Model {
  Name			  "slcp1"
  Version		  4.00
  SampleTimeColors	  off
  LibraryLinkDisplay	  "none"
  WideLines		  off
  ShowLineDimensions	  off
  ShowPortDataTypes	  off
  ShowStorageClass	  off
  RecordCoverage	  off
  CovPath		  "/"
  CovSaveName		  "covdata"
  CovMetricSettings	  "d"
  CovNameIncrementing	  off
  CovHtmlReporting	  on
  BlockNameDataTip	  off
  BlockParametersDataTip  on
  BlockDescriptionStringDataTip	off
  ToolBar		  on
  StatusBar		  on
  BrowserShowLibraryLinks off
  BrowserLookUnderMasks	  off
  PreLoadFcn		  "initcp1"
  CloseFcn		  "AnimFigTitle = [winName, ': Cart & Pole Animation']"
"; AnimFigH = findobj(0,'Name',AnimFigTitle); close(AnimFigH)"
  Created		  "Fri Jun 02 16:49:52 2000"
  Creator		  "pascal"
  UpdateHistory		  "UpdateHistoryNever"
  ModifiedByFormat	  "%<Auto>"
  LastModifiedBy	  "nhickey"
  ModifiedDateFormat	  "%<Auto>"
  LastModifiedDate	  "Fri Mar 30 15:08:32 2001"
  ModelVersionFormat	  "1.%<AutoIncrement:3>"
  ConfigurationManager	  "none"
  SimParamPage		  "Solver"
  StartTime		  "0.0"
  StopTime		  "1000"
  SolverMode		  "SingleTasking"
  Solver		  "ode45"
  RelTol		  "1e-3"
  AbsTol		  "1e-6"
  Refine		  "1"
  MaxStep		  "0.1"
  MinStep		  "auto"
  MaxNumMinSteps	  "-1"
  InitialStep		  "auto"
  FixedStep		  "auto"
  MaxOrder		  5
  OutputOption		  "RefineOutputTimes"
  OutputTimes		  "[]"
  LoadExternalInput	  off
  ExternalInput		  "[t, u]"
  SaveTime		  off
  TimeSaveName		  "tout"
  SaveState		  off
  StateSaveName		  "xout"
  SaveOutput		  off
  OutputSaveName	  "yout"
  LoadInitialState	  off
  InitialState		  "xInitial"
  SaveFinalState	  off
  FinalStateName	  "xFinal"
  SaveFormat		  "Array"
  LimitDataPoints	  off
  MaxDataPoints		  "1000"
  Decimation		  "1"
  AlgebraicLoopMsg	  "warning"
  MinStepSizeMsg	  "warning"
  UnconnectedInputMsg	  "warning"
  UnconnectedOutputMsg	  "warning"
  UnconnectedLineMsg	  "warning"
  InheritedTsInSrcMsg	  "warning"
  SingleTaskRateTransMsg  "none"
  MultiTaskRateTransMsg	  "error"
  IntegerOverflowMsg	  "warning"
  CheckForMatrixSingularity "none"
  UnnecessaryDatatypeConvMsg "none"
  Int32ToFloatConvMsg	  "warning"
  SignalLabelMismatchMsg  "none"
  LinearizationMsg	  "none"
  VectorMatrixConversionMsg "none"
  SfunCompatibilityCheckMsg "none"
  BlockPriorityViolationMsg "warning"
  ArrayBoundsChecking	  "none"
  ConsistencyChecking	  "none"
  ZeroCross		  on
  Profile		  off
  SimulationMode	  "normal"
  RTWSystemTargetFile	  "grt.tlc"
  RTWInlineParameters	  off
  RTWRetainRTWFile	  off
  RTWTemplateMakefile	  "grt_unix.tmf"
  RTWMakeCommand	  "make_rtw"
  RTWGenerateCodeOnly	  off
  TLCProfiler		  off
  TLCDebug		  off
  TLCCoverage		  off
  AccelSystemTargetFile	  "accel.tlc"
  AccelTemplateMakefile	  "accel_default_tmf"
  AccelMakeCommand	  "make_rtw"
  TryForceingSFcnDF	  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	  on
  ExtModeLogAll		  on
  ExtModeAutoUpdateStatusClock on
  OptimizeBlockIOStorage  on
  BufferReuse		  on
  ParameterPooling	  on
  BlockReductionOpt	  off
  RTWExpressionDepthLimit 5
  BooleanDataType	  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		    "slcp1"
    Location		    [363, 127, 894, 577]
    Open		    on
    ModelBrowserVisibility  off
    ModelBrowserWidth	    200
    ScreenColor		    "white"
    PaperOrientation	    "landscape"
    PaperPositionMode	    "auto"
    PaperType		    "usletter"
    PaperUnits		    "inches"
    ZoomFactor		    "100"
    ReportName		    "simulink-default.rpt"
    Block {
      BlockType		      "S-Function"
      Name		      "Animation"
      Ports		      [1]
      Position		      [410, 34, 465, 66]
      FunctionName	      "animcp1"
      PortCounts	      "[]"
      SFunctionModules	      "''"
    }
    Block {
      BlockType		      SubSystem
      Name		      "Cart & Pole\nDynamics"
      Ports		      [2, 4]
      Position		      [265, 185, 315, 240]
      ShowPortLabels	      off
      TreatAsAtomicUnit	      off
      RTWSystemCode	      "Auto"
      RTWFcnNameOpts	      "Auto"
      RTWFileNameOpts	      "Auto"
      MaskType		      "Cart & Pole"
      MaskDescription	      "Inverted Pendulum (cart & pole)"
      MaskHelp		      "Inverted Pendulum"
      MaskPromptString	      "Initial Conditions (angle, angular velocity, ca"
"rt position and cart velocity):|Physical Specifications (cart mass and g):"
      MaskStyleString	      "edit,edit"
      MaskTunableValueString  "on,on"
      MaskCallbackString      "|"
      MaskEnableString	      "on,on"
      MaskVisibilityString    "on,on"
      MaskToolTipString	      "on,on"
      MaskInitialization      "init_cond = @1; spec = @2;mc=spec(1);g=spec(2);"
      MaskDisplay	      "plot(-4,-1,4,6,[0 3 2.8 -0.2 0],[1 5 5.15 1.15 "
"1],[-1 -1 1 1 -1],[1 0 0 1 1],[-3.5 3.5],[0 0])"
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "autoscale"
      MaskValueString	      "[0, 0, 0, 0]|[1.0, 9.8]"
      MaskVariableAliases     ","
      System {
	Name			"Cart & Pole\nDynamics"
	Location		[261, 554, 1061, 859]
	Open			off
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"white"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"usletter"
	PaperUnits		"inches"
	ZoomFactor		"100"
	Block {
	  BlockType		  Inport
	  Name			  "in_1"
	  Position		  [60, 50, 80, 70]
	  Port			  "1"
	  Interpolate		  on
	}
	Block {
	  BlockType		  Inport
	  Name			  "in_2"
	  Position		  [55, 210, 75, 230]
	  Port			  "2"
	  Interpolate		  on
	}
	Block {
	  BlockType		  Fcn
	  Name			  "Fcn2"
	  Position		  [515, 220, 555, 240]
	  ShowName		  off
	  Expr			  "(u(1)+u(7)*u(6)*(u(4)*u(4)*u(2)-u(5)*u(3)))"
"/(mc+u(7))"
	}
	Block {
	  BlockType		  Fcn
	  Name			  "Fcn3"
	  Position		  [425, 85, 465, 105]
	  ShowName		  off
	  Expr			  "(g*u(2)+u(3)*((-u(1)-u(6)*u(5)*u(4)*u(4)*u("
"2))/(mc+u(6))))/(u(5)*(4/3-(u(6)*u(3)*u(3))/(mc+u(6))))"
	}
	Block {
	  BlockType		  Fcn
	  Name			  "Fcn4"
	  Position		  [145, 69, 200, 91]
	  ShowName		  off
	  Expr			  "sin(u[1])"
	}
	Block {
	  BlockType		  Fcn
	  Name			  "Fcn5"
	  Position		  [145, 98, 200, 122]
	  ShowName		  off
	  Expr			  "cos(u[1])"
	}
	Block {
	  BlockType		  Gain
	  Name			  "Gain"
	  Position		  [110, 230, 145, 260]
	  Gain			  "0.1"
	  Multiplication	  "Element-wise(K.*u)"
	  SaturateOnIntegerOverflow on
	}
	Block {
	  BlockType		  Gain
	  Name			  "Gain1"
	  Position		  [155, 205, 190, 235]
	  Gain			  "0.5"
	  Multiplication	  "Element-wise(K.*u)"
	  SaturateOnIntegerOverflow on
	}
	Block {
	  BlockType		  Mux
	  Name			  "Mux1"
	  Ports			  [4, 1]
	  Position		  [280, 54, 315, 111]
	  ShowName		  off
	  Inputs		  "4"
	  DisplayOption		  "none"
	  BusCreatorMode	  off
	}
	Block {
	  BlockType		  Mux
	  Name			  "Mux2"
	  Ports			  [3, 1]
	  Position		  [465, 208, 495, 252]
	  ShowName		  off
	  Inputs		  "[4,1,2]"
	  DisplayOption		  "none"
	  BusCreatorMode	  off
	}
	Block {
	  BlockType		  Mux
	  Name			  "Mux3"
	  Ports			  [2, 1]
	  Position		  [375, 73, 405, 117]
	  ShowName		  off
	  Inputs		  "[4,2]"
	  DisplayOption		  "none"
	  BusCreatorMode	  off
	}
	Block {
	  BlockType		  Mux
	  Name			  "Mux5"
	  Ports			  [2, 1]
	  Position		  [270, 207, 300, 258]
	  ShowName		  off
	  Inputs		  "2"
	  DisplayOption		  "none"
	  BusCreatorMode	  off
	}
	Block {
	  BlockType		  Integrator
	  Name			  "theta"
	  Ports			  [1, 1]
	  Position		  [570, 85, 590, 105]
	  ExternalReset		  "none"
	  InitialConditionSource  "internal"
	  InitialCondition	  "init_cond(1)"
	  LimitOutput		  off
	  UpperSaturationLimit	  "inf"
	  LowerSaturationLimit	  "-inf"
	  ShowSaturationPort	  off
	  ShowStatePort		  off
	  AbsoluteTolerance	  "auto"
	}
	Block {
	  BlockType		  Integrator
	  Name			  "theta dot"
	  Ports			  [1, 1]
	  Position		  [500, 85, 520, 105]
	  ExternalReset		  "none"
	  InitialConditionSource  "internal"
	  InitialCondition	  "init_cond(2)"
	  LimitOutput		  off
	  UpperSaturationLimit	  "inf"
	  LowerSaturationLimit	  "-inf"
	  ShowSaturationPort	  off
	  ShowStatePort		  off
	  AbsoluteTolerance	  "auto"
	}
	Block {
	  BlockType		  Integrator
	  Name			  "x"
	  Ports			  [1, 1]
	  Position		  [635, 220, 655, 240]
	  ExternalReset		  "none"
	  InitialConditionSource  "internal"
	  InitialCondition	  "init_cond(3)"
	  LimitOutput		  off
	  UpperSaturationLimit	  "inf"
	  LowerSaturationLimit	  "-inf"
	  ShowSaturationPort	  off
	  ShowStatePort		  off
	  AbsoluteTolerance	  "auto"
	}
	Block {
	  BlockType		  Integrator
	  Name			  "x dot"
	  Ports			  [1, 1]
	  Position		  [575, 220, 595, 240]
	  ExternalReset		  "none"
	  InitialConditionSource  "internal"
	  InitialCondition	  "init_cond(4)"
	  LimitOutput		  off
	  UpperSaturationLimit	  "inf"
	  LowerSaturationLimit	  "-inf"
	  ShowSaturationPort	  off
	  ShowStatePort		  off
	  AbsoluteTolerance	  "auto"
	}
	Block {
	  BlockType		  Outport
	  Name			  "out_1"
	  Position		  [735, 85, 755, 105]
	  Port			  "1"
	  OutputWhenDisabled	  "held"
	  InitialOutput		  "0"
	}
	Block {
	  BlockType		  Outport
	  Name			  "out_2"
	  Position		  [740, 125, 760, 145]
	  Port			  "2"
	  OutputWhenDisabled	  "held"
	  InitialOutput		  "0"
	}
	Block {
	  BlockType		  Outport
	  Name			  "out_3"
	  Position		  [740, 165, 760, 185]
	  Port			  "3"
	  OutputWhenDisabled	  "held"
	  InitialOutput		  "0"
	}
	Block {
	  BlockType		  Outport
	  Name			  "out_4"
	  Position		  [740, 205, 760, 225]
	  Port			  "4"
	  OutputWhenDisabled	  "held"
	  InitialOutput		  "0"
	}
	Line {
	  SrcBlock		  "theta"
	  SrcPort		  1
	  Points		  [0, 0]
	  Branch {
	    DstBlock		    "out_1"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [-25, 0; 0, -65; -445, 0; 0, 70]
	    Branch {
	      Points		      [0, 10]
	      DstBlock		      "Fcn5"
	      DstPort		      1
	    }
	    Branch {
	      DstBlock		      "Fcn4"
	      DstPort		      1
	    }
	  }
	}
	Line {
	  SrcBlock		  "Fcn5"
	  SrcPort		  1
	  Points		  [20, 0; 0, -20]
	  DstBlock		  "Mux1"
	  DstPort		  3
	}
	Line {
	  SrcBlock		  "Fcn4"
	  SrcPort		  1
	  Points		  [10, 0; 0, -5]
	  DstBlock		  "Mux1"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "theta dot"
	  SrcPort		  1
	  Points		  [15, 0]
	  Branch {
	    DstBlock		    "theta"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, 40]
	    Branch {
	      DstBlock		      "out_2"
	      DstPort		      1
	    }
	    Branch {
	      Points		      [-305, 0; 0, -30]
	      DstBlock		      "Mux1"
	      DstPort		      4
	    }
	  }
	}
	Line {
	  SrcBlock		  "Fcn3"
	  SrcPort		  1
	  Points		  [10, 0]
	  Branch {
	    DstBlock		    "theta dot"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, 30; -45, 0; 0, 105]
	    DstBlock		    "Mux2"
	    DstPort		    2
	  }
	}
	Line {
	  SrcBlock		  "Fcn2"
	  SrcPort		  1
	  DstBlock		  "x dot"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Mux2"
	  SrcPort		  1
	  DstBlock		  "Fcn2"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "x dot"
	  SrcPort		  1
	  Points		  [0, 0]
	  Branch {
	    DstBlock		    "x"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [15, 0; 0, -15]
	    DstBlock		    "out_4"
	    DstPort		    1
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	}
	Line {
	  SrcBlock		  "x"
	  SrcPort		  1
	  Points		  [25, 0; 0, -55]
	  DstBlock		  "out_3"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "in_1"
	  SrcPort		  1
	  DstBlock		  "Mux1"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Mux3"
	  SrcPort		  1
	  DstBlock		  "Fcn3"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Mux1"
	  SrcPort		  1
	  Points		  [10, 0]
	  Branch {
	    Points		    [0, 130]
	    DstBlock		    "Mux2"
	    DstPort		    1
	  }
	  Branch {
	    DstBlock		    "Mux3"
	    DstPort		    1
	  }
	}
	Line {
	  SrcBlock		  "Gain"
	  SrcPort		  1
	  DstBlock		  "Mux5"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Mux5"
	  SrcPort		  1
	  Points		  [15, 0]
	  Branch {
	    Points		    [0, -130]
	    DstBlock		    "Mux3"
	    DstPort		    2
	  }
	  Branch {
	    Points		    [130, 0]
	    DstBlock		    "Mux2"
	    DstPort		    3
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	}
	Line {
	  SrcBlock		  "in_2"
	  SrcPort		  1
	  Points		  [15, 0]
	  Branch {
	    DstBlock		    "Gain"
	    DstPort		    1
	  }
	  Branch {
	    DstBlock		    "Gain1"
	    DstPort		    1
	  }
	}
	Line {
	  SrcBlock		  "Gain1"
	  SrcPort		  1
	  DstBlock		  "Mux5"
	  DstPort		  1
	}
	Annotation {
	  Position		  [224, 199]
	  VerticalAlignment	  "top"
	  Text			  "half pole length"
	}
	Annotation {
	  Position		  [222, 257]
	  VerticalAlignment	  "top"
	  Text			  "pole mass"
	}
      }
    }
    Block {
      BlockType		      Constant
      Name		      "Constant"
      Position		      [121, 155, 139, 175]
      Orientation	      "up"
      NamePlacement	      "alternate"
      Value		      "1"
      VectorParams1D	      on
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "autoscale"
    }
    Block {
      BlockType		      Constant
      Name		      "Constant1"
      Position		      [80, 70, 100, 90]
      NamePlacement	      "alternate"
      ShowName		      off
      Value		      "1"
      VectorParams1D	      on
    }
    Block {
      BlockType		      SubSystem
      Name		      "Double click\non this for demo.5"
      Ports		      []
      Position		      [30, 362, 171, 395]
      DropShadow	      on
      ShowName		      off
      OpenFcn		      "initcp"
      ShowPortLabels	      off
      TreatAsAtomicUnit	      off
      RTWSystemCode	      "Auto"
      RTWFcnNameOpts	      "Auto"
      RTWFileNameOpts	      "Auto"
      MaskDisplay	      "disp('Variable Initialization')"
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "autoscale"
      System {
	Name			"Double click\non this for demo.5"
	Location		[-10, 380, 117, 533]
	Open			off
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"white"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"usletter"
	PaperUnits		"inches"
	ZoomFactor		"100"
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    }
    Block {
      BlockType		      Reference
      Name		      "Fuzzy Logic\nController"
      Ports		      [1, 1]
      Position		      [230, 345, 290, 395]
      Orientation	      "left"
      FontName		      "Arial"
      SourceBlock	      "fuzblock/Fuzzy Logic \nController"
      SourceType	      "FIS"
      fis		      "fismat"
    }
    Block {
      BlockType		      Mux
      Name		      "Mux"
      Ports		      [5, 1]
      Position		      [335, 70, 375, 105]
      Orientation	      "up"
      ShowName		      off
      Inputs		      "5"
      DisplayOption	      "none"
      BusCreatorMode	      off
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "autoscale"
    }
    Block {
      BlockType		      Mux
      Name		      "Mux1"
      Ports		      [5, 1]
      Position		      [320, 342, 360, 398]
      Orientation	      "left"
      ShowName		      off
      Inputs		      "5"
      DisplayOption	      "none"
      BusCreatorMode	      off
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "autoscale"
    }
    Block {
      BlockType		      Mux
      Name		      "Mux2"
      Ports		      [2, 1]
      Position		      [450, 124, 480, 151]
      ShowName		      off
      Inputs		      "2"
      DisplayOption	      "none"
      BusCreatorMode	      off
    }
    Block {
      BlockType		      Scope
      Name		      "Scope"
      Ports		      [1]
      Position		      [500, 127, 520, 153]
      ShowName		      off
      Floating		      off
      Location		      [229, 513, 509, 733]
      Open		      off
      NumInputPorts	      "1"
      TickLabels	      "on"
      ZoomMode		      "on"
      List {
	ListType		AxesTitles
	axes1			"%<SignalLabel>"
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      Grid		      "on"
      TimeRange		      "10.000000"
      YMin		      "-2.000000"
      YMax		      "2.000000"
      SaveToWorkspace	      off
      SaveName		      "ScopeData"
      DataFormat	      "Array"
      LimitDataPoints	      on
      MaxDataPoints	      "5000"
      Decimation	      "1"
      SampleInput	      off
      SampleTime	      "0"
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    Block {
      BlockType		      Sum
      Name		      "Sum"
      Ports		      [2, 1]
      Position		      [405, 255, 425, 275]
      Orientation	      "down"
      ShowName		      off
      IconShape		      "rectangular"
      Inputs		      "+-"
      SaturateOnIntegerOverflow	on
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "autoscale"
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    Block {
      BlockType		      Sum
      Name		      "Sum1"
      Ports		      [2, 1]
      Position		      [160, 65, 180, 85]
      ShowName		      off
      IconShape		      "rectangular"
      Inputs		      "++"
      SaturateOnIntegerOverflow	on
    }
    Block {
      BlockType		      Switch
      Name		      "Switch"
      Position		      [175, 114, 200, 146]
      Threshold		      "0"
    }
    Block {
      BlockType		      SignalGenerator
      Name		      "Target Position"
      Position		      [55, 103, 100, 137]
      WaveForm		      "sawtooth"
      Amplitude		      "1.500000"
      Frequency		      "0.628320"
      Units		      "rad/sec"
      VectorParams1D	      on
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    Block {
      BlockType		      Constant
      Name		      "Target Position\n(Mouse-Driven)"
      Position		      [137, 185, 163, 205]
      Orientation	      "up"
      NamePlacement	      "alternate"
      Value		      "-1.3651"
      VectorParams1D	      on
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "autoscale"
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    Block {
      BlockType		      SignalGenerator
      Name		      "Target Position1"
      Position		      [65, 28, 110, 62]
      ShowName		      off
      WaveForm		      "sine"
      Amplitude		      "0.500000"
      Frequency		      "6.000000"
      Units		      "rad/sec"
      VectorParams1D	      on
    }
    Line {
      SrcBlock		      "Mux1"
      SrcPort		      1
      DstBlock		      "Fuzzy Logic\nController"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Sum"
      SrcPort		      1
      Points		      [0, 90]
      DstBlock		      "Mux1"
      DstPort		      3
    }
    Line {
      SrcBlock		      "Cart & Pole\nDynamics"
      SrcPort		      2
      Points		      [110, 0; 0, 155]
      DstBlock		      "Mux1"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Cart & Pole\nDynamics"
      SrcPort		      1
      Points		      [15, 0]
      Branch {
	Points			[105, 0; 0, 160]
	DstBlock		"Mux1"
	DstPort			1
      }
      Branch {
	DstBlock		"Mux"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Cart & Pole\nDynamics"
      SrcPort		      3
      Points		      [25, 0]
      Branch {
	DstBlock		"Mux"
	DstPort			2
      }
      Branch {
	Points			[65, 0]
	Branch {
	  DstBlock		  "Sum"
	  DstPort		  1
	}
	Branch {
	  Points		  [0, -75]
	  DstBlock		  "Mux2"
	  DstPort		  2
	}
      }
    }
    Line {
      SrcBlock		      "Fuzzy Logic\nController"
      SrcPort		      1
      Points		      [-15, 0; 0, -170; 25, 0]
      Branch {
	DstBlock		"Cart & Pole\nDynamics"
	DstPort			1
      }
      Branch {
	Points			[0, -80]
	DstBlock		"Mux"
	DstPort			3
      }
    }
    Line {
      SrcBlock		      "Switch"
      SrcPort		      1
      Points		      [160, 0]
      Branch {
	DstBlock		"Mux"
	DstPort			4
      }
      Branch {
	Points			[55, 0]
	Branch {
	  DstBlock		  "Sum"
	  DstPort		  2
	}
	Branch {
	  DstBlock		  "Mux2"
	  DstPort		  1
	}
      }
    }
    Line {
      SrcBlock		      "Cart & Pole\nDynamics"
      SrcPort		      4
      Points		      [80, 0; 0, 145]
      DstBlock		      "Mux1"
      DstPort		      4
    }
    Line {
      SrcBlock		      "Mux"
      SrcPort		      1
      Points		      [0, -15]
      DstBlock		      "Animation"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Mux2"
      SrcPort		      1
      DstBlock		      "Scope"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Target Position\n(Mouse-Driven)"
      SrcPort		      1
      Points		      [0, -40]
      DstBlock		      "Switch"
      DstPort		      3
    }
    Line {
      SrcBlock		      "Constant"
      SrcPort		      1
      Points		      [0, -20]
      DstBlock		      "Switch"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Target Position"
      SrcPort		      1
      DstBlock		      "Switch"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Sum1"
      SrcPort		      1
      Points		      [60, 0; 0, 65]
      Branch {
	Points			[0, 85]
	DstBlock		"Cart & Pole\nDynamics"
	DstPort			2
      }
      Branch {
	Points			[130, 0]
	Branch {
	  DstBlock		  "Mux"
	  DstPort		  5
	}
	Branch {
	  Points		  [15, 0; 0, 250]
	  DstBlock		  "Mux1"
	  DstPort		  5
	}
      }
    }
    Line {
      SrcBlock		      "Target Position1"
      SrcPort		      1
      Points		      [10, 0; 0, 25]
      DstBlock		      "Sum1"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Constant1"
      SrcPort		      1
      DstBlock		      "Sum1"
      DstPort		      2
    }
    Annotation {
      Position		      [202, 52]
      VerticalAlignment	      "top"
      Text		      "pole\nlength"
    }
  }
}