Model {
  Name			  "sltbu"
  Version		  4.00
  SampleTimeColors	  off
  LibraryLinkDisplay	  "none"
  WideLines		  on
  ShowLineDimensions	  off
  ShowPortDataTypes	  off
  RecordCoverage	  off
  CovPath		  "/"
  CovSaveName		  "covdata"
  CovNameIncrementing	  off
  CovHtmlReporting	  on
  BlockParametersDataTip  on
  BlockDescriptionStringDataTip	off
  ToolBar		  on
  StatusBar		  on
  BrowserShowLibraryLinks off
  BrowserLookUnderMasks	  off
  PreLoadFcn		  "inittbu;"
  CloseFcn		  "[winName] = get_param(0, 'CurrentSystem'); AnimFigT"
"itle = [winName, ': Truck Backer-Upper Animation']; AnimFigH = findobj(0,'Nam"
"e',AnimFigTitle); close(AnimFigH)"
  Created		  "Fri Jun 02 17:10:15 2000"
  Creator		  "pascal"
  UpdateHistory		  "UpdateHistoryNever"
  ModifiedByFormat	  "%<Auto>"
  LastModifiedBy	  "pascal"
  ModifiedDateFormat	  "%<Auto>"
  LastModifiedDate	  "Wed Aug 09 17:56:38 2000"
  ModelVersionFormat	  "1.%<AutoIncrement:3>"
  ConfigurationManager	  "none"
  DefaultBlockFontName	  "Helvetica"
  DefaultBlockFontSize	  10
  DefaultBlockFontWeight  "normal"
  DefaultBlockFontAngle	  "normal"
  DefaultAnnotationFontName "Helvetica"
  DefaultAnnotationFontSize 10
  DefaultAnnotationFontWeight "normal"
  DefaultAnnotationFontAngle "normal"
  DefaultLineFontName	  "Helvetica"
  DefaultLineFontSize	  9
  DefaultLineFontWeight	  "normal"
  DefaultLineFontAngle	  "normal"
  SimParamPage		  "Solver"
  StartTime		  "0.0"
  StopTime		  "999999"
  SolverMode		  "SingleTasking"
  Solver		  "ode3"
  RelTol		  "1e-3"
  AbsTol		  "1e-6"
  Refine		  "1"
  MaxStep		  "0.1"
  MinStep		  "auto"
  MaxNumMinSteps	  "-1"
  InitialStep		  "auto"
  FixedStep		  "0.1"
  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_vc.tmf"
  RTWMakeCommand	  "make_rtw"
  RTWGenerateCodeOnly	  off
  TLCProfiler		  off
  TLCDebug		  off
  TLCCoverage		  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
  OptimizeBlockIOStorage  on
  BufferReuse		  on
  ParameterPooling	  on
  BlockReductionOpt	  off
  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		    "sltbu"
    Location		    [295, 129, 985, 584]
    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		      "S-Function"
      Name		      " Animation &\nHuman Controller"
      Ports		      [1, 1]
      Position		      [520, 95, 585, 125]
      FunctionName	      "animtbu"
      PortCounts	      "[]"
      SFunctionModules	      "''"
    }
    Block {
      BlockType		      Constant
      Name		      "Constant"
      Position		      [75, 390, 95, 410]
      Orientation	      "up"
      Value		      "1"
      VectorParams1D	      on
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "autoscale"
    }
    Block {
      BlockType		      MATLABFcn
      Name		      "Controller 1"
      Position		      [320, 260, 375, 290]
      Orientation	      "left"
      MATLABFcn		      "ctrltbu1"
      OutputDimensions	      "1"
      OutputSignalType	      "auto"
      Output1D		      on
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "autoscale"
    }
    Block {
      BlockType		      MATLABFcn
      Name		      "Controller 2"
      Position		      [320, 310, 375, 340]
      Orientation	      "left"
      MATLABFcn		      "ctrltbu2"
      OutputDimensions	      "1"
      OutputSignalType	      "auto"
      Output1D		      on
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "autoscale"
    }
    Block {
      BlockType		      Fcn
      Name		      "Distance"
      Position		      [335, 210, 370, 240]
      Orientation	      "left"
      Expr		      "sqrt(u[1]^2+u[2]^2)"
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "autoscale"
    }
    Block {
      BlockType		      SubSystem
      Name		      "Double click\non this for demo.5"
      Ports		      []
      Position		      [500, 377, 641, 410]
      DropShadow	      on
      ShowName		      off
      OpenFcn		      "inittbu"
      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"
	AutoZoom		on
      }
    }
    Block {
      BlockType		      Reference
      Name		      "Fuzzy Logic\nController"
      Ports		      [1, 1]
      Position		      [135, 265, 195, 315]
      Orientation	      "left"
      FontName		      "Arial"
      SourceBlock	      "fuzblock/Fuzzy Logic \nController"
      SourceType	      "FIS"
      fis		      "fismat"
    }
    Block {
      BlockType		      Stop
      Name		      "Stop\nsimulation"
      Position		      [595, 19, 630, 51]
    }
    Block {
      BlockType		      Switch
      Name		      "Switch"
      Position		      [69, 190, 101, 215]
      Orientation	      "up"
      Threshold		      "0"
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "autoscale"
    }
    Block {
      BlockType		      SubSystem
      Name		      "Truck\nKinematics"
      Ports		      [1, 1]
      Position		      [290, 131, 340, 179]
      ShowPortLabels	      off
      TreatAsAtomicUnit	      off
      RTWSystemCode	      "Auto"
      RTWFcnNameOpts	      "Auto"
      RTWFileNameOpts	      "Auto"
      MaskType		      "Truck Dynamics"
      MaskDescription	      "Truck Dynamics"
      MaskHelp		      "Truck dynamics"
      MaskPromptString	      "Initial Conditions (x, y, phi):|Backup Speed:|t"
"ruck Length:"
      MaskStyleString	      "edit,edit,edit"
      MaskTunableValueString  "on,on,on"
      MaskCallbackString      "||"
      MaskEnableString	      "on,on,on"
      MaskVisibilityString    "on,on,on"
      MaskToolTipString	      "on,on,on"
      MaskInitialization      "init_cond = @1; backup_speed = @2; truck_l = @3"
";"
      MaskDisplay	      "plot(-3, -3, 3, 3,[-1 1 1 -1 -1],[-2 -2 2 2 -2]"
",[-1.1 -1.1],[-2 -1],[1.1 1.1],[-2 -1],[1.35 0.85],[1.93 1.07],[-0.85 -1.35],"
"[1.93 1.07])"
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "autoscale"
      MaskValueString	      "TbuInitCond|backup_speed|truck_l"
      System {
	Name			"Truck\nKinematics"
	Location		[338, 438, 876, 621]
	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"
	  Position		  [20, 33, 40, 57]
	  Port			  "1"
	  Interpolate		  on
	}
	Block {
	  BlockType		  Gain
	  Name			  "Gain1"
	  Position		  [310, 24, 340, 66]
	  Gain			  "-backup_speed"
	  Multiplication	  "Element-wise(K.*u)"
	  SaturateOnIntegerOverflow on
	}
	Block {
	  BlockType		  Gain
	  Name			  "Gain2"
	  Position		  [310, 80, 340, 120]
	  Gain			  "-backup_speed"
	  Multiplication	  "Element-wise(K.*u)"
	  SaturateOnIntegerOverflow on
	}
	Block {
	  BlockType		  Gain
	  Name			  "Gain3"
	  Position		  [140, 19, 175, 71]
	  Gain			  "-backup_speed/truck_l"
	  Multiplication	  "Element-wise(K.*u)"
	  SaturateOnIntegerOverflow on
	}
	Block {
	  BlockType		  Mux
	  Name			  "Mux1"
	  Ports			  [3, 1]
	  Position		  [440, 110, 465, 160]
	  Inputs		  "3"
	  DisplayOption		  "none"
	}
	Block {
	  BlockType		  Fcn
	  Name			  "cos"
	  Position		  [245, 29, 295, 61]
	  Expr			  "cos(u[1])"
	}
	Block {
	  BlockType		  Integrator
	  Name			  "phi"
	  Ports			  [1, 1]
	  Position		  [190, 33, 210, 57]
	  ExternalReset		  "none"
	  InitialConditionSource  "internal"
	  InitialCondition	  "init_cond(3)"
	  LimitOutput		  off
	  UpperSaturationLimit	  "inf"
	  LowerSaturationLimit	  "-inf"
	  ShowSaturationPort	  off
	  ShowStatePort		  off
	  AbsoluteTolerance	  "auto"
	}
	Block {
	  BlockType		  Fcn
	  Name			  "sin"
	  Position		  [245, 84, 295, 116]
	  Expr			  "sin(u[1])"
	}
	Block {
	  BlockType		  Fcn
	  Name			  "tan"
	  Position		  [75, 30, 115, 60]
	  Expr			  "tan(u[1])"
	}
	Block {
	  BlockType		  Integrator
	  Name			  "x"
	  Ports			  [1, 1]
	  Position		  [360, 33, 380, 57]
	  ExternalReset		  "none"
	  InitialConditionSource  "internal"
	  InitialCondition	  "init_cond(1)"
	  LimitOutput		  off
	  UpperSaturationLimit	  "inf"
	  LowerSaturationLimit	  "-inf"
	  ShowSaturationPort	  off
	  ShowStatePort		  off
	  AbsoluteTolerance	  "auto"
	}
	Block {
	  BlockType		  Integrator
	  Name			  "y"
	  Ports			  [1, 1]
	  Position		  [360, 88, 380, 112]
	  ExternalReset		  "none"
	  InitialConditionSource  "internal"
	  InitialCondition	  "init_cond(2)"
	  LimitOutput		  off
	  UpperSaturationLimit	  "inf"
	  LowerSaturationLimit	  "-inf"
	  ShowSaturationPort	  off
	  ShowStatePort		  off
	  AbsoluteTolerance	  "auto"
	}
	Block {
	  BlockType		  Outport
	  Name			  "out"
	  Position		  [495, 123, 515, 147]
	  Port			  "1"
	  OutputWhenDisabled	  "held"
	  InitialOutput		  "0"
	}
	Line {
	  SrcBlock		  "in"
	  SrcPort		  1
	  DstBlock		  "tan"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "phi"
	  SrcPort		  1
	  Points		  [0, 0]
	  Branch {
	    DstBlock		    "cos"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [5, 0; 0, 55]
	    DstBlock		    "sin"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [5, 0; 0, 105]
	    DstBlock		    "Mux1"
	    DstPort		    3
	  }
	}
	Line {
	  SrcBlock		  "cos"
	  SrcPort		  1
	  DstBlock		  "Gain1"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Gain1"
	  SrcPort		  1
	  DstBlock		  "x"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "sin"
	  SrcPort		  1
	  DstBlock		  "Gain2"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Gain2"
	  SrcPort		  1
	  DstBlock		  "y"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "tan"
	  SrcPort		  1
	  DstBlock		  "Gain3"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Gain3"
	  SrcPort		  1
	  DstBlock		  "phi"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Mux1"
	  SrcPort		  1
	  DstBlock		  "out"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "x"
	  SrcPort		  1
	  Points		  [30, 0; 0, 75]
	  DstBlock		  "Mux1"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "y"
	  SrcPort		  1
	  Points		  [20, 0; 0, 35]
	  DstBlock		  "Mux1"
	  DstPort		  2
	}
      }
    }
    Block {
      BlockType		      Mux
      Name		      "states &\ntheta"
      Ports		      [2, 1]
      Position		      [450, 90, 480, 130]
      Inputs		      "[3 1]"
      DisplayOption	      "none"
    }
    Block {
      BlockType		      Mux
      Name		      "states &\ntheta1"
      Ports		      [3, 1]
      Position		      [230, 270, 260, 310]
      Orientation	      "left"
      ShowName		      off
      Inputs		      "3"
      DisplayOption	      "none"
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "autoscale"
    }
    Block {
      BlockType		      Fcn
      Name		      "y<=0"
      Position		      [520, 25, 560, 45]
      Expr		      "u[2]<0"
    }
    Line {
      SrcBlock		      "y<=0"
      SrcPort		      1
      DstBlock		      "Stop\nsimulation"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Switch"
      SrcPort		      1
      Points		      [0, 0]
      Branch {
	Points			[0, -30]
	DstBlock		"Truck\nKinematics"
	DstPort			1
      }
      Branch {
	Points			[0, -65]
	DstBlock		"states &\ntheta"
	DstPort			2
      }
    }
    Line {
      SrcBlock		      "Truck\nKinematics"
      SrcPort		      1
      Points		      [0, 0]
      Branch {
	Points			[50, 0; 0, -55]
	DstBlock		"states &\ntheta"
	DstPort			1
      }
      Branch {
	Points			[50, 0; 0, 70]
	Branch {
	  DstBlock		  "Distance"
	  DstPort		  1
	}
	Branch {
	  Points		  [0, 50]
	  Branch {
	    DstBlock		    "Controller 1"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, 50]
	    DstBlock		    "Controller 2"
	    DstPort		    1
	  }
	}
      }
    }
    Line {
      SrcBlock		      "Constant"
      SrcPort		      1
      DstBlock		      "Switch"
      DstPort		      2
    }
    Line {
      SrcBlock		      "states &\ntheta"
      SrcPort		      1
      Points		      [10, 0]
      Branch {
	DstBlock		" Animation &\nHuman Controller"
	DstPort			1
      }
      Branch {
	Points			[0, -75]
	DstBlock		"y<=0"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Fuzzy Logic\nController"
      SrcPort		      1
      Points		      [-55, 0]
      DstBlock		      "Switch"
      DstPort		      1
    }
    Line {
      SrcBlock		      " Animation &\nHuman Controller"
      SrcPort		      1
      Points		      [10, 0; 0, 255; -505, 0]
      DstBlock		      "Switch"
      DstPort		      3
    }
    Line {
      SrcBlock		      "states &\ntheta1"
      SrcPort		      1
      DstBlock		      "Fuzzy Logic\nController"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Distance"
      SrcPort		      1
      Points		      [-40, 0; 0, 50]
      DstBlock		      "states &\ntheta1"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Controller 1"
      SrcPort		      1
      Points		      [-15, 0; 0, 15]
      DstBlock		      "states &\ntheta1"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Controller 2"
      SrcPort		      1
      Points		      [-15, 0; 0, -20]
      DstBlock		      "states &\ntheta1"
      DstPort		      3
    }
  }
}