Model {
  Name			  "InvertedPendulum_vN4D"
  Version		  3.00
  SimParamPage		  "Solver"
  SampleTimeColors	  off
  InvariantConstants	  off
  WideVectorLines	  off
  ShowLineWidths	  off
  ShowPortDataTypes	  off
  StartTime		  "0"
  StopTime		  "10000"
  SolverMode		  "SingleTasking"
  Solver		  "ode4"
  RelTol		  "1e-3"
  AbsTol		  "1e-6"
  Refine		  "1"
  MaxStep		  "0.01"
  InitialStep		  "auto"
  FixedStep		  ".01"
  MaxOrder		  5
  OutputOption		  "RefineOutputTimes"
  OutputTimes		  "[]"
  LoadExternalInput	  off
  ExternalInput		  "[]"
  SaveTime		  off
  TimeSaveName		  "tout"
  SaveState		  off
  StateSaveName		  "xout"
  SaveOutput		  off
  OutputSaveName	  "yout"
  LoadInitialState	  off
  InitialState		  "[]"
  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"
  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_default_tmf"
  RTWMakeCommand	  "make_rtw"
  RTWGenerateCodeOnly	  off
  ExtModeMexFile	  "ext_comm"
  ExtModeBatchMode	  off
  ExtModeTrigType	  "manual"
  ExtModeTrigMode	  "normal"
  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	  on
  Created		  "Wed Jun 13 12:49:45 2001"
  UpdateHistory		  "UpdateHistoryNever"
  ModifiedByFormat	  "%<Auto>"
  LastModifiedBy	  "manning"
  ModifiedDateFormat	  "%<Auto>"
  LastModifiedDate	  "Thu Jun 14 21:07:50 2001"
  ModelVersionFormat	  "1.%<AutoIncrement:26>"
  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		    "InvertedPendulum_vN4D"
    Location		    [151, 448, 1019, 901]
    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		      SubSystem
      Name		      "Animation"
      Ports		      [1, 0, 0, 0, 0]
      Position		      [735, 50, 790, 100]
      ShowPortLabels	      on
      MaskType		      "Pendulum plot"
      MaskDescription	      "Pendulum plot"
      MaskHelp		      "Pendulum animation function using Handle graphi"
"cs."
      MaskPromptString	      "DC reference signal block name:"
      MaskStyleString	      "edit"
      MaskTunableValueString  "on"
      MaskEnableString	      "on"
      MaskVisibilityString    "on"
      MaskInitialization      "RefBlock=&1;\n"
      MaskDisplay	      "plot([-10 10],[0 0],[-2 -2 2 2],[0 1 1 0],[0 3]"
",[1 5])"
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "autoscale"
      MaskValueString	      "Reference"
      System {
	Name			"Animation"
	Location		[636, 545, 877, 643]
	Open			off
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"white"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"usletter"
	PaperUnits		"inches"
	ZoomFactor		"100"
	AutoZoom		on
	Block {
	  BlockType		  Inport
	  Name			  "in_1"
	  Position		  [40, 25, 60, 45]
	  Port			  "1"
	  PortWidth		  "-1"
	  SampleTime		  "-1"
	  DataType		  "auto"
	  SignalType		  "auto"
	  Interpolate		  on
	}
	Block {
	  BlockType		  "S-Function"
	  Name			  "S-function"
	  Ports			  [1, 0, 0, 0, 0]
	  Position		  [95, 23, 150, 47]
	  DeleteFcn		  "pendan([],[],[],'DeleteBlock');"
	  FunctionName		  "pendan"
	  Parameters		  "RefBlock"
	  PortCounts		  "[]"
	  SFunctionModules	  "''"
	}
	Line {
	  SrcBlock		  "in_1"
	  SrcPort		  1
	  DstBlock		  "S-function"
	  DstPort		  1
	}
      }
    }
    Block {
      BlockType		      Clock
      Name		      "Clock"
      Position		      [685, 170, 705, 190]
      ShowName		      off
      DisplayTime	      off
      Decimation	      "10"
    }
    Block {
      BlockType		      Demux
      Name		      "Demux"
      Ports		      [1, 2, 0, 0, 0]
      Position		      [570, 146, 575, 184]
      BackgroundColor	      "black"
      ShowName		      off
      Outputs		      "2"
    }
    Block {
      BlockType		      SubSystem
      Name		      "Discrete State Estimator"
      Ports		      [2, 1, 0, 0, 0]
      Position		      [470, 222, 515, 273]
      Orientation	      "left"
      ShowPortLabels	      on
      MaskType		      "Pendulum Discrete state estimator"
      MaskDescription	      "Pendulum discrete state estimator"
      MaskHelp		      "The states of the pendulum and cart system are "
"the pendulum angle and angular velocity and cart position and velocity.  Sinc"
"e the sensors output the pendulum angle and cart position, this state estimat"
"or just does a one step difference calculation to get the velocities."
      MaskPromptString	      "Sample time"
      MaskStyleString	      "edit"
      MaskTunableValueString  "on"
      MaskEnableString	      "on"
      MaskVisibilityString    "on"
      MaskInitialization      "Ts = @1;"
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "autoscale"
      MaskValueString	      "0.01"
      System {
	Name			"Discrete State Estimator"
	Location		[261, 265, 572, 421]
	Open			off
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"white"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"usletter"
	PaperUnits		"inches"
	ZoomFactor		"100"
	AutoZoom		on
	Block {
	  BlockType		  Inport
	  Name			  "Cart"
	  Position		  [15, 45, 35, 65]
	  Port			  "1"
	  PortWidth		  "-1"
	  SampleTime		  "-1"
	  DataType		  "auto"
	  SignalType		  "auto"
	  Interpolate		  on
	}
	Block {
	  BlockType		  Inport
	  Name			  "Pendulum"
	  Position		  [15, 100, 35, 120]
	  Port			  "2"
	  PortWidth		  "-1"
	  SampleTime		  "-1"
	  DataType		  "auto"
	  SignalType		  "auto"
	  Interpolate		  on
	}
	Block {
	  BlockType		  DiscreteStateSpace
	  Name			  "Dis. State-space"
	  Position		  [115, 65, 235, 105]
	  A			  "zeros(2)"
	  B			  "-eye(2)/Ts"
	  C			  "[0 0; 1 0; 0 0; 0 1]"
	  D			  "[1 0; 1/Ts 0; 0 1; 0 1/Ts]"
	  X0			  "0"
	  SampleTime		  "Ts"
	}
	Block {
	  BlockType		  Mux
	  Name			  "Mux2"
	  Ports			  [2, 1, 0, 0, 0]
	  Position		  [55, 56, 80, 109]
	  ShowName		  off
	  Inputs		  "2"
	  DisplayOption		  "none"
	}
	Block {
	  BlockType		  Outport
	  Name			  "X"
	  Position		  [260, 75, 280, 95]
	  Port			  "1"
	  OutputWhenDisabled	  "held"
	  InitialOutput		  "0"
	}
	Line {
	  SrcBlock		  "Pendulum"
	  SrcPort		  1
	  DstBlock		  "Mux2"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Dis. State-space"
	  SrcPort		  1
	  DstBlock		  "X"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Cart"
	  SrcPort		  1
	  DstBlock		  "Mux2"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Mux2"
	  SrcPort		  1
	  DstBlock		  "Dis. State-space"
	  DstPort		  1
	}
      }
    }
    Block {
      BlockType		      TransferFcn
      Name		      "Feedforward Gain"
      Position		      [245, 212, 300, 248]
      Numerator		      "[7.12 0]"
      Denominator	      "[1 2]"
    }
    Block {
      BlockType		      Gain
      Name		      "Integral\nGain"
      Position		      [245, 143, 280, 177]
      Gain		      "0.06"
      SaturateOnIntegerOverflow	on
    }
    Block {
      BlockType		      Reference
      Name		      "InvertedPendulum_vN4D"
      Description	      "\".\\InvertedPendulum_vN4d.wm3\"||\"State Measu"
"rements.theta\"|4.89642e-012|\"State Measurements.y\"|0||\"Force\"|-10||"
      Ports		      [1, 1, 0, 0, 0]
      Position		      [475, 150, 535, 180]
      SourceBlock	      "vNPlantBlock/vNPlant"
      SourceType	      ""
    }
    Block {
      BlockType		      Integrator
      Name		      "Limited\nIntegrator"
      Ports		      [1, 1, 0, 0, 0]
      Position		      [300, 143, 335, 177]
      ExternalReset	      "none"
      InitialConditionSource  "internal"
      InitialCondition	      "0"
      LimitOutput	      on
      UpperSaturationLimit    "5"
      LowerSaturationLimit    "-5"
      ShowSaturationPort      off
      ShowStatePort	      off
      AbsoluteTolerance	      "auto"
    }
    Block {
      BlockType		      StateSpace
      Name		      "Matrix gain."
      Position		      [390, 236, 445, 264]
      Orientation	      "left"
      ShowName		      off
      A			      "[]"
      B			      "[]"
      C			      "[]"
      D			      "K"
      X0		      "0"
      MaskType		      "Matrix gain"
      MaskDescription	      "Matrix Gain:"
      MaskHelp		      "Multiplies input vector by entered matrix to pr"
"oduce output vector."
      MaskPromptString	      "Gain matrix:"
      MaskStyleString	      "edit"
      MaskTunableValueString  "on"
      MaskEnableString	      "on"
      MaskVisibilityString    "on"
      MaskInitialization      "K = @1;"
      MaskDisplay	      "disp('LQR')"
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "autoscale"
      MaskValueString	      "[0 -18 -166.5 -15.2]"
    }
    Block {
      BlockType		      SubSystem
      Name		      "More Info"
      Ports		      [0, 0, 0, 0, 0]
      Position		      [375, 300, 402, 325]
      DropShadow	      on
      ShowName		      off
      ShowPortLabels	      on
      MaskDisplay	      "disp('?')"
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "autoscale"
      System {
	Name			"More Info"
	Location		[127, 169, 475, 352]
	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 a cart carrying an in"
"verted\npendulum and displays an animation."
	}
	Annotation {
	  Position		  [162, 67]
	  Text			  "The animation is created using MATLAB's \nH"
"andle Graphics. The animation block is \njust a masked S-function."
	}
	Annotation {
	  Position		  [162, 122]
	  Text			  "For more information on what the S-function"
" \ndoes, look at the functions pendan.m, pend0.m, \nand pendsets.m."
	}
      }
    }
    Block {
      BlockType		      SubSystem
      Name		      "More Info2"
      Ports		      [0, 0, 0, 0, 0]
      Position		      [440, 300, 542, 351]
      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		      Mux
      Name		      "Mux"
      Ports		      [3, 1, 0, 0, 0]
      Position		      [665, 59, 695, 91]
      ShowName		      off
      Inputs		      "3"
      DisplayOption	      "none"
    }
    Block {
      BlockType		      Gain
      Name		      "Proportional Gain"
      Position		      [260, 86, 295, 124]
      Gain		      "-9.4"
      SaturateOnIntegerOverflow	on
    }
    Block {
      BlockType		      Constant
      Name		      "Reference"
      Position		      [55, 210, 105, 230]
      Value		      "1.116"
    }
    Block {
      BlockType		      Saturate
      Name		      "Saturation"
      Position		      [425, 155, 450, 175]
      ShowName		      off
      UpperLimit	      "10"
      LowerLimit	      "-10"
    }
    Block {
      BlockType		      SignalGenerator
      Name		      "Signal Gen."
      Position		      [55, 143, 100, 177]
      ShowName		      off
      WaveForm		      "square"
      Amplitude		      "0.000000"
      Frequency		      "0.400000"
      Units		      "rad/sec"
    }
    Block {
      BlockType		      Sum
      Name		      "Sum"
      Ports		      [4, 1, 0, 0, 0]
      Position		      [385, 142, 405, 188]
      ShowName		      off
      IconShape		      "rectangular"
      Inputs		      "+++-"
      SaturateOnIntegerOverflow	on
    }
    Block {
      BlockType		      Sum
      Name		      "Sum2"
      Ports		      [2, 1, 0, 0, 0]
      Position		      [185, 150, 205, 170]
      ShowName		      off
      IconShape		      "rectangular"
      Inputs		      "-+"
      SaturateOnIntegerOverflow	on
    }
    Block {
      BlockType		      Sum
      Name		      "Sum3"
      Ports		      [2, 1, 0, 0, 0]
      Position		      [130, 155, 150, 175]
      ShowName		      off
      IconShape		      "rectangular"
      Inputs		      "++"
      SaturateOnIntegerOverflow	on
    }
    Block {
      BlockType		      ToWorkspace
      Name		      "To Workspace"
      Position		      [745, 126, 780, 144]
      ShowName		      off
      VariableName	      "y"
      Buffer		      "1000"
      Decimation	      "1"
      SampleTime	      "0.1"
      SaveFormat	      "Matrix"
    }
    Block {
      BlockType		      ToWorkspace
      Name		      "To Workspace1"
      Position		      [745, 171, 780, 189]
      ShowName		      off
      VariableName	      "t"
      Buffer		      "1000"
      Decimation	      "1"
      SampleTime	      "0.1"
      SaveFormat	      "Matrix"
    }
    Line {
      SrcBlock		      "Sum2"
      SrcPort		      1
      Points		      [10, 0]
      Branch {
	Points			[0, -55]
	DstBlock		"Proportional Gain"
	DstPort			1
      }
      Branch {
	DstBlock		"Integral\nGain"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Discrete State Estimator"
      SrcPort		      1
      DstBlock		      "Matrix gain."
      DstPort		      1
    }
    Line {
      SrcBlock		      "Mux"
      SrcPort		      1
      Points		      [0, 0; 10, 0]
      Branch {
	Points			[0, 60]
	DstBlock		"To Workspace"
	DstPort			1
      }
      Branch {
	DstBlock		"Animation"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Demux"
      SrcPort		      1
      Points		      [60, 0]
      Branch {
	Points			[0, -70]
	DstBlock		"Mux"
	DstPort			3
      }
      Branch {
	Points			[0, 105]
	DstBlock		"Discrete State Estimator"
	DstPort			2
      }
    }
    Line {
      SrcBlock		      "Sum3"
      SrcPort		      1
      Points		      [0, 0]
      Branch {
	Points			[0, -100]
	DstBlock		"Mux"
	DstPort			1
      }
      Branch {
	Points			[0, 0]
	Branch {
	  Points		  [0, 65]
	  DstBlock		  "Feedforward Gain"
	  DstPort		  1
	}
	Branch {
	  DstBlock		  "Sum2"
	  DstPort		  2
	}
      }
    }
    Line {
      SrcBlock		      "Integral\nGain"
      SrcPort		      1
      DstBlock		      "Limited\nIntegrator"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Sum"
      SrcPort		      1
      DstBlock		      "Saturation"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Proportional Gain"
      SrcPort		      1
      Points		      [50, 0; 0, 45]
      DstBlock		      "Sum"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Feedforward Gain"
      SrcPort		      1
      Points		      [45, 0; 0, -60]
      DstBlock		      "Sum"
      DstPort		      3
    }
    Line {
      SrcBlock		      "Reference"
      SrcPort		      1
      Points		      [0, -50]
      DstBlock		      "Sum3"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Signal Gen."
      SrcPort		      1
      DstBlock		      "Sum3"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Matrix gain."
      SrcPort		      1
      Points		      [-25, 0; 0, -70]
      DstBlock		      "Sum"
      DstPort		      4
    }
    Line {
      SrcBlock		      "Limited\nIntegrator"
      SrcPort		      1
      DstBlock		      "Sum"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Demux"
      SrcPort		      2
      Points		      [45, 0]
      Branch {
	Points			[0, -100]
	Branch {
	  Points		  [-455, 0]
	  DstBlock		  "Sum2"
	  DstPort		  1
	}
	Branch {
	  DstBlock		  "Mux"
	  DstPort		  2
	}
      }
      Branch {
	Points			[0, 60]
	DstBlock		"Discrete State Estimator"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Saturation"
      SrcPort		      1
      DstBlock		      "InvertedPendulum_vN4D"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Clock"
      SrcPort		      1
      DstBlock		      "To Workspace1"
      DstPort		      1
    }
    Line {
      SrcBlock		      "InvertedPendulum_vN4D"
      SrcPort		      1
      DstBlock		      "Demux"
      DstPort		      1
    }
    Annotation {
      Position		      [223, 302]
      Text		      "Inverted pendulum on cart with Animation\n(Doub"
"le click on the \"?\" for more info)"
    }
    Annotation {
      Position		      [226, 347]
      Text		      "To start and stop the simulation, use the \"Sta"
"rt/Stop\"\nselection in the \"Simulation\" pull-down menu"
    }
    Annotation {
      Position		      [598, 192]
      Text		      "position\nof hand"
    }
    Annotation {
      Position		      [598, 142]
      Text		      "angle\nof bat"
    }
    Annotation {
      Position		      [428, 27]
      Text		      "Inverted Pendulm Demo using MSC.visualNastran 4"
"D for the plant modeling and visualization."
      FontSize		      14
      FontWeight	      "bold"
    }
    Annotation {
      Position		      [706, 328]
      Text		      "This model was adapted from an \nexisting Simul"
"ink demo file. "
    }
    Annotation {
      Position		      [604, 410]
      Text		      "See the original Simulink model\nR11: MATLAB De"
"mos > Simulink > Complex models > Inverted pendulum animation\nR12: MATLAB De"
"mos > Simulink > General > Inverted pendulum animation\n"
    }
  }
}