inherit: Inherit via internal rule" LockScale off RndMeth "Floor" SaturateOnIntegerOverflow on ZeroCross on SampleTime "-1" } Block { BlockType Trigonometry Operator "sin" OutputSignalType "auto" SampleTime "-1" } } System { Name "robot_v4" Location [233, 325, 1521, 1266] Open on ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "A4" PaperUnits "centimeters" TiledPaperMargins [1.270000, 1.270000, 1.270000, 1.270000] TiledPageScale 1 ShowPageBoundaries off ZoomFactor "105" ReportName "simulink-default.rpt" Block { BlockType Gain Name "1/2" Position [760, 325, 790, 355] Gain "1/2" } Block { BlockType Abs Name "Abs Du" Position [500, 345, 530, 375] } Block { BlockType Constant Name "Consigne x" Position [35, 300, 65, 330] Value "x_final" } Block { BlockType Constant Name "Consigne y" Position [35, 355, 65, 385] Value "y_final" } Block { BlockType SubSystem Name "Ecart" Ports [5, 2] Position [145, 399, 245, 441] MinAlgLoopOccurrences off PropExecContextOutsideSubsystem off RTWSystemCode "Auto" FunctionWithSeparateData off Opaque off RequestExecContextInheritance off MaskHideContents off System { Name "Ecart" Location [125, 89, 1279, 995] Open on ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "A4" PaperUnits "centimeters" TiledPaperMargins [1.270000, 1.270000, 1.270000, 1.270000] TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" Block { BlockType Inport Name "x_final" Position [40, 118, 70, 132] IconDisplay "Port number" } Block { BlockType Inport Name "y_final" Position [40, 183, 70, 197] Port "2" IconDisplay "Port number" } Block { BlockType Inport Name "xc" Position [40, 258, 70, 272] Port "3" IconDisplay "Port number" } Block { BlockType Inport Name "yc" Position [40, 313, 70, 327] Port "4" IconDisplay "Port number" } Block { BlockType Inport Name "tetac" Position [40, 368, 70, 382] Port "5" IconDisplay "Port number" } Block { BlockType Abs Name "Abs Dx" Position [325, 325, 355, 355] } Block { BlockType Abs Name "Abs Dy" Position [350, 265, 380, 295] } Block { BlockType Trigonometry Name "Arctang" Ports [2, 1] Position [435, 182, 465, 213] Operator "atan2" } Block { BlockType Gain Name "Gain" Position [485, 230, 515, 260] } Block { BlockType Sum Name "Sum" Ports [2, 1] Position [690, 170, 710, 190] ShowName off IconShape "round" Inputs "|+-" InputSameDT off OutDataTypeMode "Inherit via internal rule" OutDataTypeStr "Inherit: Inherit via internal rule" } Block { BlockType Sum Name "Sum4" Ports [2, 1] Position [245, 180, 265, 200] ShowName off IconShape "round" Inputs "|+-" InputSameDT off OutDataTypeMode "Inherit via internal rule" OutDataTypeStr "Inherit: Inherit via internal rule" } Block { BlockType Sum Name "Sum5" Ports [2, 1] Position [185, 220, 205, 240] ShowName off IconShape "round" Inputs "+-" InputSameDT off OutDataTypeMode "Inherit via internal rule" OutDataTypeStr "Inherit: Inherit via internal rule" } Block { BlockType Sum Name "Sum6" Ports [2, 1] Position [420, 270, 440, 290] ShowName off IconShape "round" Inputs "|++" InputSameDT off OutDataTypeMode "Inherit via internal rule" OutDataTypeStr "Inherit: Inherit via internal rule" } Block { BlockType Switch Name "Switch" Position [610, 165, 640, 195] Criteria "u2 > Threshold" Threshold "1" InputSameDT off } Block { BlockType Outport Name "e_teta" Position [785, 173, 815, 187] IconDisplay "Port number" } Block { BlockType Outport Name "dist" Position [785, 238, 815, 252] Port "2" IconDisplay "Port number" } Line { SrcBlock "Sum5" SrcPort 1 Points [75, 0] Branch { Points [135, 0] DstBlock "Arctang" DstPort 2 } Branch { Points [0, 110] DstBlock "Abs Dx" DstPort 1 } } Line { SrcBlock "Sum4" SrcPort 1 Points [35, 0] Branch { DstBlock "Arctang" DstPort 1 } Branch { Points [0, 90] DstBlock "Abs Dy" DstPort 1 } } Line { SrcBlock "y_final" SrcPort 1 DstBlock "Sum4" DstPort 1 } Line { SrcBlock "x_final" SrcPort 1 Points [120, 0] DstBlock "Sum5" DstPort 1 } Line { SrcBlock "xc" SrcPort 1 Points [120, 0] DstBlock "Sum5" DstPort 2 } Line { SrcBlock "yc" SrcPort 1 Points [180, 0] DstBlock "Sum4" DstPort 2 } Line { SrcBlock "tetac" SrcPort 1 Points [490, 0] Branch { Points [135, 0] DstBlock "Sum" DstPort 2 } Branch { Points [0, -185] DstBlock "Switch" DstPort 3 } } Line { SrcBlock "Sum" SrcPort 1 DstBlock "e_teta" DstPort 1 } Line { SrcBlock "Abs Dx" SrcPort 1 Points [70, 0] DstBlock "Sum6" DstPort 2 } Line { SrcBlock "Abs Dy" SrcPort 1 DstBlock "Sum6" DstPort 1 } Line { SrcBlock "Sum6" SrcPort 1 Points [55, 0] Branch { Points [270, 0] DstBlock "dist" DstPort 1 } Branch { DstBlock "Gain" DstPort 1 } } Line { SrcBlock "Switch" SrcPort 1 DstBlock "Sum" DstPort 1 } Line { SrcBlock "Gain" SrcPort 1 Points [0, -45] DstBlock "Switch" DstPort 2 } Line { SrcBlock "Arctang" SrcPort 1 Points [20, 0; 0, -30] DstBlock "Switch" DstPort 1 } } } Block { BlockType Integrator Name "Integrator1" Ports [1, 1] Position [290, 265, 320, 295] } Block { BlockType Integrator Name "Integrator2" Ports [1, 1] Position [305, 575, 335, 605] } Block { BlockType Mux Name "Mux" Ports [2, 1] Position [1095, 366, 1100, 404] ShowName off Inputs "2" DisplayOption "bar" } Block { BlockType SubSystem Name "Robot" Ports [2, 3] Position [910, 294, 1010, 336] MinAlgLoopOccurrences off PropExecContextOutsideSubsystem off RTWSystemCode "Auto" FunctionWithSeparateData off Opaque off RequestExecContextInheritance off MaskHideContents off System { Name "Robot" Location [147, 183, 1217, 1079] Open on ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "A4" PaperUnits "centimeters" TiledPaperMargins [1.270000, 1.270000, 1.270000, 1.270000] TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" Block { BlockType Inport Name "Ud" Position [40, 118, 70, 132] IconDisplay "Port number" } Block { BlockType Inport Name "Ug" Position [40, 188, 70, 202] Port "2" IconDisplay "Port number" } Block { BlockType Gain Name "1/2" Position [320, 110, 350, 140] Gain "1/2" } Block { BlockType Gain Name "1/entre_axe" Position [360, 305, 390, 335] Gain "1/l" } Block { BlockType Trigonometry Name "Cosinus" Ports [1, 1] Position [495, 170, 525, 200] Operator "cos" } Block { BlockType Gain Name "Gain" Position [180, 110, 210, 140] } Block { BlockType Gain Name "Gain1" Position [175, 180, 205, 210] } Block { BlockType Integrator Name "Intégrateur theta" Ports [1, 1] Position [435, 305, 465, 335] InitialCondition "teta0" } Block { BlockType Integrator Name "Intégrateur x" Ports [1, 1] Position [685, 165, 715, 195] InitialCondition "x0" } Block { BlockType Integrator Name "Intégrateur y" Ports [1, 1] Position [685, 230, 715, 260] InitialCondition "y0" } Block { BlockType Reference Name "Model Info" Ports [] Position [335, 259, 403, 293] ShowName off FontName "Arial" SourceBlock "simulink/Model-Wide\nUtilities/Model Info" SourceType "CMBlock" ShowPortLabels "FromPortIcon" SystemSampleTime "-1" FunctionWithSeparateData off RTWMemSecFuncInitTerm "Inherit from model" RTWMemSecFuncExecute "Inherit from model" RTWMemSecDataConstants "Inherit from model" RTWMemSecDataInternal "Inherit from model" RTWMemSecDataParameters "Inherit from model" InitialBlockCM "None" BlockCM "None" Frame "on" DisplayStringWithTags "Ud-Ug" MaskDisplayString "Ud-Ug" HorizontalTextAlignment "Center" LeftAlignmentValue "0.5" SourceBlockDiagram "robot" TagMaxNumber "20" } Block { BlockType Product Name "Product" Ports [2, 1] Position [590, 161, 635, 194] InputSameDT off RndMeth "Floor" } Block { BlockType Product Name "Product1" Ports [2, 1] Position [590, 226, 635, 259] InputSameDT off RndMeth "Floor" } Block { BlockType Trigonometry Name "Sinus" Ports [1, 1] Position [495, 235, 525, 265] } Block { BlockType Sum Name "Sum" Ports [2, 1] Position [270, 115, 290, 135] ShowName off IconShape "round" Inputs "|++" InputSameDT off OutDataTypeMode "Inherit via internal rule" OutDataTypeStr "Inherit: Inherit via internal rule" } Block { BlockType Sum Name "Sum1" Ports [2, 1] Position [300, 310, 320, 330] ShowName off IconShape "round" Inputs "-+" InputSameDT off OutDataTypeMode "Inherit via internal rule" OutDataTypeStr "Inherit: Inherit via internal rule" } Block { BlockType Outport Name "X" Position [785, 173, 815, 187] IconDisplay "Port number" } Block { BlockType Outport Name "Y" Position [785, 238, 815, 252] Port "2" IconDisplay "Port number" } Block { BlockType Outport Name "Theta" Position [790, 313, 820, 327] Port "3" IconDisplay "Port number" } Line { SrcBlock "Gain" SrcPort 1 Points [0, 0; 20, 0] Branch { DstBlock "Sum" DstPort 1 } Branch { Points [0, 220] DstBlock "Sum1" DstPort 2 } } Line { SrcBlock "Gain1" SrcPort 1 Points [0, 0; 70, 0] Branch { DstBlock "Sum" DstPort 2 } Branch { Points [0, 100] DstBlock "Sum1" DstPort 1 } } Line { SrcBlock "Sum" SrcPort 1 DstBlock "1/2" DstPort 1 } Line { SrcBlock "Intégrateur theta" SrcPort 1 Points [0, 0; 5, 0] Branch { Points [0, -70] Branch { Points [0, -65] DstBlock "Cosinus" DstPort 1 } Branch { DstBlock "Sinus" DstPort 1 } } Branch { DstBlock "Theta" DstPort 1 } } Line { SrcBlock "Product" SrcPort 1 DstBlock "Intégrateur x" DstPort 1 } Line { SrcBlock "Product1" SrcPort 1 DstBlock "Intégrateur y" DstPort 1 } Line { SrcBlock "Sinus" SrcPort 1 DstBlock "Product1" DstPort 2 } Line { SrcBlock "Cosinus" SrcPort 1 DstBlock "Product" DstPort 2 } Line { SrcBlock "1/2" SrcPort 1 Points [185, 0; 0, 45] Branch { Points [0, 65] DstBlock "Product1" DstPort 1 } Branch { DstBlock "Product" DstPort 1 } } Line { SrcBlock "1/entre_axe" SrcPort 1 DstBlock "Intégrateur theta" DstPort 1 } Line { SrcBlock "Sum1" SrcPort 1 DstBlock "1/entre_axe" DstPort 1 } Line { SrcBlock "Intégrateur x" SrcPort 1 DstBlock "X" DstPort 1 } Line { SrcBlock "Intégrateur y" SrcPort 1 DstBlock "Y" DstPort 1 } Line { SrcBlock "Ud" SrcPort 1 DstBlock "Gain" DstPort 1 } Line { SrcBlock "Ug" SrcPort 1 DstBlock "Gain1" DstPort 1 } } } Block { BlockType Saturate Name "Saturation" Position [455, 530, 485, 560] UpperLimit "5" LowerLimit "-5" } Block { BlockType Scope Name "Scope" Ports [2] Position [1145, 391, 1175, 424] Floating off Location [5, 45, 1277, 957] Open off NumInputPorts "2" List { ListType AxesTitles axes1 "%" axes2 "%" } YMin "-5~-5" YMax "5~5" DataFormat "StructureWithTime" SampleTime "0" } Block { BlockType Scope Name "Scope1" Ports [2] Position [905, 101, 935, 134] Floating off Location [5, 45, 1277, 957] Open off NumInputPorts "2" List { ListType AxesTitles axes1 "%" axes2 "%" } YMin "-1.5~0" YMax "1.5~3.5" SaveName "ScopeData1" DataFormat "StructureWithTime" SampleTime "0" } Block { BlockType Scope Name "Scope2" Ports [2] Position [880, 231, 910, 264] Floating off Location [5, 45, 1277, 957] Open off NumInputPorts "2" List { ListType AxesTitles axes1 "%" axes2 "%" } YMin "-1.5~0" YMax "1.5~3.5" SaveName "ScopeData2" DataFormat "StructureWithTime" SampleTime "0" } Block { BlockType Sum Name "Sum1" Ports [2, 1] Position [410, 270, 430, 290] ShowName off IconShape "round" Inputs "|++" InputSameDT off OutDataTypeMode "Inherit via internal rule" OutDataTypeStr "Inherit: Inherit via internal rule" } Block { BlockType Sum Name "Sum10" Ports [2, 1] Position [560, 375, 580, 395] ShowName off IconShape "round" Inputs "-+" InputSameDT off OutDataTypeMode "Inherit via internal rule" OutDataTypeStr "Inherit: Inherit via internal rule" } Block { BlockType Sum Name "Sum2" Ports [2, 1] Position [665, 270, 685, 290] ShowName off IconShape "round" Inputs "|++" InputSameDT off OutDataTypeMode "Inherit via internal rule" OutDataTypeStr "Inherit: Inherit via internal rule" } Block { BlockType Sum Name "Sum3" Ports [2, 1] Position [710, 330, 730, 350] ShowName off IconShape "round" Inputs "|-+" InputSameDT off OutDataTypeMode "Inherit via internal rule" OutDataTypeStr "Inherit: Inherit via internal rule" } Block { BlockType Sum Name "Sum7" Ports [2, 1] Position [420, 530, 440, 550] ShowName off IconShape "round" Inputs "|++" InputSameDT off OutDataTypeMode "Inherit via internal rule" OutDataTypeStr "Inherit: Inherit via internal rule" } Block { BlockType Reference Name "XY Graph" Ports [2] Position [1145, 290, 1175, 325] SourceBlock "simulink/Sinks/XY Graph" SourceType "XY scope." ShowPortLabels "FromPortIcon" SystemSampleTime "-1" FunctionWithSeparateData off RTWMemSecFuncInitTerm "Inherit from model" RTWMemSecFuncExecute "Inherit from model" RTWMemSecDataConstants "Inherit from model" RTWMemSecDataInternal "Inherit from model" RTWMemSecDataParameters "Inherit from model" xmin "-100" xmax "100" ymin "-100" ymax "100" st "-1" } Block { BlockType Gain Name "divBy2" Position [705, 265, 735, 295] Gain "1/2" } Block { BlockType Gain Name "k" Position [455, 345, 485, 375] Gain "2" } Block { BlockType Gain Name "ki_teta" Position [355, 265, 385, 295] Gain "ki_teta" } Block { BlockType Gain Name "ki_uc" Position [370, 575, 400, 605] Gain "ki_uc" } Block { BlockType Gain Name "kp_teta" Position [295, 320, 325, 350] Gain "kp_teta" } Block { BlockType Gain Name "kp_uc" Position [320, 525, 350, 555] Gain "kp_uc" } Block { BlockType Gain Name "x2" Position [605, 325, 635, 355] Gain "2" } Line { SrcBlock "Mux" SrcPort 1 Points [25, 0] DstBlock "Scope" DstPort 1 } Line { SrcBlock "Robot" SrcPort 1 Points [60, 0] Branch { DstBlock "XY Graph" DstPort 1 } Branch { Points [-5, 0; 0, 75] Branch { DstBlock "Mux" DstPort 1 } Branch { Points [0, 305; -1035, 0; 0, -260] DstBlock "Ecart" DstPort 3 } } } Line { SrcBlock "Robot" SrcPort 2 Points [35, 0] Branch { DstBlock "XY Graph" DstPort 2 } Branch { Points [0, 80] Branch { DstBlock "Mux" DstPort 2 } Branch { Points [0, 265; -1000, 0; 0, -230] DstBlock "Ecart" DstPort 4 } } } Line { SrcBlock "Robot" SrcPort 3 Points [10, 0; 0, 85] Branch { Points [0, 230; -940, 0; 0, -205] DstBlock "Ecart" DstPort 5 } Branch { DstBlock "Scope" DstPort 2 } } Line { SrcBlock "Integrator1" SrcPort 1 DstBlock "ki_teta" DstPort 1 } Line { SrcBlock "ki_teta" SrcPort 1 DstBlock "Sum1" DstPort 1 } Line { SrcBlock "kp_teta" SrcPort 1 Points [90, 0] DstBlock "Sum1" DstPort 2 } Line { SrcBlock "x2" SrcPort 1 Points [0, 0; 35, 0] Branch { DstBlock "Sum2" DstPort 2 } Branch { Points [0, 30; 45, 0] DstBlock "Sum3" DstPort 2 } } Line { SrcBlock "Sum1" SrcPort 1 Points [0, 0] Branch { Points [0, 80] DstBlock "k" DstPort 1 } Branch { Points [40, 0] Branch { Points [165, 0] Branch { DstBlock "Sum2" DstPort 1 } Branch { Points [0, 40; 55, 0] DstBlock "Sum3" DstPort 1 } } Branch { Points [0, -170] DstBlock "Scope1" DstPort 1 } } } Line { SrcBlock "Sum2" SrcPort 1 DstBlock "divBy2" DstPort 1 } Line { SrcBlock "divBy2" SrcPort 1 Points [100, 0] Branch { Points [5, 0; 0, 25] DstBlock "Robot" DstPort 1 } Branch { Points [5, 0; 0, -40] DstBlock "Scope2" DstPort 1 } } Line { SrcBlock "Sum3" SrcPort 1 DstBlock "1/2" DstPort 1 } Line { SrcBlock "1/2" SrcPort 1 Points [50, 0; 0, -15; 20, 0] Branch { DstBlock "Robot" DstPort 2 } Branch { DstBlock "Scope2" DstPort 2 } } Line { SrcBlock "Ecart" SrcPort 2 Points [15, 0; 0, 110; 20, 0] Branch { DstBlock "kp_uc" DstPort 1 } Branch { Points [0, 50] DstBlock "Integrator2" DstPort 1 } } Line { SrcBlock "Sum7" SrcPort 1 Points [0, 5] DstBlock "Saturation" DstPort 1 } Line { SrcBlock "kp_uc" SrcPort 1 DstBlock "Sum7" DstPort 1 } Line { SrcBlock "Integrator2" SrcPort 1 DstBlock "ki_uc" DstPort 1 } Line { SrcBlock "ki_uc" SrcPort 1 Points [25, 0] DstBlock "Sum7" DstPort 2 } Line { SrcBlock "k" SrcPort 1 DstBlock "Abs Du" DstPort 1 } Line { SrcBlock "Abs Du" SrcPort 1 DstBlock "Sum10" DstPort 1 } Line { SrcBlock "Saturation" SrcPort 1 Points [80, 0] DstBlock "Sum10" DstPort 2 } Line { SrcBlock "Sum10" SrcPort 1 Points [0, -40] Branch { Points [0, -5] DstBlock "x2" DstPort 1 } Branch { Points [-40, 0; 0, -220] DstBlock "Scope1" DstPort 2 } } Line { SrcBlock "Ecart" SrcPort 1 Points [5, 0; 0, -75] Branch { DstBlock "kp_teta" DstPort 1 } Branch { Points [-1, 0; 0, -55] DstBlock "Integrator1" DstPort 1 } } Line { SrcBlock "Consigne x" SrcPort 1 Points [30, 0; 0, 85] DstBlock "Ecart" DstPort 1 } Line { SrcBlock "Consigne y" SrcPort 1 Points [20, 0; 0, 40] DstBlock "Ecart" DstPort 2 } } }