# $Revision: 1.1 $ Model { Name "narmamaglev" Version 3.00 SimParamPage "Solver" SampleTimeColors off InvariantConstants off WideVectorLines off ShowLineWidths off ShowPortDataTypes off StartTime "0.0" StopTime "30" SolverMode "SingleTasking" Solver "ode45" RelTol "1e-3" AbsTol "1e-6" Refine "1" MaxStep "auto" InitialStep "auto" FixedStep "auto" MaxOrder 5 OutputOption "RefineOutputTimes" OutputTimes "[]" LoadExternalInput off ExternalInput "[t, u]" SaveTime on TimeSaveName "tout" SaveState off StateSaveName "xout" SaveOutput off OutputSaveName "yout" LoadInitialState off InitialState "xInitial" SaveFinalState off FinalStateName "xFinal" SaveFormat "Matrix" LimitMaxRows off MaxRows "1000" Decimation "1" AlgebraicLoopMsg "warning" MinStepSizeMsg "warning" UnconnectedInputMsg "warning" UnconnectedOutputMsg "warning" UnconnectedLineMsg "warning" InheritedTsInSrcMsg "warning" IntegerOverflowMsg "warning" UnnecessaryDatatypeConvMsg "none" Int32ToFloatConvMsg "warning" SignalLabelMismatchMsg "none" ConsistencyChecking "off" ZeroCross on SimulationMode "normal" TunableVars "prueba" TunableVarsStorageClass "Auto" BlockDataTips on BlockParametersDataTip off BlockAttributesDataTip off BlockPortWidthsDataTip off BlockDescriptionStringDataTip off BlockMaskParametersDataTip off ToolBar on StatusBar on BrowserShowLibraryLinks off BrowserLookUnderMasks off OptimizeBlockIOStorage on BufferReuse on BooleanDataType off RTWSystemTargetFile "grt.tlc" RTWInlineParameters off RTWRetainRTWFile off RTWTemplateMakefile "grt_vc.tmf" RTWMakeCommand "make_rtw" RTWGenerateCodeOnly off ExtModeMexFile "ext_comm" ExtModeBatchMode off ExtModeTrigType "manual" ExtModeTrigMode "oneshot" ExtModeTrigPort "1" ExtModeTrigElement "any" ExtModeTrigDuration 1000 ExtModeTrigHoldOff 0 ExtModeTrigDelay 0 ExtModeTrigDirection "rising" ExtModeTrigLevel 0 ExtModeArchiveMode "off" ExtModeAutoIncOneShot off ExtModeIncDirWhenArm off ExtModeAddSuffixToVar off ExtModeWriteAllDataToWs off ExtModeArmWhenConnect off Created "Fri Oct 16 21:07:47 1998" UpdateHistory "UpdateHistoryNever" ModifiedByFormat "%" LastModifiedBy "Administrator" ModifiedDateFormat "%" LastModifiedDate "Sun Feb 27 19:03:08 2000" ModelVersionFormat "1.%" ConfigurationManager "none" 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 "narmamaglev" Location [139, 115, 900, 415] Open on ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" AutoZoom on ReportName "simulink-default.rpt" Block { BlockType Clock Name "Clock" Position [620, 45, 640, 65] DisplayTime off Decimation "10" } Block { BlockType SubSystem Name "More Info" Ports [0, 0, 0, 0, 0] Position [410, 225, 437, 250] DropShadow on ShowName off ShowPortLabels on MaskDisplay "disp('?')" MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskIconUnits "autoscale" System { Name "More Info" Location [617, 380, 965, 563] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" AutoZoom on Annotation { Position [162, 22] Text "This system simulates NARMA-L2 control\nof " "a magnet suspended by an electromagnet." } Annotation { Position [162, 67] Text "Double-click on the NARMA-L2 Controller blo" "ck\nto train the neural network controller and plant model." } Annotation { Position [162, 122] Text "For more information on what the controller" " \ndoes, look under the mask of the NARMA-L2 \nController block." } } } Block { BlockType SubSystem Name "More Info2" Ports [0, 0, 0, 0, 0] Position [560, 220, 662, 271] DropShadow on ShowName off OpenFcn "simcad(bdroot)" ShowPortLabels on MaskDisplay "disp('Double click\\nhere for\\nSimulink Help')" MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskIconUnits "autoscale" System { Name "More Info2" Location [128, 280, 487, 453] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" AutoZoom on } } Block { BlockType SubSystem Name "NARMA-L2 Controller" Ports [2, 1, 0, 0, 0] Position [215, 25, 375, 160] BackgroundColor "cyan" DropShadow on NamePlacement "alternate" OpenFcn "nncontrolutil('nnident','',gcbh,gcb,'narma_l2')" ";" ShowPortLabels on MaskType "NARMA-L2 Controller" MaskDescription "NARMA-L2 Controller. You first train a neural n" "etwork model of the plant to be controlled. The controller is a rearrangemen" "t of the trained plant model. Double-click the NARMA-L2 Controller block to " "begin the plant training." 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"|0|Inf|1" Port { PortNumber 1 Name "Current" TestPoint off RTWStorageClass "Auto" } System { Name "NARMA-L2 Controller" Location [29, 153, 1020, 664] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "automatic" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" AutoZoom on Block { BlockType Inport Name "Reference" Position [505, 45, 535, 65] Port "1" PortWidth "-1" SampleTime "-1" DataType "auto" SignalType "auto" Interpolate on } Block { BlockType Inport Name "Plant Output" Position [30, 62, 60, 78] Port "2" PortWidth "-1" SampleTime "-1" DataType "auto" SignalType "auto" Interpolate on } Block { BlockType Constant Name "Constant" Position [500, 265, 520, 285] Value "B1" } Block { BlockType Constant Name "Constant1" Position [665, 275, 685, 295] Value "B2" } Block { BlockType Constant Name "Constant2" Position [105, 255, 125, 275] Value "Normalize" } Block { BlockType Constant Name "Constant3" Position 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870, 380] SourceBlock "simulink3/Math/Matrix\nGain" SourceType "Matrix Gain" K "LW6_5*LW5_4*IW5_3" } Block { BlockType Mux Name "Mux" Ports [2, 1, 0, 0, 0] Position [285, 193, 330, 242] ShowName off Inputs "2" DisplayOption "signals" } Block { BlockType Product Name "Product" Ports [2, 1, 0, 0, 0] Position [940, 207, 970, 238] Inputs "*/" SaturateOnIntegerOverflow on } Block { BlockType Saturate Name "Saturation1" Position [1020, 210, 1050, 240] UpperLimit "max_i" LowerLimit "min_i" } Block { BlockType Sum Name "Sum" Ports [2, 1, 0, 0, 0] Position [875, 112, 905, 143] IconShape "rectangular" Inputs "+-" SaturateOnIntegerOverflow on } Block { BlockType Switch Name "Switch" Position [170, 255, 200, 285] Threshold "0.5" } Block { BlockType Switch Name "Switch1" Position [180, 130, 210, 160] Threshold "0.5" } Block { BlockType Switch Name "Switch3" Position [705, 100, 735, 130] Threshold "0.5" } Block { BlockType UnitDelay Name "Unit Delay4" Position [230, 225, 260, 255] X0 "0" SampleTime "Ts" } Block { BlockType ZeroOrderHold Name "Zero-Order\nHold" Position [1085, 206, 1120, 244] SampleTime "Ts" } Block { BlockType SubSystem Name "netsum" Ports [2, 1, 0, 0, 0] Position [550, 194, 575, 236] ShowPortLabels on MaskDisplay "disp('+')" MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskIconUnits "autoscale" System { Name "netsum" Location [322, 87, 822, 388] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "automatic" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" AutoZoom on Block { BlockType Inport Name "In1" Position [20, 50, 40, 70] Port "1" PortWidth "-1" SampleTime "-1" DataType "auto" SignalType "auto" Interpolate on } Block { BlockType Inport Name "In2" Position [20, 90, 40, 110] Port "2" PortWidth "-1" SampleTime "-1" DataType "auto" SignalType "auto" Interpolate on } Block { BlockType Sum Name "netsum" Ports [2, 1, 0, 0, 0] Position [90, 59, 115, 101] IconShape 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DstPort 1 } Line { SrcBlock "In2" SrcPort 1 DstBlock "netsum1" DstPort 2 } Line { SrcBlock "netsum1" SrcPort 1 DstBlock "Out1" DstPort 1 } } } Block { BlockType SubSystem Name "purelin" Ports [1, 1, 0, 0, 0] Position [770, 213, 795, 237] ShowPortLabels on MaskDisplay "plot([-1 1],[0 0],[-1 1],[-1 1])" MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskIconUnits "autoscale" System { Name "purelin" Location [146, 220, 406, 302] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" AutoZoom on Block { BlockType Inport Name "n" Position [25, 33, 55, 47] Port "1" PortWidth "-1" SampleTime "-1" DataType "auto" SignalType "auto" Interpolate on } Block { BlockType Outport Name "a" Position [205, 33, 235, 47] Port "1" OutputWhenDisabled "held" InitialOutput "[]" } Line { SrcBlock "n" SrcPort 1 DstBlock "a" DstPort 1 } } } Block { BlockType SubSystem Name "purelin1" Ports [1, 1, 0, 0, 0] Position [770, 353, 795, 377] ShowPortLabels on MaskDisplay "plot([-1 1],[0 0],[-1 1],[-1 1])" MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskIconUnits "autoscale" System { Name "purelin1" Location [144, 218, 404, 300] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" AutoZoom on Block { BlockType Inport Name "n" Position [25, 33, 55, 47] Port "1" PortWidth "-1" SampleTime "-1" DataType "auto" SignalType "auto" Interpolate on } Block { BlockType Outport Name "a" Position [205, 33, 235, 47] Port "1" OutputWhenDisabled "held" InitialOutput "[]" } Line { SrcBlock "n" SrcPort 1 DstBlock "a" DstPort 1 } } } Block { BlockType SubSystem Name "tansig" Ports [1, 1, 0, 0, 0] Position [600, 203, 625, 227] ShowPortLabels on MaskDisplay "plot([-1 1],[0 0],[-1 -.9 -.8 -.7 -.6 -.5 -" ".4 -.3 -.2 -.1 0 .1 .2 .3 .4 .5 .6 .7 .8 .9 1],2./(1+exp(-8*[-1 -.9 -.8 -.7 -" ".6 -.5 -.4 -.3 -.2 -.1 0 .1 .2 .3 .4 .5 .6 .7 .8 .9 1]))-1)" MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskIconUnits "autoscale" System { Name "tansig" Location [0, 38, 640, 480] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" AutoZoom on Block { BlockType Inport Name "n" Position [25, 33, 55, 47] Port "1" PortWidth "-1" SampleTime "-1" DataType "auto" SignalType "auto" Interpolate on } Block { BlockType Math Name "Exp" Ports [1, 1, 0, 0, 0] Position [155, 25, 185, 55] Operator "exp" OutputSignalType "auto" MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskIconUnits "autoscale" } Block { BlockType Gain Name "Gain" Position [90, 25, 120, 55] Gain "-2" SaturateOnIntegerOverflow on } Block { BlockType Gain Name "Gain1" Position [370, 30, 400, 60] Gain "2" SaturateOnIntegerOverflow on } Block { BlockType Math Name "Reciprocal" Ports [1, 1, 0, 0, 0] Position [295, 30, 325, 60] Operator "reciprocal" OutputSignalType "auto" MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskIconUnits "autoscale" } Block { BlockType Sum Name "Sum" Ports [2, 1, 0, 0, 0] Position [225, 27, 255, 58] IconShape "rectangular" Inputs "++" SaturateOnIntegerOverflow on } Block { BlockType Sum Name "Sum1" Ports [2, 1, 0, 0, 0] Position [445, 27, 475, 58] IconShape "rectangular" Inputs "+-" SaturateOnIntegerOverflow on } Block { BlockType Constant Name "one" Position [160, 85, 180, 105] Value "1" } Block { BlockType Constant Name "one1" Position [375, 85, 395, 105] Value "1" } Block { BlockType Outport Name "a" Position [515, 38, 545, 52] Port "1" OutputWhenDisabled "held" InitialOutput "[]" } Line { SrcBlock "n" SrcPort 1 DstBlock "Gain" DstPort 1 } Line { SrcBlock "Gain" SrcPort 1 DstBlock "Exp" DstPort 1 } Line { SrcBlock "Exp" SrcPort 1 Points [20, 0] DstBlock "Sum" DstPort 1 } Line { SrcBlock "one" SrcPort 1 Points [25, 0] DstBlock "Sum" DstPort 2 } Line { SrcBlock "Sum" SrcPort 1 DstBlock "Reciprocal" DstPort 1 } Line { SrcBlock "Reciprocal" SrcPort 1 DstBlock "Gain1" DstPort 1 } Line { SrcBlock "Gain1" SrcPort 1 Points [25, 0] DstBlock "Sum1" DstPort 1 } Line { SrcBlock "one1" SrcPort 1 Points [30, 0] DstBlock "Sum1" DstPort 2 } Line { SrcBlock "Sum1" SrcPort 1 DstBlock "a" DstPort 1 } } } Block { BlockType SubSystem Name "tansig1" Ports [1, 1, 0, 0, 0] Position [600, 343, 625, 367] ShowPortLabels on MaskDisplay "plot([-1 1],[0 0],[-1 -.9 -.8 -.7 -.6 -.5 -" ".4 -.3 -.2 -.1 0 .1 .2 .3 .4 .5 .6 .7 .8 .9 1],2./(1+exp(-8*[-1 -.9 -.8 -.7 -" ".6 -.5 -.4 -.3 -.2 -.1 0 .1 .2 .3 .4 .5 .6 .7 .8 .9 1]))-1)" MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskIconUnits "autoscale" System { Name "tansig1" Location [0, 38, 640, 480] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" AutoZoom on Block { BlockType Inport Name "n" Position [25, 33, 55, 47] Port "1" PortWidth "-1" SampleTime "-1" DataType "auto" SignalType "auto" Interpolate on } Block { BlockType Math Name "Exp" Ports [1, 1, 0, 0, 0] Position [155, 25, 185, 55] Operator "exp" OutputSignalType "auto" MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskIconUnits "autoscale" } Block { BlockType Gain Name "Gain" Position [90, 25, 120, 55] Gain "-2" SaturateOnIntegerOverflow on } Block { BlockType Gain Name "Gain1" Position [370, 30, 400, 60] Gain "2" SaturateOnIntegerOverflow on } Block { BlockType Math Name "Reciprocal" Ports [1, 1, 0, 0, 0] Position [295, 30, 325, 60] Operator "reciprocal" OutputSignalType "auto" MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskIconUnits "autoscale" } Block { BlockType Sum Name "Sum" Ports [2, 1, 0, 0, 0] Position [225, 27, 255, 58] IconShape "rectangular" Inputs "++" SaturateOnIntegerOverflow on } Block { BlockType Sum Name "Sum1" Ports [2, 1, 0, 0, 0] Position [445, 27, 475, 58] IconShape "rectangular" Inputs "+-" SaturateOnIntegerOverflow on } Block { BlockType Constant Name "one" Position [160, 85, 180, 105] Value "1" } Block { BlockType Constant Name "one1" Position [375, 85, 395, 105] Value "1" } Block { BlockType Outport Name "a" Position [515, 38, 545, 52] Port "1" OutputWhenDisabled "held" InitialOutput "[]" } Line { SrcBlock "n" SrcPort 1 DstBlock "Gain" DstPort 1 } Line { SrcBlock "Gain" SrcPort 1 DstBlock "Exp" DstPort 1 } Line { SrcBlock "Exp" SrcPort 1 Points [20, 0] DstBlock "Sum" DstPort 1 } Line { SrcBlock "one" SrcPort 1 Points [25, 0] DstBlock "Sum" DstPort 2 } Line { SrcBlock "Sum" SrcPort 1 DstBlock "Reciprocal" DstPort 1 } Line { SrcBlock "Reciprocal" SrcPort 1 DstBlock "Gain1" DstPort 1 } Line { SrcBlock "Gain1" SrcPort 1 Points [25, 0] DstBlock "Sum1" DstPort 1 } Line { SrcBlock "one1" SrcPort 1 Points [30, 0] DstBlock "Sum1" DstPort 2 } Line { SrcBlock "Sum1" SrcPort 1 DstBlock "a" DstPort 1 } } } Block { BlockType Outport Name "Control Signal" Position [1180, 215, 1210, 235] Port "1" OutputWhenDisabled "held" InitialOutput "[]" } Line { SrcBlock "Constant3" SrcPort 1 Points [15, 0] DstBlock "Switch1" DstPort 2 } Line { SrcBlock "Fcn1" SrcPort 1 Points [10, 0] DstBlock "Switch1" DstPort 1 } Line { SrcBlock "Plant Output" SrcPort 1 Points [25, 0] Branch { DstBlock "Fcn1" DstPort 1 } Branch { Points [0, 110; 75, 0] DstBlock "Switch1" DstPort 3 } } Line { SrcBlock "netsum1" SrcPort 1 DstBlock "purelin" DstPort 1 } Line { SrcBlock "Constant1" SrcPort 1 Points [10, 0; 0, -55] DstBlock "netsum1" DstPort 2 } Line { SrcBlock "Matrix\nGain2" SrcPort 1 DstBlock "netsum1" DstPort 1 } Line { SrcBlock "netsum" SrcPort 1 DstBlock "tansig" DstPort 1 } Line { SrcBlock "Constant" SrcPort 1 Points [10, 0] DstBlock "netsum" DstPort 2 } Line { SrcBlock "tansig" SrcPort 1 DstBlock "Matrix\nGain2" DstPort 1 } Line { SrcBlock "Matrix\nGain" SrcPort 1 DstBlock "netsum" DstPort 1 } Line { SrcBlock "netsum3" SrcPort 1 DstBlock "purelin1" DstPort 1 } Line { SrcBlock "Constant6" SrcPort 1 Points [10, 0; 0, -55] DstBlock "netsum3" DstPort 2 } Line { SrcBlock "Matrix\nGain3" SrcPort 1 DstBlock "netsum3" DstPort 1 } Line { SrcBlock "netsum2" SrcPort 1 DstBlock "tansig1" DstPort 1 } Line { SrcBlock "Constant5" SrcPort 1 Points [10, 0] DstBlock "netsum2" DstPort 2 } Line { SrcBlock "tansig1" SrcPort 1 DstBlock "Matrix\nGain3" DstPort 1 } Line { SrcBlock "Matrix\nGain1" SrcPort 1 Points [5, 0] DstBlock "netsum2" DstPort 1 } Line { SrcBlock "purelin" SrcPort 1 DstBlock "Matrix\nGain5" DstPort 1 } Line { SrcBlock "Matrix\nGain5" SrcPort 1 Points [10, 0] DstBlock "Sum" DstPort 2 } Line { SrcBlock "Sum" SrcPort 1 Points [10, 0; 0, 85] DstBlock "Product" DstPort 1 } Line { SrcBlock "purelin1" SrcPort 1 DstBlock "Matrix\nGain8" DstPort 1 } Line { SrcBlock "Matrix\nGain8" SrcPort 1 Points [50, 0] DstBlock "Product" DstPort 2 } Line { SrcBlock "Constant7" SrcPort 1 Points [30, 0] DstBlock "Switch3" DstPort 2 } Line { SrcBlock "Fcn3" SrcPort 1 Points [25, 0] DstBlock "Switch3" DstPort 1 } Line { SrcBlock "Reference" SrcPort 1 Points [60, 0] Branch { DstBlock "Fcn3" DstPort 1 } Branch { Points [0, 110; 90, 0] DstBlock "Switch3" DstPort 3 } } Line { SrcBlock "Switch3" SrcPort 1 Points [120, 0] DstBlock "Sum" DstPort 1 } Line { SrcBlock "Switch1" SrcPort 1 Points [45, 0; 0, 60] DstBlock "Mux" DstPort 1 } Line { SrcBlock "Mux" SrcPort 1 DstBlock "Discrete State-Space4" DstPort 1 } Line { SrcBlock "Discrete State-Space4" SrcPort 1 Points [10, 0] Branch { DstBlock "Matrix\nGain" DstPort 1 } Branch { Points [0, 120] DstBlock "Matrix\nGain1" DstPort 1 } } Line { SrcBlock "Zero-Order\nHold" SrcPort 1 Points [15, 0] Branch { DstBlock "Control Signal" DstPort 1 } Branch { Points [0, 250; -995, 0] Branch { Points [-55, 0] DstBlock "Fcn" DstPort 1 } Branch { Points [0, -195] DstBlock "Switch" DstPort 3 } } } Line { SrcBlock "Fcn" SrcPort 1 Points [0, 40] DstBlock "Switch" DstPort 1 } Line { SrcBlock "Constant2" SrcPort 1 Points [25, 0] DstBlock "Switch" DstPort 2 } Line { SrcBlock "Unit Delay4" SrcPort 1 Points [5, 0] DstBlock "Mux" DstPort 2 } Line { SrcBlock "Switch" SrcPort 1 Points [0, -30] DstBlock "Unit Delay4" DstPort 1 } Line { SrcBlock "Product" SrcPort 1 DstBlock "Saturation1" DstPort 1 } Line { SrcBlock "Saturation1" SrcPort 1 DstBlock "Zero-Order\nHold" DstPort 1 } } } Block { BlockType SubSystem Name "Plant\n(Magnet Levitation)" Ports [1, 1, 0, 0, 0] Position [435, 63, 550, 127] ShowPortLabels on MaskInitialization "x1=[-2 -2 2 2 -2 NaN -2 -2 2 2 -2];\ny1=[5 4 4 " "5 5 NaN 2 0 0 2 2];\nx2=[-2 -2 2 2 -2 NaN -2 2 NaN -2 2 NaN 2 4 NaN " "2 4];\ny2=[4 3 3 4 4 NaN 1.5 1 NaN 1 .5 NaN 1.5 1.5 NaN .5 .5];\nx1t = -" ".5 ; y1t = 4.4;\nx2t = -.5; y2t = 3.4;\n" MaskDisplay "plot([-10],[0],[10],[5]);\nplot([x1 NaN x2],[y1" " NaN y2]);\ntext(x1t,y1t,'N')\ntext(x2t,y2t,'S')" MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskIconUnits "autoscale" Port { PortNumber 1 Name "Position" TestPoint off RTWStorageClass "Auto" } System { Name "Plant\n(Magnet Levitation)" Location [177, 189, 853, 455] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "automatic" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" AutoZoom on Block { BlockType Inport Name "Current" Position [30, 93, 60, 107] Port "1" PortWidth "-1" SampleTime "-1" DataType "auto" SignalType "auto" Interpolate on } Block { BlockType Product Name "Division" Ports [2, 1, 0, 0, 0] Position [195, 92, 225, 123] Inputs "*/" SaturateOnIntegerOverflow on } Block { BlockType Product Name "Division1" Ports [2, 1, 0, 0, 0] Position [340, 52, 370, 83] Inputs "/*" SaturateOnIntegerOverflow on } Block { BlockType Product Name "Division2" Ports [2, 1, 0, 0, 0] Position [350, 137, 380, 168] Inputs "/*" SaturateOnIntegerOverflow on } Block { BlockType Gain Name "Gain" Position [250, 95, 280, 125] Gain "15" SaturateOnIntegerOverflow on } Block { BlockType Constant Name "Gravity" Position [225, 160, 255, 190] Value "9.8" } Block { BlockType Integrator Name "Position" Ports [1, 1, 0, 0, 0] Position [540, 100, 570, 130] ExternalReset "none" InitialConditionSource "internal" InitialCondition ".5" LimitOutput off UpperSaturationLimit "inf" LowerSaturationLimit "-inf" ShowSaturationPort off ShowStatePort off AbsoluteTolerance "auto" } Block { BlockType Fcn Name "Square Law" Position [105, 85, 165, 115] Expr "u^2" } Block { BlockType Sum Name "Sum" Ports [3, 1, 0, 0, 0] Position [405, 93, 430, 137] ShowName off IconShape "rectangular" Inputs "|+--" SaturateOnIntegerOverflow on } Block { BlockType Integrator Name "Velocity" Ports [1, 1, 0, 0, 0] Position [470, 100, 500, 130] ExternalReset "none" InitialConditionSource "internal" InitialCondition "0" LimitOutput off UpperSaturationLimit "inf" LowerSaturationLimit "-inf" ShowSaturationPort off ShowStatePort off AbsoluteTolerance "auto" } Block { BlockType Gain Name "Viscous Friction" Position [440, 175, 470, 205] Orientation "left" Gain "12" SaturateOnIntegerOverflow on } Block { BlockType Constant Name "mass" Position [235, 35, 265, 65] Value "3" } Block { BlockType Outport Name "Output" Position [620, 108, 650, 122] Port "1" OutputWhenDisabled "held" InitialOutput "[]" } Line { SrcBlock "Square Law" SrcPort 1 DstBlock "Division" DstPort 1 } Line { SrcBlock "Division" SrcPort 1 DstBlock "Gain" DstPort 1 } Line { SrcBlock "Gravity" SrcPort 1 Points [35, 0; 0, -55] DstBlock "Sum" DstPort 2 } Line { SrcBlock "Velocity" SrcPort 1 Points [5, 0] Branch { Points [0, 0] DstBlock "Position" DstPort 1 } Branch { Points [0, 75] DstBlock "Viscous Friction" DstPort 1 } } Line { SrcBlock "Sum" SrcPort 1 DstBlock "Velocity" DstPort 1 } Line { SrcBlock "Gain" SrcPort 1 Points [40, 0] DstBlock "Division1" DstPort 2 } Line { SrcBlock "Division1" SrcPort 1 Points [15, 0] DstBlock "Sum" DstPort 1 } Line { SrcBlock "mass" SrcPort 1 Points [40, 0] Branch { Points [15, 0] DstBlock "Division1" DstPort 1 } Branch { Points [0, 95] DstBlock "Division2" DstPort 1 } } Line { SrcBlock "Viscous Friction" SrcPort 1 Points [-110, 0; 0, -30] DstBlock "Division2" DstPort 2 } Line { SrcBlock "Division2" SrcPort 1 Points [5, 0] DstBlock "Sum" DstPort 3 } Line { SrcBlock "Current" SrcPort 1 DstBlock "Square Law" DstPort 1 } Line { SrcBlock "Position" SrcPort 1 Points [10, 0] Branch { Points [0, 120; -405, 0] DstBlock "Division" DstPort 2 } Branch { DstBlock "Output" DstPort 1 } } } } Block { BlockType UniformRandomNumber Name "Random Reference" Position [45, 44, 75, 76] Minimum "0.5" Maximum "4" Seed "now*10e8" SampleTime "5" } Block { BlockType SubSystem Name "X(2Y)\n Graph" Ports [3, 0, 0, 0, 0] Position [685, 72, 720, 118] CopyFcn "sfunxy2([],[],[],'CopyBlock')" DeleteFcn "sfunxy2([],[],[],'DeleteBlock')" LoadFcn "sfunxy2([],[],[],'LoadBlock')" StartFcn "sfunxy2([],[],[],'Start')" StopFcn "sfunxy2([],[],[],'Stop')" NameChangeFcn "sfunxy2([],[],[],'NameChange')" ShowPortLabels on MaskType "X(2Y) scope." MaskDescription "X(2Y) scope using MATLAB graph window. First i" "nput is used as time base. Enter plotting ranges." MaskHelp "This block can be used to explore limit cycles." " Look at the m-file sfunxy.m to see how it works." MaskPromptString "x-min:|x-max:|y-min:|y-max:|Sample time:" MaskStyleString "edit,edit,edit,edit,edit" MaskTunableValueString "on,on,on,on,on" MaskCallbackString "||||" MaskEnableString "on,on,on,on,on" MaskVisibilityString "on,on,on,on,on" MaskVariables "xmin=@1;xmax=@2;ymin=@3;ymax=@4;st=@5;" MaskDisplay "plot([.05 .95 .95 .05 .05],[.45 .45 .95 .95 .45" "], 0.5+cos(0:0.1:2*pi)*0.3,0.7+sin(0:0.1:2*pi)*0.2)" MaskSelfModifiable on MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskIconUnits "normalized" MaskValueString "0|5|-1|1|-1" System { Name "X(2Y)\n Graph" Location [82, 157, 342, 335] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" AutoZoom on Block { BlockType Inport Name "x" Position [25, 27, 55, 43] Port "1" PortWidth "-1" SampleTime "-1" DataType "auto" SignalType "auto" Interpolate on } Block { BlockType Inport Name "y1" Position [25, 67, 55, 83] Port "2" PortWidth "-1" SampleTime "-1" DataType "auto" SignalType "auto" Interpolate on } Block { BlockType Inport Name "y2" Position [25, 107, 55, 123] Port "3" PortWidth "-1" SampleTime "-1" DataType "auto" SignalType "auto" Interpolate on } Block { BlockType Mux Name "Mux" Ports [3, 1, 0, 0, 0] Position [105, 48, 135, 102] ShowName off Inputs "3" DisplayOption "none" } Block { BlockType "S-Function" Name "sfunxy" Ports [1, 0, 0, 0, 0] Position [175, 65, 225, 85] ShowName off FunctionName "sfunxy2" Parameters "[xmin xmax ymin ymax], st" PortCounts "[]" SFunctionModules "''" } Line { SrcBlock "y2" SrcPort 1 Points [15, 0; 0, -20] DstBlock "Mux" DstPort 3 } Line { SrcBlock "y1" SrcPort 1 DstBlock "Mux" DstPort 2 } Line { SrcBlock "x" SrcPort 1 Points [15, 0; 0, 20] DstBlock "Mux" DstPort 1 } Line { SrcBlock "Mux" SrcPort 1 DstBlock "sfunxy" DstPort 1 } } } Line { SrcBlock "Clock" SrcPort 1 Points [15, 0; 0, 25] DstBlock "X(2Y)\n Graph" DstPort 1 } Line { Labels [1, 0] SrcBlock "Random Reference" SrcPort 1 Points [50, 0] Branch { Points [0, 140; 530, 0; 0, -90] DstBlock "X(2Y)\n Graph" DstPort 3 } Branch { DstBlock "NARMA-L2 Controller" DstPort 1 } } Line { Name "Current" Labels [0, 0] SrcBlock "NARMA-L2 Controller" SrcPort 1 DstBlock "Plant\n(Magnet Levitation)" DstPort 1 } Line { Name "Position" Labels [0, 0] SrcBlock "Plant\n(Magnet Levitation)" SrcPort 1 Points [60, 0] Branch { Points [0, 80; -445, 0; 0, -50] DstBlock "NARMA-L2 Controller" DstPort 2 } Branch { DstBlock "X(2Y)\n Graph" DstPort 2 } } Annotation { Position [198, 232] Text "NARMA-L2 Control of a Magnet Levitation System" "\n(Double click on the \"?\" for more info)" } Annotation { Position [201, 277] Text "To start and stop the simulation, use the \"Sta" "rt/Stop\"\nselection in the \"Simulation\" pull-down menu" } } }