Model { Name "uvmrac_ftc_3trailers" Version 2.09 SimParamPage Solver SampleTimeColors off InvariantConstants off WideVectorLines off ShowLineWidths off PaperOrientation landscape PaperType usletter PaperUnits inches StartTime "0.0" StopTime "1" Solver ode1 RelTol "1e-3" AbsTol "1e-6" Refine "1" MaxStep "auto" InitialStep "auto" FixedStep "0.000001" MaxOrder 5 OutputOption RefineOutputTimes OutputTimes "[]" LoadExternalInput off ExternalInput "[t, u]" SaveTime on TimeSaveName "tout" SaveState off StateSaveName "xout" SaveOutput on OutputSaveName "yout" LoadInitialState off InitialState "xInitial" SaveFinalState off FinalStateName "xFinal" LimitMaxRows off MaxRows "1000" Decimation "1" AlgebraicLoopMsg warning MinStepSizeMsg warning UnconnectedInputMsg warning UnconnectedOutputMsg warning UnconnectedLineMsg warning ConsistencyChecking off ZeroCross on SimulationMode normal RTWSystemTargetFile "grt.tlc" RTWInlineParameters off RTWRetainRTWFile off RTWTemplateMakefile "grt_unix.tmf" RTWMakeCommand "make_rtw" RTWGenerateCodeOnly off ExtModeMexFile "ext_comm" ExtModeBatchMode off BlockDefaults { Orientation right ForegroundColor black BackgroundColor white DropShadow off NamePlacement normal FontName "Helvetica" FontSize 10 FontWeight normal FontAngle normal ShowName on } AnnotationDefaults { HorizontalAlignment center VerticalAlignment middle ForegroundColor black BackgroundColor white DropShadow off FontName "Helvetica" FontSize 10 FontWeight normal FontAngle normal } LineDefaults { FontName "Helvetica" FontSize 9 FontWeight normal FontAngle normal } System { Name "uvmrac_ftc_3trailers" Location [50, 118, 864, 643] Open on ScreenColor white Block { BlockType Demux Name "Demux" Ports [1, 3, 0, 0, 0] Position [190, 362, 225, 398] Orientation left Outputs "3" } Block { BlockType Step Name "F1" Position [200, 300, 230, 330] Orientation left Time "0.67" Before "1" After "0" } Block { BlockType Gain Name "F2" Position [110, 365, 140, 395] Orientation left Gain "1" } Block { BlockType Gain Name "F3" Position [110, 435, 140, 465] Orientation left Gain "1" } Block { BlockType StateSpace Name "G(s)" Position [350, 122, 410, 158] A "Ap" B "Bp" C "Cp" D "Dp" X0 "xp0" } Block { BlockType Reference Name "Kp1nom" Ports [1, 1, 0, 0, 0] Position [320, 305, 350, 335] SourceBlock "simulink/Linear/Matrix\nGain" SourceType "Matrix Gain" K "Kp1nom" } Block { BlockType StateSpace Name "Modelo" Position [350, 27, 410, 63] A "Am" B "Bm" C "Cm" D "Dm" X0 "vm0" } Block { BlockType Mux Name "Mux" Ports [3, 1, 0, 0, 0] Position [40, 362, 75, 398] Orientation left Inputs "3" } Block { BlockType Product Name "Product" Ports [2, 1, 0, 0, 0] Position [120, 307, 150, 338] Orientation left Inputs "**" } Block { BlockType Reference Name "W" Ports [1, 1, 0, 0, 0] Position [275, 365, 305, 395] Orientation left SourceBlock "simulink/Linear/Matrix\nGain" SourceType "Matrix Gain" K "W" } Block { BlockType StateSpace Name "average filter" Position [55, 202, 115, 238] A "-eye(3)/tau" B "eye(3)/tau" C "eye(3)" D "zeros(3,3)" X0 "[0 ; 0 ; 0]" } Block { BlockType TransferFcn Name "bar_x1" Position [530, 256, 590, 294] Numerator "[c5]" Denominator "[1 gamma1]" } Block { BlockType Gain Name "c1" Position [580, 180, 610, 210] Gain "c1" } Block { BlockType Gain Name "c2" Position [555, 210, 585, 240] Gain "c2" } Block { BlockType Gain Name "c3" Position [515, 300, 545, 330] Gain "c3" } Block { BlockType Constant Name "delta" Position [555, 335, 590, 355] Value "delta" } Block { BlockType Scope Name "e" Ports [1, 0, 0, 0, 0] Position [675, 45, 705, 75] Floating off Location [376, 78, 700, 317] Open on Grid on TickLabels on ZoomMode on TimeRange "auto" YMin "-2 " YMax "2 " SaveToWorkspace on SaveName "e" LimitMaxRows on MaxRows "5000" Decimation "500" SampleInput off SampleTime "0" } Block { BlockType Sum Name "erro" Ports [2, 1, 0, 0, 0] Position [460, 72, 490, 103] Inputs "-+" } Block { BlockType Sum Name "f" Ports [5, 1, 0, 0, 0] Position [630, 184, 670, 326] Inputs "+++++" } Block { BlockType Product Name "f e/||e||" Ports [3, 1, 0, 0, 0] Position [700, 144, 730, 176] Inputs "*/*" } Block { BlockType Scope Name "fav" Ports [1, 0, 0, 0, 0] Position [150, 205, 180, 235] Floating off Location [696, 372, 1020, 611] Open on Grid on TickLabels on ZoomMode on TimeRange "auto" YMin "-50 " YMax "50 " SaveToWorkspace on SaveName "fav" LimitMaxRows on MaxRows "5000" Decimation "500" SampleInput off SampleTime "0" } Block { BlockType Mux Name "r" Ports [2, 1, 0, 0, 0] Position [150, 27, 185, 63] Inputs "2" } Block { BlockType SignalGenerator Name "r1" Position [60, 20, 90, 50] WaveForm sine Amplitude "16" Frequency "12" Units rad/sec } Block { BlockType SignalGenerator Name "r2" Position [60, 90, 90, 120] WaveForm sine Amplitude "-8" Frequency "6" Units rad/sec } Block { BlockType Scope Name "u" Ports [1, 0, 0, 0, 0] Position [365, 450, 395, 480] Floating off Location [374, 373, 698, 612] Open on Grid on TickLabels on ZoomMode on TimeRange "auto" YMin "-40 " YMax "50 " SaveToWorkspace on SaveName "u" LimitMaxRows on MaxRows "2500000" Decimation "1" SampleInput off SampleTime "0" } Block { BlockType Sum Name "unom - UVC" Ports [3, 1, 0, 0, 0] Position [365, 354, 395, 406] Orientation left Inputs "++-" } Block { BlockType Scope Name "v" Ports [1, 0, 0, 0, 0] Position [460, 125, 490, 155] Floating off Location [35, 358, 359, 597] Open on Grid on TickLabels on ZoomMode on TimeRange "auto" YMin "-2 " YMax "2 " SaveToWorkspace on SaveName "y" LimitMaxRows on MaxRows "5000" Decimation "500" SampleInput off SampleTime "0" } Block { BlockType Scope Name "vm" Ports [1, 0, 0, 0, 0] Position [460, 15, 490, 45] Floating off Location [21, 72, 345, 311] Open on Grid on TickLabels on ZoomMode on TimeRange "auto" YMin "-0.75 " YMax "2 " SaveToWorkspace on SaveName "ym" LimitMaxRows on MaxRows "5000" Decimation "500" SampleInput off SampleTime "0" } Block { BlockType Reference Name "vu_nom" Ports [1, 1, 0, 0, 0] Position [410, 280, 440, 310] Orientation down NamePlacement alternate SourceBlock "simulink/Linear/Matrix\nGain" SourceType "Matrix Gain" K "vu_nom" } Block { BlockType Fcn Name "||e||" Position [535, 75, 595, 105] Expr "sqrt(u(1)^2+u(2)^2)" } Block { BlockType Fcn Name "||r||" Position [300, 250, 360, 280] Expr "sqrt(u(1)^2+u(2)^2)" } Block { BlockType Fcn Name "||v||" Position [445, 210, 505, 240] Expr "sqrt(u(1)^2+u(2)^2)" } Line { SrcBlock "bar_x1" SrcPort 1 Points [10, 0; 0, -20] DstBlock "f" DstPort 3 } Line { SrcBlock "||v||" SrcPort 1 Points [5, 0] Branch { DstBlock "bar_x1" DstPort 1 } Branch { DstBlock "c2" DstPort 1 } } Line { Labels [2, 0] SrcBlock "c3" SrcPort 1 Points [50, 0; 0, -30] DstBlock "f" DstPort 4 } Line { SrcBlock "delta" SrcPort 1 Points [15, 0; 0, -30] DstBlock "f" DstPort 5 } Line { SrcBlock "||r||" SrcPort 1 Points [110, 0; 0, 50] DstBlock "c3" DstPort 1 } Line { SrcBlock "r" SrcPort 1 Points [55, 0] Branch { Points [0, 220] Branch { DstBlock "||r||" DstPort 1 } Branch { Points [0, 55] DstBlock "Kp1nom" DstPort 1 } } Branch { DstBlock "Modelo" DstPort 1 } } Line { SrcBlock "Kp1nom" SrcPort 1 Points [55, 0] DstBlock "unom - UVC" DstPort 1 } Line { SrcBlock "vu_nom" SrcPort 1 Points [0, 65] DstBlock "unom - UVC" DstPort 2 } Line { SrcBlock "f e/||e||" SrcPort 1 Points [35, 0; 0, 235] DstBlock "unom - UVC" DstPort 3 } Line { SrcBlock "unom - UVC" SrcPort 1 Points [-20, 0] Branch { Points [0, 85] DstBlock "u" DstPort 1 } Branch { DstBlock "W" DstPort 1 } } Line { SrcBlock "Demux" SrcPort 1 Points [-10, 0; 0, -40] DstBlock "Product" DstPort 2 } Line { SrcBlock "Product" SrcPort 1 Points [-20, 0; 0, 45] DstBlock "Mux" DstPort 1 } Line { SrcBlock "Demux" SrcPort 2 DstBlock "F2" DstPort 1 } Line { SrcBlock "F2" SrcPort 1 DstBlock "Mux" DstPort 2 } Line { SrcBlock "average filter" SrcPort 1 DstBlock "fav" DstPort 1 } Line { SrcBlock "Mux" SrcPort 1 Points [-10, 0; 0, -160] Branch { DstBlock "average filter" DstPort 1 } Branch { Points [0, -80] DstBlock "G(s)" DstPort 1 } } Line { SrcBlock "F1" SrcPort 1 DstBlock "Product" DstPort 1 } Line { SrcBlock "F3" SrcPort 1 Points [-15, 0] DstBlock "Mux" DstPort 3 } Line { SrcBlock "Demux" SrcPort 3 Points [-30, 0] DstBlock "F3" DstPort 1 } Line { SrcBlock "W" SrcPort 1 DstBlock "Demux" DstPort 1 } Line { SrcBlock "erro" SrcPort 1 Points [10, 0] Branch { Points [0, -30; 135, 0] Branch { DstBlock "e" DstPort 1 } Branch { Points [0, 90] DstBlock "f e/||e||" DstPort 1 } } Branch { DstBlock "||e||" DstPort 1 } } Line { SrcBlock "f" SrcPort 1 Points [0, -85] DstBlock "f e/||e||" DstPort 3 } Line { SrcBlock "G(s)" SrcPort 1 Points [20, 0] Branch { Points [-10, 0] Branch { Points [0, 85] Branch { DstBlock "vu_nom" DstPort 1 } Branch { DstBlock "||v||" DstPort 1 } } Branch { DstBlock "v" DstPort 1 } } Branch { Points [-10, 0; 0, -45] DstBlock "erro" DstPort 2 } } Line { SrcBlock "r2" SrcPort 1 Points [25, 0; 0, -50] DstBlock "r" DstPort 2 } Line { SrcBlock "r1" SrcPort 1 DstBlock "r" DstPort 1 } Line { SrcBlock "c1" SrcPort 1 DstBlock "f" DstPort 1 } Line { SrcBlock "c2" SrcPort 1 DstBlock "f" DstPort 2 } Line { SrcBlock "Modelo" SrcPort 1 Points [20, 0] Branch { Points [0, -15] DstBlock "vm" DstPort 1 } Branch { Points [0, 35] DstBlock "erro" DstPort 1 } } Line { SrcBlock "||e||" SrcPort 1 Points [15, 0; 0, 50] Branch { Points [0, 20] DstBlock "f e/||e||" DstPort 2 } Branch { Points [-50, 0] DstBlock "c1" DstPort 1 } } } }