Model { Name "planta2x2nova_mod_perturbacao1" Version 2.09 SimParamPage WorkspaceI/O SampleTimeColors off InvariantConstants off WideVectorLines off ShowLineWidths off PaperOrientation landscape PaperType usletter PaperUnits inches StartTime "0.0" StopTime "final_time" Solver ode1 RelTol "1e-3" AbsTol "1e-6" Refine "1" MaxStep "auto" InitialStep "auto" FixedStep "step_size" 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 "min(number_steps,number_steps_u)" 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 "planta2x2nova_mod_perturbacao1" Location [285, 51, 1017, 791] Open on ScreenColor white Block { BlockType StateSpace Name "(1/L) Un" Position [300, 557, 360, 593] A "ALUn" B "BLUn" C "CLUn" D "DLUn" X0 "x0LUn" } Block { BlockType StateSpace Name "(1/L) w" Position [320, 397, 380, 433] A "ALw" B "BLw" C "CLw" D "DLw" X0 "x0Lw" } Block { BlockType Constant Name "Constant" Position [160, 165, 180, 185] Value "d" } Block { BlockType Reference Name "Last VS Lead Filter\nUnit Vector Control" Ports [2, 1, 0, 0, 0] Position [365, 645, 460, 705] Orientation left SourceBlock "Lib_VSMRAC/Last VS Lead Filter\nUnit Vector " "Control" SourceType "SubSystem" } Block { BlockType StateSpace Name "Model" Position [220, 77, 280, 113] A "Am" B "Bm" C "Cm" D "Dm" X0 "x0m" } Block { BlockType StateSpace Name "Plant" Position [220, 212, 280, 248] A "Ap" B "Bp" C "Cp" D "Dp" X0 "x0p" } Block { BlockType Reference Name "Regressor\nVector" Ports [3, 1, 0, 0, 0] Position [225, 305, 285, 365] Orientation down NamePlacement alternate SourceBlock "Lib_VSMRAC/Regressor\nVector" SourceType "SubSystem" } Block { BlockType Reference Name "Sp" Ports [1, 1, 0, 0, 0] Position [25, 445, 55, 475] Orientation up SourceBlock "simulink/Linear/Matrix\nGain" SourceType "Matrix Gain" K "Sp" } Block { BlockType Sum Name "Sum" Ports [2, 1, 0, 0, 0] Position [95, 217, 125, 248] Inputs "-+" } Block { BlockType Reference Name "U0" Ports [2, 1, 0, 0, 0] Position [495, 168, 585, 232] SourceBlock "Lib_VSMRAC/Unit vector\ncontrol" SourceType "SubSystem" } Block { BlockType Sum Name "U0-Un/L" Ports [2, 1, 0, 0, 0] Position [560, 282, 590, 313] Orientation left Inputs "+-" } Block { BlockType StateSpace Name "WmLKpnom" Position [460, 282, 520, 318] Orientation left A "AWmL" B "BWmL" C "CWmL" D "DWmL" X0 "x0WmL" } Block { BlockType Gain Name "cu0" Position [475, 505, 515, 535] Gain "cu0" } Block { BlockType Gain Name "cw0" Position [475, 399, 520, 431] Gain "cw0" } Block { BlockType Gain Name "cwi" Position [555, 595, 585, 635] Orientation down NamePlacement alternate Gain "cwi" } Block { BlockType Scope Name "e" Ports [1, 0, 0, 0, 0] Position [460, 110, 490, 140] Floating off Location [534, 312, 858, 551] Open on Grid on TickLabels on ZoomMode on TimeRange "auto" YMin "-0.15" YMax "0.3" SaveToWorkspace on SaveName "e" LimitMaxRows on MaxRows "50000" Decimation "number_steps" SampleInput off SampleTime "0" } Block { BlockType Sum Name "e0" Ports [2, 1, 0, 0, 0] Position [425, 167, 455, 198] Inputs "+-" } Block { BlockType Constant Name "epsilon0" Position [455, 355, 505, 375] Value "epsilon0" } Block { BlockType Sum Name "erro" Ports [2, 1, 0, 0, 0] Position [355, 157, 385, 188] Inputs "-+" } Block { BlockType Sum Name "erro1" Ports [2, 1, 0, 0, 0] Position [170, 212, 200, 243] Inputs "++" } Block { BlockType Mux Name "r" Ports [2, 1, 0, 0, 0] Position [110, 77, 145, 113] Inputs "2" } Block { BlockType SignalGenerator Name "r1" Position [40, 35, 70, 65] WaveForm sine Amplitude "0.1" Frequency "1" Units rad/sec } Block { BlockType SignalGenerator Name "r2" Position [40, 115, 70, 145] WaveForm square Amplitude "0.1" Frequency "2" Units rad/sec } Block { BlockType Sum Name "rho0" Ports [3, 1, 0, 0, 0] Position [550, 392, 580, 438] Inputs "+++" } Block { BlockType Reference Name "theta\nnominal" Ports [1, 1, 0, 0, 0] Position [55, 305, 85, 335] Orientation up SourceBlock "simulink/Linear/Matrix\nGain" SourceType "Matrix Gain" K "thetanom" } Block { BlockType Scope Name "u" Ports [1, 0, 0, 0, 0] Position [115, 145, 145, 175] Floating off Location [367, 350, 691, 589] Open off Grid on TickLabels on ZoomMode on TimeRange "auto" YMin "-1250 " YMax "1250 " SaveToWorkspace on SaveName "u" LimitMaxRows on MaxRows "500000" Decimation "number_steps_u" SampleInput off SampleTime "0" } Block { BlockType Scope Name "y" Ports [1, 0, 0, 0, 0] Position [355, 215, 385, 245] Floating off Location [17, 354, 341, 593] Open off Grid on TickLabels on ZoomMode on TimeRange "auto" YMin "-0.01 " YMax "0.1 " SaveToWorkspace on SaveName "y" LimitMaxRows on MaxRows "50000" Decimation "number_steps" SampleInput off SampleTime "0" } Block { BlockType Scope Name "ym" Ports [1, 0, 0, 0, 0] Position [355, 80, 385, 110] Floating off Location [13, 48, 337, 287] Open off Grid on TickLabels on ZoomMode on TimeRange "auto" YMin "-0.015 " YMax "0.015 " SaveToWorkspace on SaveName "ym" LimitMaxRows on MaxRows "50000" Decimation "number_steps" SampleInput off SampleTime "0" } Block { BlockType Reference Name "||(1/L)Un||" Ports [1, 1, 0, 0, 0] Position [415, 505, 445, 535] SourceBlock "Lib_VSMRAC/Euclidean\nNorm" SourceType "SubSystem" } Block { BlockType Reference Name "||(1/L)w||" Ports [1, 1, 0, 0, 0] Position [415, 400, 445, 430] SourceBlock "Lib_VSMRAC/Euclidean\nNorm" SourceType "SubSystem" } Line { SrcBlock "Sp" SrcPort 1 Points [0, -215] DstBlock "Sum" DstPort 1 } Line { SrcBlock "Last VS Lead Filter\nUnit Vector Control" SrcPort 1 Points [-340, 0; 0, -100; 20, 0] Branch { DstBlock "Sp" DstPort 1 } Branch { DstBlock "(1/L) Un" DstPort 1 } } Line { SrcBlock "Constant" SrcPort 1 Points [35, 0; 0, 30; -65, 0] DstBlock "erro1" DstPort 1 } Line { SrcBlock "erro1" SrcPort 1 DstBlock "Plant" DstPort 1 } Line { SrcBlock "Sum" SrcPort 1 Points [10, 0] Branch { DstBlock "erro1" DstPort 2 } Branch { Points [0, 30; 95, 0] DstBlock "Regressor\nVector" DstPort 1 } Branch { Points [0, -40; -40, 0] DstBlock "u" DstPort 1 } } Line { SrcBlock "r1" SrcPort 1 Points [20, 0] DstBlock "r" DstPort 1 } Line { SrcBlock "r2" SrcPort 1 Points [20, 0] DstBlock "r" DstPort 2 } Line { SrcBlock "r" SrcPort 1 Points [30, 0] Branch { DstBlock "Model" DstPort 1 } Branch { Points [0, 60; 120, 0; 0, 105; -25, 0] DstBlock "Regressor\nVector" DstPort 3 } } Line { SrcBlock "theta\nnominal" SrcPort 1 Points [0, -60] DstBlock "Sum" DstPort 2 } Line { SrcBlock "Plant" SrcPort 1 Points [35, 0] Branch { Points [0, 45; -65, 0] DstBlock "Regressor\nVector" DstPort 2 } Branch { Points [0, -50] DstBlock "erro" DstPort 2 } Branch { DstBlock "y" DstPort 1 } } Line { SrcBlock "WmLKpnom" SrcPort 1 Points [-50, 0; 0, -110] DstBlock "e0" DstPort 2 } Line { SrcBlock "U0-Un/L" SrcPort 1 DstBlock "WmLKpnom" DstPort 1 } Line { SrcBlock "U0" SrcPort 1 Points [30, 0; 0, 90] Branch { Points [0, 370] DstBlock "Last VS Lead Filter\nUnit Vector Control" DstPort 1 } Branch { DstBlock "U0-Un/L" DstPort 1 } } Line { SrcBlock "Regressor\nVector" SrcPort 1 Points [0, 45] Branch { Points [-185, 0] DstBlock "theta\nnominal" DstPort 1 } Branch { DstBlock "(1/L) w" DstPort 1 } } Line { SrcBlock "(1/L) Un" SrcPort 1 Points [20, 0] Branch { Points [220, 0] DstBlock "U0-Un/L" DstPort 2 } Branch { Points [0, -55] DstBlock "||(1/L)Un||" DstPort 1 } } Line { SrcBlock "||(1/L)Un||" SrcPort 1 DstBlock "cu0" DstPort 1 } Line { SrcBlock "||(1/L)w||" SrcPort 1 DstBlock "cw0" DstPort 1 } Line { SrcBlock "cw0" SrcPort 1 DstBlock "rho0" DstPort 2 } Line { SrcBlock "cu0" SrcPort 1 Points [10, 0; 0, -90] DstBlock "rho0" DstPort 3 } Line { SrcBlock "epsilon0" SrcPort 1 Points [20, 0; 0, 35] DstBlock "rho0" DstPort 1 } Line { SrcBlock "rho0" SrcPort 1 Points [10, 0; 0, -75; -160, 0; 0, -125] DstBlock "U0" DstPort 2 } Line { SrcBlock "(1/L) w" SrcPort 1 Points [5, 0] Branch { DstBlock "||(1/L)w||" DstPort 1 } Branch { Points [0, 60; 180, 0] DstBlock "cwi" DstPort 1 } } Line { SrcBlock "cwi" SrcPort 1 Points [0, 50] DstBlock "Last VS Lead Filter\nUnit Vector Control" DstPort 2 } Line { SrcBlock "Model" SrcPort 1 Points [35, 0] Branch { Points [0, 70] DstBlock "erro" DstPort 1 } Branch { DstBlock "ym" DstPort 1 } } Line { SrcBlock "erro" SrcPort 1 Points [5, 0] Branch { DstBlock "e0" DstPort 1 } Branch { Points [0, -50] DstBlock "e" DstPort 1 } } Line { SrcBlock "e0" SrcPort 1 DstBlock "U0" DstPort 1 } } }