Model {
  Name			  "crane_pd"
  Version		  3.00
  SimParamPage		  "Solver"
  SampleTimeColors	  off
  InvariantConstants	  off
  WideVectorLines	  off
  ShowLineWidths	  off
  ShowPortDataTypes	  off
  StartTime		  "0.0"
  StopTime		  "10.0"
  SolverMode		  "Auto"
  Solver		  "ode45"
  RelTol		  "1e-3"
  AbsTol		  "auto"
  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		  on
  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"
  BlockDataTips		  on
  BlockParametersDataTip  on
  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	  "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		  "Tue May 08 14:21:36 2001"
  UpdateHistory		  "UpdateHistoryNever"
  ModifiedByFormat	  "%<Auto>"
  LastModifiedBy	  "manning"
  ModifiedDateFormat	  "%<Auto>"
  LastModifiedDate	  "Wed May 16 15:19:39 2001"
  ModelVersionFormat	  "1.%<AutoIncrement:8>"
  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		    "crane_pd"
    Location		    [200, 213, 943, 568]
    Open		    on
    ModelBrowserVisibility  off
    ModelBrowserWidth	    200
    ScreenColor		    "automatic"
    PaperOrientation	    "landscape"
    PaperPositionMode	    "auto"
    PaperType		    "usletter"
    PaperUnits		    "inches"
    ZoomFactor		    "100"
    AutoZoom		    on
    ReportName		    "simulink-default.rpt"
    Block {
      BlockType		      Demux
      Name		      "Demux"
      Ports		      [1, 2, 0, 0, 0]
      Position		      [545, 81, 550, 119]
      BackgroundColor	      "black"
      ShowName		      off
      Outputs		      "2"
      Port {
	PortNumber		1
	Name			"Position (m)"
	TestPoint		off
	RTWStorageClass		"Auto"
      }
      Port {
	PortNumber		2
	Name			"Velocity(m/s)"
	TestPoint		off
	RTWStorageClass		"Auto"
      }
    }
    Block {
      BlockType		      Gain
      Name		      "Positional Gain (N/m)"
      Position		      [295, 82, 335, 118]
      Gain		      "100"
      SaturateOnIntegerOverflow	on
    }
    Block {
      BlockType		      Sum
      Name		      "Sum"
      Ports		      [2, 1, 0, 0, 0]
      Position		      [230, 90, 250, 110]
      ShowName		      off
      IconShape		      "round"
      Inputs		      "|+-"
      SaturateOnIntegerOverflow	on
    }
    Block {
      BlockType		      Sum
      Name		      "Sum1"
      Ports		      [2, 1, 0, 0, 0]
      Position		      [370, 90, 390, 110]
      ShowName		      off
      IconShape		      "round"
      Inputs		      "|+-"
      SaturateOnIntegerOverflow	on
    }
    Block {
      BlockType		      Constant
      Name		      "Target\nPosition\n(m)"
      Position		      [155, 85, 185, 115]
      Value		      "8"
    }
    Block {
      BlockType		      Gain
      Name		      "Velocity Gain (N s/m)"
      Position		      [455, 166, 490, 204]
      Orientation	      "left"
      Gain		      "200"
      SaturateOnIntegerOverflow	on
    }
    Block {
      BlockType		      Reference
      Name		      "crane"
      Description	      "\".\\crane.wm3\"||\"Position of Hook.x\"|0|\"Ve"
"locity of Hook.Vx\"|0||\"Applied Load\"|0||"
      Ports		      [1, 1, 0, 0, 0]
      Position		      [435, 85, 495, 115]
      SourceBlock	      "vNPlantBlock/vNPlant"
      SourceType	      ""
    }
    Line {
      SrcBlock		      "Positional Gain (N/m)"
      SrcPort		      1
      DstBlock		      "Sum1"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Velocity Gain (N s/m)"
      SrcPort		      1
      Points		      [-70, 0]
      DstBlock		      "Sum1"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Sum"
      SrcPort		      1
      DstBlock		      "Positional Gain (N/m)"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Target\nPosition\n(m)"
      SrcPort		      1
      DstBlock		      "Sum"
      DstPort		      1
    }
    Line {
      Name		      "Velocity(m/s)"
      Labels		      [3, 0]
      SrcBlock		      "Demux"
      SrcPort		      2
      Points		      [35, 0; 0, 75]
      DstBlock		      "Velocity Gain (N s/m)"
      DstPort		      1
    }
    Line {
      Name		      "Position (m)"
      Labels		      [3, 0]
      SrcBlock		      "Demux"
      SrcPort		      1
      Points		      [60, 0; 0, 140; -375, 0]
      DstBlock		      "Sum"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Sum1"
      SrcPort		      1
      DstBlock		      "crane"
      DstPort		      1
    }
    Line {
      SrcBlock		      "crane"
      SrcPort		      1
      DstBlock		      "Demux"
      DstPort		      1
    }
    Annotation {
      Position		      [428, 44]
      Text		      "Overhead Crane with PD Control"
      FontName		      "Arial"
      FontSize		      14
      FontWeight	      "bold"
    }
  }
}