Model { Name "pendulum_terkendali" Version 5.0 SaveDefaultBlockParams on SampleTimeColors off LibraryLinkDisplay "none" WideLines off ShowLineDimensions off ShowPortDataTypes off ShowLoopsOnError on IgnoreBidirectionalLines off ShowStorageClass off ExecutionOrder off RecordCoverage off CovPath "/" CovSaveName "covdata" CovMetricSettings "dw" CovNameIncrementing off CovHtmlReporting on covSaveCumulativeToWorkspaceVar on CovSaveSingleToWorkspaceVar on CovCumulativeVarName "covCumulativeData" CovCumulativeReport off DataTypeOverride "UseLocalSettings" MinMaxOverflowLogging "UseLocalSettings" MinMaxOverflowArchiveMode "Overwrite" BlockNameDataTip off BlockParametersDataTip off BlockDescriptionStringDataTip off ToolBar on StatusBar on BrowserShowLibraryLinks off BrowserLookUnderMasks off Created "Tue Nov 17 09:16:54 2009" UpdateHistory "UpdateHistoryNever" ModifiedByFormat "%" LastModifiedBy "Administrator" ModifiedDateFormat "%" LastModifiedDate "Tue Dec 15 09:57:29 2009" ModelVersionFormat "1.%" ConfigurationManager "None" SimParamPage "Solver" LinearizationMsg "none" Profile off ParamWorkspaceSource "MATLABWorkspace" AccelSystemTargetFile "accel.tlc" AccelTemplateMakefile "accel_default_tmf" AccelMakeCommand "make_rtw" TryForcingSFcnDF 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 ExtModeSkipDownloadWhenConnect off ExtModeLogAll on ExtModeAutoUpdateStatusClock on BufferReuse on RTWExpressionDepthLimit 5 SimulationMode "normal" Solver "ode45" SolverMode "Auto" StartTime "0.0" StopTime "50" MaxOrder 5 MaxStep "auto" MinStep "auto" MaxNumMinSteps "-1" InitialStep "auto" FixedStep "auto" RelTol "1e-6" 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" SignalLoggingName "sigsOut" ConsistencyChecking "none" ArrayBoundsChecking "none" AlgebraicLoopMsg "warning" BlockPriorityViolationMsg "warning" MinStepSizeMsg "warning" InheritedTsInSrcMsg "warning" DiscreteInheritContinuousMsg "warning" MultiTaskRateTransMsg "error" SingleTaskRateTransMsg "none" CheckForMatrixSingularity "none" IntegerOverflowMsg "warning" Int32ToFloatConvMsg "warning" ParameterDowncastMsg "error" ParameterOverflowMsg "error" ParameterPrecisionLossMsg "warning" UnderSpecifiedDataTypeMsg "none" UnnecessaryDatatypeConvMsg "none" VectorMatrixConversionMsg "none" InvalidFcnCallConnMsg "error" SignalLabelMismatchMsg "none" UnconnectedInputMsg "warning" UnconnectedOutputMsg "warning" UnconnectedLineMsg "warning" SfunCompatibilityCheckMsg "none" RTWInlineParameters off BlockReductionOpt on BooleanDataType on ConditionallyExecuteInputs on ParameterPooling on OptimizeBlockIOStorage on ZeroCross on AssertionControl "UseLocalSettings" ProdHWDeviceType "Microprocessor" ProdHWWordLengths "8,16,32,32" RTWSystemTargetFile "grt.tlc" RTWTemplateMakefile "grt_default_tmf" RTWMakeCommand "make_rtw" RTWGenerateCodeOnly off RTWRetainRTWFile off TLCProfiler off TLCDebug off TLCCoverage off TLCAssertion off BlockDefaults { Orientation "right" ForegroundColor "black" BackgroundColor "white" DropShadow off NamePlacement "normal" FontName "Helvetica" FontSize 10 FontWeight "normal" FontAngle "normal" ShowName on } BlockParameterDefaults { Block { BlockType Constant Value "1" VectorParams1D on ShowAdditionalParam off OutDataTypeMode "Inherit from 'Constant value'" OutDataType "sfix(16)" ConRadixGroup "Use specified scaling" OutScaling "2^0" } Block { BlockType Demux Outputs "4" DisplayOption "none" BusSelectionMode off } Block { BlockType Gain Gain "1" Multiplication "Element-wise(K.*u)" ShowAdditionalParam off ParameterDataTypeMode "Same as input" ParameterDataType "sfix(16)" ParameterScalingMode "Best Precision: Matrix-wise" ParameterScaling "2^0" OutDataTypeMode "Same as input" OutDataType "sfix(16)" OutScaling "2^0" LockScale off RndMeth "Floor" SaturateOnIntegerOverflow on } Block { BlockType Inport Port "1" PortDimensions "-1" SampleTime "-1" ShowAdditionalParam off LatchInput off DataType "auto" OutDataType "sfix(16)" OutScaling "2^0" SignalType "auto" SamplingMode "auto" Interpolate on } Block { BlockType Integrator ExternalReset "none" InitialConditionSource "internal" InitialCondition "0" LimitOutput off UpperSaturationLimit "inf" LowerSaturationLimit "-inf" ShowSaturationPort off ShowStatePort off AbsoluteTolerance "auto" ZeroCross on } Block { BlockType MATLABFcn MATLABFcn "sin" OutputDimensions "-1" OutputSignalType "auto" Output1D on } Block { BlockType Mux Inputs "4" DisplayOption "none" } Block { BlockType Outport Port "1" OutputWhenDisabled "held" InitialOutput "[]" } Block { BlockType Product Inputs "2" Multiplication "Element-wise(.*)" ShowAdditionalParam off InputSameDT on OutDataTypeMode "Same as first input" OutDataType "sfix(16)" OutScaling "2^0" LockScale off RndMeth "Floor" SaturateOnIntegerOverflow on } Block { BlockType Saturate UpperLimit "0.5" LowerLimit "-0.5" LinearizeAsGain on ZeroCross on } Block { BlockType "S-Function" FunctionName "system" PortCounts "[]" SFunctionModules "''" } Block { BlockType Step Time "1" Before "0" After "1" SampleTime "-1" VectorParams1D on ZeroCross on } Block { BlockType SubSystem ShowPortLabels on Permissions "ReadWrite" RTWSystemCode "Auto" RTWFcnNameOpts "Auto" RTWFileNameOpts "Auto" SimViewingDevice off DataTypeOverride "UseLocalSettings" MinMaxOverflowLogging "UseLocalSettings" } Block { BlockType Sum IconShape "rectangular" Inputs "++" ShowAdditionalParam off InputSameDT on OutDataTypeMode "Same as first input" OutDataType "sfix(16)" OutScaling "2^0" LockScale off RndMeth "Floor" SaturateOnIntegerOverflow on } Block { BlockType Switch Criteria "u2 >= Threshold" Threshold "0" ShowAdditionalParam off InputSameDT on OutDataTypeMode "Inherit via internal rule" RndMeth "Floor" SaturateOnIntegerOverflow on ZeroCross on } Block { BlockType ToWorkspace VariableName "simulink_output" MaxDataPoints "1000" Decimation "1" SampleTime "0" } Block { BlockType TransferFcn Numerator "[1]" Denominator "[1 2 1]" AbsoluteTolerance "auto" Realization "auto" } } 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 "pendulum_terkendali" Location [120, 101, 737, 550] Open on ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" ReportName "simulink-default.rpt" Block { BlockType Constant Name "Constant" Position [245, 30, 275, 60] } Block { BlockType Constant Name "Constant1" Position [65, 230, 95, 260] Value "0" } Block { BlockType SubSystem Name "Gain Matrix K" Ports [1, 1] Position [220, 354, 320, 396] Orientation "left" FontSize 10 TreatAsAtomicUnit off System { Name "Gain Matrix K" Location [190, 141, 688, 424] Open on ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" Block { BlockType Inport Name "In1" Position [90, 143, 120, 157] } Block { BlockType Demux Name "Demux" Ports [1, 4] Position [150, 74, 155, 221] BackgroundColor "black" ShowName off } Block { BlockType Gain Name "K1" Position [225, 22, 315, 78] Gain "120/(5/0.3)" } Block { BlockType Gain Name "K2" Position [225, 87, 315, 123] Gain "45/(5/50)" } Block { BlockType Gain Name "K3" Position [205, 128, 360, 182] Gain "-15/((5/30)*(180/pi))" } Block { BlockType Gain Name "K4" Position [235, 180, 335, 220] Gain "-2.5/(5/10)" } Block { BlockType Sum Name "Sum" Ports [4, 1] Position [420, 95, 450, 135] ShowName off IconShape "round" Inputs "++++" InputSameDT off OutDataTypeMode "Inherit via internal rule" } Block { BlockType Outport Name "Out1" Position [535, 108, 565, 122] } Line { SrcBlock "In1" SrcPort 1 DstBlock "Demux" DstPort 1 } Line { SrcBlock "Demux" SrcPort 1 Points [20, 0; 0, -20; 30, 0] DstBlock "K1" DstPort 1 } Line { SrcBlock "Demux" SrcPort 2 Points [40, 0; 0, -25] DstBlock "K2" DstPort 1 } Line { SrcBlock "Demux" SrcPort 4 DstBlock "K4" DstPort 1 } Line { SrcBlock "K1" SrcPort 1 Points [115, 0] DstBlock "Sum" DstPort 1 } Line { SrcBlock "K2" SrcPort 1 Points [87, 0] DstBlock "Sum" DstPort 2 } Line { SrcBlock "K3" SrcPort 1 Points [30, 0; 0, -28] DstBlock "Sum" DstPort 3 } Line { SrcBlock "K4" SrcPort 1 Points [95, 0] DstBlock "Sum" DstPort 4 } Line { SrcBlock "Sum" SrcPort 1 DstBlock "Out1" DstPort 1 } Line { SrcBlock "Demux" SrcPort 3 Points [15, 0; 0, -10] DstBlock "K3" DstPort 1 } } } Block { BlockType ToWorkspace Name "Gaya" Position [155, 90, 215, 120] Orientation "left" VariableName "F" MaxDataPoints "inf" SampleTime "-1" SaveFormat "Array" } Block { BlockType Integrator Name "Integrator" Ports [1, 1] Position [315, 30, 345, 60] } Block { BlockType SubSystem Name "Kendalian Pendulum Terbalik" Ports [1, 4] Position [290, 84, 405, 286] TreatAsAtomicUnit off System { Name "Kendalian Pendulum Terbalik" Location [2, 82, 773, 554] Open on ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "125" Block { BlockType Inport Name "F(t)" Position [70, 188, 100, 202] } Block { BlockType Saturate Name "Batas teta(t)" Position [490, 410, 520, 440] UpperLimit "30" LowerLimit "-30" } Block { BlockType Saturate Name "Batas x(t)" Position [485, 105, 515, 135] UpperLimit "0.5*0.6" LowerLimit "-0.5*0.6" } Block { BlockType MATLABFcn Name "Fungsi Batas x(t)" Position [335, 20, 395, 50] Orientation "left" MATLABFcn "fungsi_batas_x" } Block { BlockType MATLABFcn Name "Fungsi Batas x(t)1" Position [325, 275, 385, 305] Orientation "left" ShowName off MATLABFcn "fungsi_batas_teta" } Block { BlockType MATLABFcn Name "Fungsi x2dot" Position [220, 200, 280, 230] MATLABFcn "x2dot" } Block { BlockType Integrator Name "Integrator" Ports [1, 1] Position [360, 105, 390, 135] InitialCondition "0.3" } Block { BlockType Integrator Name "Integrator1" Ports [1, 1] Position [360, 200, 390, 230] } Block { BlockType Integrator Name "Integrator2" Ports [1, 1] Position [355, 410, 385, 440] InitialCondition "30*(pi/180)" } Block { BlockType Integrator Name "Integrator3" Ports [1, 1] Position [360, 510, 390, 540] } Block { BlockType Mux Name "Mux" Ports [2, 1] Position [420, 16, 425, 54] Orientation "left" ShowName off Inputs "2" DisplayOption "bar" } Block { BlockType Mux Name "Mux1" Ports [2, 1] Position [420, 271, 425, 309] Orientation "left" ShowName off Inputs "2" DisplayOption "bar" } Block { BlockType Mux Name "Mux2" Ports [3, 1] Position [170, 188, 175, 242] ShowName off Inputs "3" DisplayOption "bar" } Block { BlockType Mux Name "Mux3" Ports [2, 1] Position [165, 495, 170, 550] ShowName off Inputs "2" DisplayOption "bar" } Block { BlockType Product Name "Product" Ports [2, 1] Position [275, 101, 320, 134] InputSameDT off } Block { BlockType Product Name "Product1" Ports [2, 1] Position [270, 406, 315, 439] InputSameDT off } Block { BlockType TransferFcn Name "radian ke derajat" Position [415, 407, 445, 443] Numerator "[180]" Denominator "[pi]" } Block { BlockType MATLABFcn Name "x4dot" Position [220, 510, 280, 540] MATLABFcn "x4dot" } Block { BlockType Outport Name "x(t)" Position [555, 113, 585, 127] } Block { BlockType Outport Name "dx(t)/dt" Position [555, 208, 585, 222] Port "2" } Block { BlockType Outport Name "teta(t)" Position [555, 418, 585, 432] Port "3" } Block { BlockType Outport Name "dteta(t)/dt" Position [555, 518, 585, 532] Port "4" } Line { SrcBlock "Batas x(t)" SrcPort 1 Points [0, 0; 10, 0] Branch { DstBlock "x(t)" DstPort 1 } Branch { Points [0, -95] DstBlock "Mux" DstPort 1 } } Line { SrcBlock "Batas teta(t)" SrcPort 1 Points [0, 0; 5, 0] Branch { DstBlock "teta(t)" DstPort 1 } Branch { Points [0, -145] Branch { DstBlock "Mux1" DstPort 1 } Branch { Points [0, -25; -390, 0; 0, -40; 0, 0] Branch { DstBlock "Mux2" DstPort 2 } Branch { Points [-35, 0; 0, 320] DstBlock "Mux3" DstPort 2 } } } } Line { SrcBlock "radian ke derajat" SrcPort 1 DstBlock "Batas teta(t)" DstPort 1 } Line { SrcBlock "Integrator2" SrcPort 1 DstBlock "radian ke derajat" DstPort 1 } Line { SrcBlock "Integrator" SrcPort 1 DstBlock "Batas x(t)" DstPort 1 } Line { SrcBlock "Product" SrcPort 1 Points [5, 0] Branch { DstBlock "Integrator" DstPort 1 } Branch { Points [0, 40; 105, 0; 0, 55] DstBlock "dx(t)/dt" DstPort 1 } } Line { SrcBlock "Mux" SrcPort 1 DstBlock "Fungsi Batas x(t)" DstPort 1 } Line { SrcBlock "Fungsi Batas x(t)" SrcPort 1 Points [-80, 0; 0, 75] DstBlock "Product" DstPort 1 } Line { SrcBlock "Mux1" SrcPort 1 DstBlock "Fungsi Batas x(t)1" DstPort 1 } Line { SrcBlock "Fungsi Batas x(t)1" SrcPort 1 Points [-75, 0; 0, 125] DstBlock "Product1" DstPort 1 } Line { SrcBlock "Product1" SrcPort 1 Points [5, 0] Branch { DstBlock "Integrator2" DstPort 1 } Branch { Points [0, 55] Branch { Points [-195, 0; 0, -245] DstBlock "Mux2" DstPort 3 } Branch { Points [130, 0; 0, 45] DstBlock "dteta(t)/dt" DstPort 1 } } } Line { SrcBlock "Fungsi x2dot" SrcPort 1 Points [25, 0] Branch { DstBlock "Integrator1" DstPort 1 } Branch { Points [0, 55; -165, 0; 0, 240] DstBlock "Mux3" DstPort 1 } } Line { SrcBlock "Mux2" SrcPort 1 DstBlock "Fungsi x2dot" DstPort 1 } Line { SrcBlock "Mux3" SrcPort 1 DstBlock "x4dot" DstPort 1 } Line { SrcBlock "F(t)" SrcPort 1 DstBlock "Mux2" DstPort 1 } Line { SrcBlock "Integrator1" SrcPort 1 Points [25, 0; 0, -45; 0, 0] Branch { Points [-170, 0; 0, -45] DstBlock "Product" DstPort 2 } Branch { Points [30, 0; 0, -125] DstBlock "Mux" DstPort 2 } } Line { SrcBlock "Integrator3" SrcPort 1 Points [15, 0; 0, -60] Branch { Points [-165, 0; 0, -35] DstBlock "Product1" DstPort 2 } Branch { Points [50, 0; 0, -165] DstBlock "Mux1" DstPort 2 } } Line { SrcBlock "x4dot" SrcPort 1 DstBlock "Integrator3" DstPort 1 } Annotation { Name "x1" Position [568, 102] } Annotation { Name "x2" Position [571, 192] } Annotation { Name "x3" Position [571, 401] } Annotation { Name "x4" Position [578, 420] } Annotation { Name "x1" Position [409, 107] } Annotation { Name "x1dot" Position [337, 108] } Annotation { Name "x2" Position [404, 198] } Annotation { Name "x2dot" Position [331, 194] } Annotation { Name "x3" Position [405, 415] } Annotation { Name "x3dot" Position [336, 414] } Annotation { Name "x4" Position [410, 514] } Annotation { Name "x4dot" Position [329, 510] } Annotation { Name "0/1" Position [293, 47] } Annotation { Name "Fungsi Batas teta(t)" Position [358, 319] } Annotation { Name "0/1" Position [256, 353] } Annotation { Name "x4" Position [565, 504] } Annotation { Name "F(t)" Position [140, 185] } Annotation { Name "x3" Position [141, 208] } Annotation { Name "x4" Position [121, 228] } } } Block { BlockType Reference Name "Manual Switch" Ports [2, 1] Position [125, 167, 155, 203] SourceBlock "simulink/Signal\nRouting/Manual Switch" SourceType "Manual Switch" sw "1" action "0" } Block { BlockType Mux Name "Mux" Ports [4, 1] Position [560, 82, 570, 303] ShowName off DisplayOption "bar" } Block { BlockType SubSystem Name "Sensor" Ports [1, 1] Position [360, 354, 460, 396] Orientation "left" FontSize 10 TreatAsAtomicUnit off System { Name "Sensor" Location [220, 145, 701, 428] Open on ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" Block { BlockType Inport Name "In1" Position [105, 108, 135, 122] } Block { BlockType Saturate Name "Batas Tacho" Position [375, 110, 405, 140] UpperLimit "5" LowerLimit "-5" } Block { BlockType Saturate Name "Batas Tacho1" Position [385, 250, 415, 280] UpperLimit "5" LowerLimit "-5" } Block { BlockType TransferFcn Name "Dalay" Position [225, 52, 285, 88] Denominator "[0.1 1]" } Block { BlockType TransferFcn Name "Dalay1" Position [225, 107, 285, 143] Denominator "[0.1 1]" } Block { BlockType TransferFcn Name "Dalay2" Position [230, 182, 290, 218] Denominator "[0.1 1]" } Block { BlockType TransferFcn Name "Dalay3" Position [230, 247, 290, 283] Denominator "[0.1 1]" } Block { BlockType Demux Name "Demux" Ports [1, 4] Position [185, 49, 190, 181] BackgroundColor "black" ShowName off } Block { BlockType Mux Name "Mux" Ports [4, 1] Position [465, 58, 470, 167] ShowName off DisplayOption "bar" } Block { BlockType TransferFcn Name "Potensio Sudut" Position [315, 180, 350, 220] Numerator "[5]" Denominator "[30]" } Block { BlockType TransferFcn Name "Potensiometer" Position [310, 50, 345, 90] Numerator "[5]" Denominator "[0.3]" } Block { BlockType TransferFcn Name "Tachometer\nPosisi" Position [310, 105, 345, 145] Numerator "[5]" Denominator "[50]" } Block { BlockType TransferFcn Name "Tachometer\nPosisi1" Position [320, 245, 355, 285] Numerator "[5]" Denominator "[10]" } Block { BlockType Outport Name "Out1" Position [510, 108, 540, 122] } Line { SrcBlock "In1" SrcPort 1 DstBlock "Demux" DstPort 1 } Line { SrcBlock "Demux" SrcPort 1 DstBlock "Dalay" DstPort 1 } Line { SrcBlock "Mux" SrcPort 1 DstBlock "Out1" DstPort 1 } Line { SrcBlock "Demux" SrcPort 2 Points [5, 0; 0, 25] DstBlock "Dalay1" DstPort 1 } Line { SrcBlock "Demux" SrcPort 3 Points [0, 25; 20, 0] DstBlock "Dalay2" DstPort 1 } Line { SrcBlock "Demux" SrcPort 4 Points [10, 0; 0, 105] DstBlock "Dalay3" DstPort 1 } Line { SrcBlock "Dalay" SrcPort 1 DstBlock "Potensiometer" DstPort 1 } Line { SrcBlock "Potensiometer" SrcPort 1 Points [75, 0; 0, 5] DstBlock "Mux" DstPort 1 } Line { SrcBlock "Batas Tacho" SrcPort 1 Points [30, 0; 0, -25] DstBlock "Mux" DstPort 2 } Line { SrcBlock "Dalay1" SrcPort 1 DstBlock "Tachometer\nPosisi" DstPort 1 } Line { SrcBlock "Tachometer\nPosisi" SrcPort 1 DstBlock "Batas Tacho" DstPort 1 } Line { SrcBlock "Dalay2" SrcPort 1 DstBlock "Potensio Sudut" DstPort 1 } Line { SrcBlock "Potensio Sudut" SrcPort 1 Points [95, 0] DstBlock "Mux" DstPort 3 } Line { SrcBlock "Dalay3" SrcPort 1 DstBlock "Tachometer\nPosisi1" DstPort 1 } Line { SrcBlock "Tachometer\nPosisi1" SrcPort 1 DstBlock "Batas Tacho1" DstPort 1 } Line { SrcBlock "Batas Tacho1" SrcPort 1 Points [20, 0; 0, -115] DstBlock "Mux" DstPort 4 } } } Block { BlockType Sum Name "Sum" Ports [2, 1] Position [170, 175, 190, 195] ShowName off IconShape "round" Inputs "|+-" InputSameDT off OutDataTypeMode "Inherit via internal rule" } Block { BlockType SubSystem Name "Sumber Gangguan" Ports [0, 1] Position [20, 152, 80, 198] TreatAsAtomicUnit off System { Name "Sumber Gangguan" Location [426, 256, 924, 556] Open on ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" Block { BlockType Step Name "Step" Position [130, 15, 160, 45] After "50" SampleTime "0" } Block { BlockType Step Name "Step1" Position [105, 240, 135, 270] Time "12" After "-200" SampleTime "0" } Block { BlockType Step Name "Step2" Position [40, 95, 70, 125] Time "5" After "-70" SampleTime "0" } Block { BlockType Step Name "Step3" Position [30, 150, 60, 180] Time "8" After "70" SampleTime "0" } Block { BlockType Step Name "Step4" Position [50, 205, 80, 235] Time "10" After "200" SampleTime "0" } Block { BlockType Step Name "Step5" Position [45, 45, 75, 75] Time "2" After "-50" SampleTime "0" } Block { BlockType Sum Name "Sum" Ports [6, 1] Position [175, 85, 255, 155] ShowName off IconShape "round" Inputs "++++++" InputSameDT off OutDataTypeMode "Inherit via internal rule" } Block { BlockType Outport Name "Gaya-na ji!" Position [425, 113, 455, 127] } Line { SrcBlock "Step" SrcPort 1 Points [50, 0] DstBlock "Sum" DstPort 1 } Line { SrcBlock "Step5" SrcPort 1 Points [107, 0] DstBlock "Sum" DstPort 2 } Line { SrcBlock "Sum" SrcPort 1 DstBlock "Gaya-na ji!" DstPort 1 } Line { SrcBlock "Step2" SrcPort 1 Points [65, 0; 0, -8] DstBlock "Sum" DstPort 3 } Line { SrcBlock "Step3" SrcPort 1 Points [99, 0] DstBlock "Sum" DstPort 4 } Line { SrcBlock "Step4" SrcPort 1 Points [102, 0] DstBlock "Sum" DstPort 5 } Line { SrcBlock "Step1" SrcPort 1 Points [75, 0] DstBlock "Sum" DstPort 6 } } } Block { BlockType ToWorkspace Name "Waktu-ta'" Position [375, 30, 435, 60] VariableName "time" MaxDataPoints "inf" SampleTime "-1" SaveFormat "Array" } Block { BlockType ToWorkspace Name "kecepatan kereta" Position [475, 120, 535, 150] VariableName "xdot" MaxDataPoints "inf" SampleTime "-1" SaveFormat "Array" } Block { BlockType ToWorkspace Name "kecepatan sudut teta" Position [480, 225, 540, 255] VariableName "tetadot" MaxDataPoints "inf" SampleTime "-1" SaveFormat "Array" } Block { BlockType ToWorkspace Name "posisi kereta" Position [475, 55, 535, 85] VariableName "x" MaxDataPoints "inf" SampleTime "-1" SaveFormat "Array" } Block { BlockType ToWorkspace Name "sudut teta" Position [475, 175, 535, 205] VariableName "teta" MaxDataPoints "inf" SampleTime "-1" SaveFormat "Array" } Line { SrcBlock "Constant" SrcPort 1 DstBlock "Integrator" DstPort 1 } Line { SrcBlock "Integrator" SrcPort 1 DstBlock "Waktu-ta'" DstPort 1 } Line { SrcBlock "Kendalian Pendulum Terbalik" SrcPort 1 Points [50, 0] Branch { DstBlock "posisi kereta" DstPort 1 } Branch { DstBlock "Mux" DstPort 1 } } Line { SrcBlock "Kendalian Pendulum Terbalik" SrcPort 2 Points [50, 0] Branch { DstBlock "kecepatan kereta" DstPort 1 } Branch { Points [0, 5] DstBlock "Mux" DstPort 2 } } Line { SrcBlock "Kendalian Pendulum Terbalik" SrcPort 3 Points [50, 0] Branch { DstBlock "sudut teta" DstPort 1 } Branch { Points [0, 10] DstBlock "Mux" DstPort 3 } } Line { SrcBlock "Kendalian Pendulum Terbalik" SrcPort 4 Points [55, 0] Branch { DstBlock "kecepatan sudut teta" DstPort 1 } Branch { Points [0, 15] DstBlock "Mux" DstPort 4 } } Line { SrcBlock "Sumber Gangguan" SrcPort 1 DstBlock "Manual Switch" DstPort 1 } Line { SrcBlock "Constant1" SrcPort 1 Points [10, 0] DstBlock "Manual Switch" DstPort 2 } Line { SrcBlock "Mux" SrcPort 1 Points [10, 0; 0, 180] DstBlock "Sensor" DstPort 1 } Line { SrcBlock "Sensor" SrcPort 1 DstBlock "Gain Matrix K" DstPort 1 } Line { SrcBlock "Manual Switch" SrcPort 1 DstBlock "Sum" DstPort 1 } Line { SrcBlock "Gain Matrix K" SrcPort 1 Points [-35, 0] DstBlock "Sum" DstPort 2 } Line { SrcBlock "Sum" SrcPort 1 Points [35, 0] Branch { DstBlock "Kendalian Pendulum Terbalik" DstPort 1 } Branch { DstBlock "Gaya" DstPort 1 } } } }