Model {
  Name			  "trailers_nonlinear_dampers"
  Version		  2.09
  SimParamPage		  Solver
  SampleTimeColors	  off
  InvariantConstants	  off
  WideVectorLines	  off
  ShowLineWidths	  off
  PaperOrientation	  landscape
  PaperType		  usletter
  PaperUnits		  inches
  StartTime		  "0.0"
  StopTime		  "0.1"
  Solver		  ode1
  RelTol		  "1e-3"
  AbsTol		  "1e-6"
  Refine		  "1"
  MaxStep		  "auto"
  InitialStep		  "auto"
  FixedStep		  "0.000004"
  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		    "trailers_nonlinear_dampers"
    Location		    [4, 48, 1020, 715]
    Open		    on
    ScreenColor		    white
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      BlockType		      TransferFcn
      Name		      "(c4 s + c4*gamma_phi + c5)/\n(s+gamma_phi)"
      Position		      [650, 448, 775, 492]
      Numerator		      "[c4 (c4*gamma_phi+c5)]"
      Denominator	      "[1 gamma_phi]"
    }
    Block {
      BlockType		      Reference
      Name		      "-Sp"
      Ports		      [1, 1, 0, 0, 0]
      Position		      [650, 195, 680, 225]
      Orientation	      down
      NamePlacement	      alternate
      SourceBlock	      "simulink/Linear/Matrix\nGain"
      SourceType	      "Matrix Gain"
      K			      "-Sp"
    }
    Block {
      BlockType		      TransferFcn
      Name		      "1/(s+gamma_x)"
      Position		      [560, 536, 635, 574]
      Orientation	      left
      Numerator		      "[1]"
      Denominator	      "[1 gamma_x]"
    }
    Block {
      BlockType		      Reference
      Name		      "Ap"
      Ports		      [1, 1, 0, 0, 0]
      Position		      [865, 360, 895, 390]
      Orientation	      left
      SourceBlock	      "simulink/Linear/Matrix\nGain"
      SourceType	      "Matrix Gain"
      K			      "Ap"
    }
    Block {
      BlockType		      Reference
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      Ports		      [1, 1, 0, 0, 0]
      Position		      [710, 260, 740, 290]
      SourceBlock	      "simulink/Linear/Matrix\nGain"
      SourceType	      "Matrix Gain"
      K			      "Bp"
    }
    Block {
      BlockType		      Reference
      Name		      "Cp"
      Ports		      [1, 1, 0, 0, 0]
      Position		      [965, 280, 995, 310]
      SourceBlock	      "simulink/Linear/Matrix\nGain"
      SourceType	      "Matrix Gain"
      K			      "Cp"
    }
    Block {
      BlockType		      Reference
      Name		      "M^-1"
      Ports		      [1, 1, 0, 0, 0]
      Position		      [735, 330, 765, 360]
      Orientation	      up
      NamePlacement	      alternate
      SourceBlock	      "simulink/Linear/Matrix\nGain"
      SourceType	      "Matrix Gain"
      K			      "M1"
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    Block {
      BlockType		      StateSpace
      Name		      "Modelo"
      Position		      [210, 27, 270, 63]
      A			      "Am"
      B			      "[1 0; 0 1]"
      C			      "eye(2)"
      D			      "zeros(2)"
      X0		      "[0 ; 0]"
    }
    Block {
      BlockType		      MATLABFcn
      Name		      "Nonlinear dampers"
      Position		      [835, 420, 895, 450]
      Orientation	      left
      MATLABFcn		      "dampers"
      OutputWidth	      "-1"
    }
    Block {
      BlockType		      Sum
      Name		      "Sum"
      Ports		      [4, 1, 0, 0, 0]
      Position		      [655, 521, 685, 584]
      Orientation	      left
      Inputs		      "++++"
    }
    Block {
      BlockType		      Scope
      Name		      "Uav"
      Ports		      [1, 0, 0, 0, 0]
      Position		      [320, 635, 350, 665]
      Floating		      off
      Location		      [695, 354, 1019, 593]
      Open		      on
      Grid		      on
      TickLabels	      on
      ZoomMode		      on
      TimeRange		      "auto"
      YMin		      "-80"
      YMax		      "40"
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      SaveName		      "Uav"
      LimitMaxRows	      on
      MaxRows		      "5000"
      Decimation	      "10"
      SampleInput	      off
      SampleTime	      "0"
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    Block {
      BlockType		      StateSpace
      Name		      "average\nfilter\n-I/(tau*s+1)"
      Position		      [225, 602, 285, 638]
      A			      "-eye(2)/tau"
      B			      "-eye(2)/tau"
      C			      "eye(2)"
      D			      "zeros(2,2)"
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    Block {
      BlockType		      Gain
      Name		      "c1"
      Position		      [380, 224, 420, 256]
      Gain		      "c1"
    }
    Block {
      BlockType		      Gain
      Name		      "c10"
      Position		      [750, 514, 785, 546]
      Orientation	      left
      Gain		      "c10"
    }
    Block {
      BlockType		      Gain
      Name		      "c11"
      Position		      [810, 544, 845, 576]
      Orientation	      left
      Gain		      "c11"
    }
    Block {
      BlockType		      Gain
      Name		      "c2"
      Position		      [360, 149, 400, 181]
      Gain		      "c2"
    }
    Block {
      BlockType		      Gain
      Name		      "c3"
      Position		      [440, 175, 470, 205]
      Gain		      "c3"
    }
    Block {
      BlockType		      Gain
      Name		      "c6*tau"
      Position		      [445, 542, 500, 578]
      Orientation	      left
      Gain		      "c6*tau"
    }
    Block {
      BlockType		      Constant
      Name		      "c7*varphi"
      Position		      [760, 589, 815, 611]
      Orientation	      left
      Value		      "c7*varphi"
    }
    Block {
      BlockType		      Gain
      Name		      "c8+tau*c9"
      Position		      [555, 597, 655, 633]
      Gain		      "c8+tau*c9"
    }
    Block {
      BlockType		      Constant
      Name		      "delta"
      Position		      [425, 258, 460, 282]
      Value		      "delta"
    }
    Block {
      BlockType		      Sum
      Name		      "dxp/dt"
      Ports		      [3, 1, 0, 0, 0]
      Position		      [810, 266, 845, 324]
      Inputs		      "+++"
    }
    Block {
      BlockType		      Scope
      Name		      "e"
      Ports		      [1, 0, 0, 0, 0]
      Position		      [535, 45, 565, 75]
      Floating		      off
      Location		      [370, 72, 694, 311]
      Open		      on
      Grid		      on
      TickLabels	      on
      ZoomMode		      on
      TimeRange		      "auto"
      YMin		      "-1              "
      YMax		      "1               "
      SaveToWorkspace	      on
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      LimitMaxRows	      on
      MaxRows		      "5000"
      Decimation	      "10"
      SampleInput	      off
      SampleTime	      "0"
    }
    Block {
      BlockType		      Sum
      Name		      "erro"
      Ports		      [2, 1, 0, 0, 0]
      Position		      [320, 72, 350, 103]
      Inputs		      "-+"
    }
    Block {
      BlockType		      Gain
      Name		      "kx"
      Position		      [560, 445, 590, 475]
      Gain		      "kx"
    }
    Block {
      BlockType		      Mux
      Name		      "r"
      Ports		      [2, 1, 0, 0, 0]
      Position		      [130, 27, 165, 63]
      Inputs		      "2"
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    Block {
      BlockType		      SignalGenerator
      Name		      "r1"
      Position		      [50, 20, 80, 50]
      WaveForm		      square
      Amplitude		      "10"
      Frequency		      "60"
      Units		      rad/sec
    }
    Block {
      BlockType		      SignalGenerator
      Name		      "r2"
      Position		      [50, 90, 80, 120]
      WaveForm		      sine
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      Frequency		      "60"
      Units		      rad/sec
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    Block {
      BlockType		      Sum
      Name		      "rho"
      Ports		      [5, 1, 0, 0, 0]
      Position		      [500, 209, 535, 271]
      Inputs		      "+++++"
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    Block {
      BlockType		      Product
      Name		      "rho e/||e||"
      Ports		      [3, 1, 0, 0, 0]
      Position		      [560, 144, 590, 176]
      Inputs		      "*/*"
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    Block {
      BlockType		      Math
      Name		      "sqrt"
      Ports		      [1, 1, 0, 0, 0]
      Position		      [515, 445, 545, 475]
      Operator		      sqrt
    }
    Block {
      BlockType		      Reference
      Name		      "theta4_nomT"
      Ports		      [1, 1, 0, 0, 0]
      Position		      [480, 335, 510, 365]
      SourceBlock	      "simulink/Linear/Matrix\nGain"
      SourceType	      "Matrix Gain"
      K			      "theta4_nomT"
    }
    Block {
      BlockType		      Reference
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      Ports		      [1, 1, 0, 0, 0]
      Position		      [395, 300, 425, 330]
      SourceBlock	      "simulink/Linear/Matrix\nGain"
      SourceType	      "Matrix Gain"
      K			      "theta_nomT"
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    Block {
      BlockType		      Scope
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      Position		      [130, 365, 160, 395]
      Orientation	      left
      Floating		      off
      Location		      [371, 354, 695, 593]
      Open		      on
      Grid		      on
      TickLabels	      on
      ZoomMode		      on
      TimeRange		      "auto"
      YMin		      "-300            "
      YMax		      "300             "
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      MaxRows		      "50000"
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      SampleInput	      off
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    Block {
      BlockType		      Sum
      Name		      "unom+Sp*U"
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      Orientation	      left
      Inputs		      "+++"
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    Block {
      BlockType		      Constant
      Name		      "varphi"
      Position		      [520, 499, 555, 521]
      Value		      "varphi"
    }
    Block {
      BlockType		      Mux
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      Ports		      [3, 1, 0, 0, 0]
      Position		      [150, 222, 185, 258]
      Inputs		      "3"
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    Block {
      BlockType		      StateSpace
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      Position		      [225, 417, 285, 453]
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      B			      "GAMMA"
      C			      "eye(2)"
      D			      "zeros(2,2)"
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    Block {
      BlockType		      StateSpace
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      C			      "eye(2)"
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    Block {
      BlockType		      Integrator
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      Ports		      [1, 1, 0, 0, 0]
      Position		      [890, 280, 920, 310]
      ExternalReset	      none
      InitialConditionSource      internal
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      LimitOutput	      off
      UpperSaturationLimit      "inf"
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    Block {
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      Orientation	      left
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      Location		      [23, 355, 347, 594]
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      TimeRange		      "auto"
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    Block {
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}