Model {
  Name			  "pend_state_fb_step_r12"
  Version		  4.0
  SampleTimeColors	  off
  LibraryLinkDisplay	  "none"
  WideLines		  off
  ShowLineDimensions	  off
  ShowPortDataTypes	  off
  RecordCoverage	  off
  CovPath		  "/"
  CovSaveName		  "covdata"
  CovNameIncrementing	  off
  CovHtmlReporting	  on
  BlockNameDataTip	  off
  BlockParametersDataTip  off
  BlockDescriptionStringDataTip	off
  ToolBar		  on
  StatusBar		  on
  BrowserShowLibraryLinks off
  BrowserLookUnderMasks	  off
  Created		  "Tue Aug 26 10:05:42 2003"
  UpdateHistory		  "UpdateHistoryNever"
  ModifiedByFormat	  "%<Auto>"
  LastModifiedBy	  "Matt James"
  ModifiedDateFormat	  "%<Auto>"
  LastModifiedDate	  "Tue Sep 09 10:58:11 2003"
  ModelVersionFormat	  "1.%<AutoIncrement:24>"
  ConfigurationManager	  "None"
  SimParamPage		  "Solver"
  LinearizationMsg	  "none"
  Profile		  off
  AccelSystemTargetFile	  "accel.tlc"
  AccelTemplateMakefile	  "accel_default_tmf"
  AccelMakeCommand	  "make_rtw"
  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
  ExtModeLogAll		  on
  BufferReuse		  on
  SimulationMode	  "normal"
  Solver		  "ode45"
  SolverMode		  "Auto"
  StartTime		  "0.0"
  StopTime		  "10"
  MaxOrder		  5
  MaxStep		  "auto"
  MinStep		  "auto"
  MaxNumMinSteps	  "-1"
  InitialStep		  "auto"
  FixedStep		  "auto"
  RelTol		  "1e-3"
  AbsTol		  "auto"
  OutputOption		  "RefineOutputTimes"
  OutputTimes		  "[]"
  Refine		  "1"
  LoadExternalInput	  off
  ExternalInput		  "[t, u]"
  LoadInitialState	  off
  InitialState		  "xInitial"
  SaveTime		  on
  TimeSaveName		  "tout"
  SaveState		  off
  StateSaveName		  "xout"
  SaveOutput		  on
  OutputSaveName	  "yout"
  SaveFinalState	  off
  FinalStateName	  "xFinal"
  SaveFormat		  "Array"
  Decimation		  "1"
  LimitDataPoints	  on
  MaxDataPoints		  "1000"
  ConsistencyChecking	  "none"
  ArrayBoundsChecking	  "none"
  AlgebraicLoopMsg	  "warning"
  BlockPriorityViolationMsg "warning"
  MinStepSizeMsg	  "warning"
  InheritedTsInSrcMsg	  "warning"
  MultiTaskRateTransMsg	  "error"
  SingleTaskRateTransMsg  "none"
  CheckForMatrixSingularity "none"
  IntegerOverflowMsg	  "warning"
  Int32ToFloatConvMsg	  "warning"
  UnnecessaryDatatypeConvMsg "none"
  VectorMatrixConversionMsg "none"
  SignalLabelMismatchMsg  "none"
  UnconnectedInputMsg	  "warning"
  UnconnectedOutputMsg	  "warning"
  UnconnectedLineMsg	  "warning"
  SfunCompatibilityCheckMsg "none"
  RTWInlineParameters	  off
  BlockReductionOpt	  on
  BooleanDataType	  on
  ParameterPooling	  on
  OptimizeBlockIOStorage  on
  ZeroCross		  on
  RTWSystemTargetFile	  "grt.tlc"
  RTWTemplateMakefile	  "grt_default_tmf"
  RTWMakeCommand	  "make_rtw"
  RTWGenerateCodeOnly	  off
  RTWRetainRTWFile	  off
  TLCProfiler		  off
  TLCDebug		  off
  TLCCoverage		  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		    "tp581054"
    Location		    [714, 85, 1294, 378]
    Open		    off
    ModelBrowserVisibility  off
    ModelBrowserWidth	    200
    ScreenColor		    "white"
    PaperOrientation	    "landscape"
    PaperPositionMode	    "auto"
    PaperType		    "usletter"
    PaperUnits		    "inches"
    ZoomFactor		    "100"
    ReportName		    "simulink-default.rpt"
    Block {
      BlockType		      Gain
      Name		      "Controller Gain"
      Position		      [250, 220, 280, 250]
      Orientation	      "left"
      Gain		      "[1,0.9]"
      Multiplication	      "Matrix(K*u)"
      SaturateOnIntegerOverflow	on
    }
    Block {
      BlockType		      DiscreteStateSpace
      Name		      "Discretised pendulum\n(state feedback)"
      Position		      [205, 97, 325, 133]
      A			      "[1 0.01; 0.1 1]"
      B			      "[0; 1]"
      C			      "[1 0;0 1]"
      D			      "[0; 0]"
      X0		      "0"
      SampleTime	      "0.01"
      Realization	      "auto"
    }
    Block {
      BlockType		      Scope
      Name		      "Scope"
      Ports		      [2]
      Position		      [450, 86, 480, 119]
      Floating		      off
      Location		      [78, 60, 492, 442]
      Open		      off
      NumInputPorts	      "2"
      TickLabels	      "OneTimeTick"
      ZoomMode		      "on"
      List {
	ListType		AxesTitles
	axes1			"%<SignalLabel>"
	axes2			"%<SignalLabel>"
      }
      List {
	axes1			""
	axes2			""
      }
      Grid		      "on"
      TimeRange		      "1"
      YMin		      "-5~-5"
      YMax		      "5~5"
      SaveToWorkspace	      off
      SaveName		      "ScopeData"
      DataFormat	      "StructureWithTime"
      LimitDataPoints	      on
      MaxDataPoints	      "5000"
      Decimation	      "1"
      SampleInput	      off
      SampleTime	      "0"
    }
    Block {
      BlockType		      Sum
      Name		      "Sum"
      Ports		      [2, 1]
      Position		      [145, 105, 165, 125]
      ShowName		      off
      IconShape		      "round"
      Inputs		      "|+-"
      SaturateOnIntegerOverflow	on
    }
    Block {
      BlockType		      SubSystem
      Name		      "input\n(unit impulse)"
      Ports		      [0, 1]
      Position		      [15, 90, 115, 140]
      ShowPortLabels	      on
      Permissions	      "ReadWrite"
      TreatAsAtomicUnit	      off
      RTWSystemCode	      "Auto"
      RTWFcnNameOpts	      "Auto"
      RTWFileNameOpts	      "Auto"
      SimViewingDevice	      off
      System {
	Name			"input\n(unit impulse)"
	Location		[128, 631, 626, 931]
	Open			off
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"white"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"usletter"
	PaperUnits		"inches"
	ZoomFactor		"100"
	Block {
	  BlockType		  Gain
	  Name			  "Gain"
	  Position		  [295, 95, 325, 125]
	  Gain			  "1"
	  Multiplication	  "Element-wise(K.*u)"
	  SaturateOnIntegerOverflow on
	}
	Block {
	  BlockType		  Gain
	  Name			  "Gain1"
	  Position		  [175, 175, 205, 205]
	  Gain			  "1"
	  Multiplication	  "Element-wise(K.*u)"
	  SaturateOnIntegerOverflow on
	}
	Block {
	  BlockType		  Step
	  Name			  "Step"
	  Position		  [115, 75, 145, 105]
	  Time			  "0"
	  Before		  "0"
	  After			  "1"
	  SampleTime		  "0.01"
	  VectorParams1D	  on
	}
	Block {
	  BlockType		  Step
	  Name			  "Step1"
	  Position		  [105, 175, 135, 205]
	  Time			  "5"
	  Before		  "0"
	  After			  "-1"
	  SampleTime		  "0.01"
	  VectorParams1D	  on
	}
	Block {
	  BlockType		  Sum
	  Name			  "Sum"
	  Ports			  [2, 1]
	  Position		  [230, 100, 250, 120]
	  ShowName		  off
	  IconShape		  "round"
	  Inputs		  "|++"
	  SaturateOnIntegerOverflow on
	}
	Block {
	  BlockType		  Outport
	  Name			  "Out1"
	  Position		  [360, 103, 390, 117]
	  Port			  "1"
	  OutputWhenDisabled	  "held"
	  InitialOutput		  "[]"
	}
	Line {
	  SrcBlock		  "Gain"
	  SrcPort		  1
	  DstBlock		  "Out1"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Step"
	  SrcPort		  1
	  Points		  [30, 0; 0, 20]
	  DstBlock		  "Sum"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Sum"
	  SrcPort		  1
	  DstBlock		  "Gain"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Step1"
	  SrcPort		  1
	  DstBlock		  "Gain1"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Gain1"
	  SrcPort		  1
	  Points		  [30, 0]
	  DstBlock		  "Sum"
	  DstPort		  2
	}
      }
    }
    Line {
      Name		      "u"
      Labels		      [0, 0]
      SrcBlock		      "Sum"
      SrcPort		      1
      DstBlock		      "Discretised pendulum\n(state feedback)"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Controller Gain"
      SrcPort		      1
      Points		      [-90, 0]
      DstBlock		      "Sum"
      DstPort		      2
    }
    Line {
      Name		      "x"
      Labels		      [0, 0]
      SrcBlock		      "Discretised pendulum\n(state feedback)"
      SrcPort		      1
      Points		      [50, 0; 0, 5]
      Branch {
	Points			[0, 115]
	DstBlock		"Controller Gain"
	DstPort			1
      }
      Branch {
	Points			[0, -10]
	DstBlock		"Scope"
	DstPort			2
      }
    }
    Line {
      Name		      "v"
      Labels		      [0, 0]
      SrcBlock		      "input\n(unit impulse)"
      SrcPort		      1
      Points		      [5, 0]
      Branch {
	DstBlock		"Sum"
	DstPort			1
      }
      Branch {
	Points			[0, -65; 280, 0; 0, 45]
	DstBlock		"Scope"
	DstPort			1
      }
    }
  }
}