# $Revision: 1.1.6.1 $
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      Name		      "Est. Position [x, xdot, y, ydot]"
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  Description		  "Radar tracking Demonstration Using Embedded MATLAB"
"\n\nThis demonstration shows how to use an extended Kalman filter to estimate"
" an\naircraft's position from radar measurements. The filter implementation i"
"s found \nin the block labelled \"Embedded MATLAB function\", the contents of"
" which are\nstored in the Simulink model itself\n\nAt the end of the simulati"
"on, three figures display the following information. The \nactual trajectory "
"compared to the estimated trajectory The estimation residual \nfor range The "
"actual, measured, and estimated position\n\n"
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"end\nclear radarLogsOut"
  StartFcn		  "clear radarLogsOut"
  StopFcn		  "aero_radplot;"
  Created		  "Tue May 18 14:42:29 1999"
  Creator		  "The MathWorks Inc."
  UpdateHistory		  "UpdateHistoryNever"
  ModifiedByFormat	  "%<Auto>"
  LastModifiedBy	  "batserve"
  ModifiedDateFormat	  "%<Auto>"
  LastModifiedDate	  "Sat Jan 22 19:08:19 2005"
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"; % Initial speed of aircraft in y direction feet/sec\ndeltat = 1;  % Radar u"
"pdate rate (also hard-coded in extkalman.m)\n"
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	  Port {
	    PortNumber		    3
	    Name		    "xhatOut"
	    RTWStorageClass	    "Auto"
	    DataLoggingNameMode	    "SignalName"
	    ShowSigGenPortName	    on
	  }
	}
	Block {
	  BlockType		  Terminator
	  Name			  " Terminator "
	  Position		  [460, 191, 480, 209]
	}
	Block {
	  BlockType		  Outport
	  Name			  "residual"
	  Position		  [460, 101, 480, 119]
	  IconDisplay		  "Port number"
	  BusOutputAsStruct	  off
	}
	Block {
	  BlockType		  Outport
	  Name			  "xhatOut"
	  Position		  [460, 136, 480, 154]
	  Port			  "2"
	  IconDisplay		  "Port number"
	  BusOutputAsStruct	  off
	}
	Line {
	  SrcBlock		  " SFunction "
	  SrcPort		  1
	  Points		  [0, 85]
	  DstBlock		  " Demux "
	  DstPort		  1
	}
	Line {
	  SrcBlock		  " Demux "
	  SrcPort		  1
	  DstBlock		  " Terminator "
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "meas"
	  SrcPort		  1
	  DstBlock		  " SFunction "
	  DstPort		  1
	}
	Line {
	  Name			  "residual"
	  Labels		  [0, 0]
	  SrcBlock		  " SFunction "
	  SrcPort		  2
	  DstBlock		  "residual"
	  DstPort		  1
	}
	Line {
	  Name			  "xhatOut"
	  Labels		  [0, 0]
	  SrcBlock		  " SFunction "
	  SrcPort		  3
	  DstBlock		  "xhatOut"
	  DstPort		  1
	}
      }
    }
    Block {
      BlockType		      Gain
      Name		      "Meas. noise\nintensity"
      Position		      [245, 196, 305, 254]
      Gain		      "[300 0; 0 .01]"
      Multiplication	      "Matrix(K*u) (u vector)"
      ParameterDataTypeMode   "Inherit via internal rule"
      OutDataTypeMode	      "Inherit via internal rule"
      SaturateOnIntegerOverflow	off
      Port {
	PortNumber		1
	Name			"Measurement_noise"
	TestPoint		on
	RTWStorageClass		"Auto"
	DataLogging		on
	DataLoggingNameMode	"SignalName"
	ShowSigGenPortName	on
      }
    }
    Block {
      BlockType		      SubSystem
      Name		      "More Info"
      Ports		      []
      Position		      [820, 15, 844, 38]
      DropShadow	      on
      ShowName		      off
      TreatAsAtomicUnit	      off
      MinAlgLoopOccurrences   off
      RTWSystemCode	      "Auto"
      MaskDisplay	      "disp('?')"
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "autoscale"
      System {
	Name			"More Info"
	Location		[94, 247, 740, 671]
	Open			off
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"white"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"usletter"
	PaperUnits		"inches"
	ZoomFactor		"100"
	Block {
	  BlockType		  Reference
	  Name			  "Model Info"
	  Ports			  []
	  Position		  [15, 22, 630, 408]
	  ShowName		  off
	  FontName		  "Arial"
	  SourceBlock		  "simulink/Model-Wide\nUtilities/Model Info"
	  SourceType		  "CMBlock"
	  ShowPortLabels	  "on"
	  InitialBlockCM	  "none"
	  BlockCM		  "none"
	  Frame			  "on"
	  DisplayStringWithTags	  "Model Description:\n-------------------\n\n"
"%<Description>"
	  MaskDisplayString	  "Model Description:\\n-------------------\\n"
"\\nF-14 Longitudinal Flight Control\\n\\nThis demonstration models a flight c"
"ontrol for the longitudinal motion of a Grumman Aerospace \\nF-14 Tomcat.  Fi"
"rst order linear approximations of the aircraft and actuator behavior are con"
"nected\\nto an analog flight control design that uses the pilot's stick pitch"
" command as the set point for the \\naircraft's pitch attitude and uses aircr"
"aft pitch angle and pitch rate to determine commands.   A \\nsimplified Dryde"
"n wind gust model is incorporated to perturb the system.\\n"
	  HorizontalTextAlignment "Left"
	  LeftAlignmentValue	  "0.02"
	  SourceBlockDiagram	  "f14"
	  TagMaxNumber		  "20"
	}
      }
    }
    Block {
      BlockType		      Reference
      Name		      "Radar \nMeasurment\nNoise"
      Ports		      [0, 1]
      Position		      [40, 209, 80, 241]
      SourceBlock	      "simulink/Sources/Band-Limited\nWhite Noise"
      SourceType	      "Band-Limited White Noise."
      ShowPortLabels	      on
      Cov		      "[1 1]"
      Ts		      "0.1"
      seed		      "[52341 62341]"
      VectorParams1D	      on
    }
    Block {
      BlockType		      Reference
      Name		      "Random\naircraft\nmotion"
      Ports		      [0, 1]
      Position		      [40, 77, 80, 113]
      SourceBlock	      "simulink/Sources/Band-Limited\nWhite Noise"
      SourceType	      "Band-Limited White Noise."
      ShowPortLabels	      on
      Cov		      "[0.001 .001]"
      Ts		      "0.1"
      seed		      "[58413 74925]"
      VectorParams1D	      on
    }
    Block {
      BlockType		      Sum
      Name		      "Sum"
      Ports		      [2, 1]
      Position		      [435, 145, 465, 175]
      ShowName		      off
      IconShape		      "round"
      Inputs		      "2"
      Port {
	PortNumber		1
	Name			"PolarCoords"
	TestPoint		on
	RTWStorageClass		"Auto"
	DataLogging		on
	DataLoggingNameMode	"SignalName"
	ShowSigGenPortName	on
      }
    }
    Block {
      BlockType		      SubSystem
      Name		      "XY\nAccleration\nModel"
      Ports		      [1, 1]
      Position		      [115, 76, 155, 114]
      BackgroundColor	      "[0.956863, 1.000000, 0.666667]"
      DropShadow	      on
      TreatAsAtomicUnit	      off
      MinAlgLoopOccurrences   off
      RTWSystemCode	      "Auto"
      System {
	Name			"XY\nAccleration\nModel"
	Location		[96, 385, 537, 564]
	Open			off
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"white"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"usletter"
	PaperUnits		"inches"
	ZoomFactor		"100"
	Block {
	  BlockType		  Inport
	  Name			  "F"
	  Position		  [55, 62, 85, 78]
	  ForegroundColor	  "red"
	  Port			  "1"
	  IconDisplay		  "Port number"
	  LatchInput		  off
	}
	Block {
	  BlockType		  Gain
	  Name			  "Gain2"
	  Position		  [150, 120, 275, 180]
	  Orientation		  "left"
	  Gain			  "[ 1/tauc, 1/tauT ]"
	}
	Block {
	  BlockType		  Gain
	  Name			  "Gravity"
	  Position		  [335, 64, 370, 96]
	  Gain			  "g"
	}
	Block {
	  BlockType		  Integrator
	  Name			  "Integrator1"
	  Ports			  [1, 1]
	  Position		  [245, 66, 275, 94]
	  IgnoreLimit		  off
	}
	Block {
	  BlockType		  Sum
	  Name			  "Sum1"
	  Ports			  [2, 1]
	  Position		  [145, 62, 165, 93]
	  Inputs		  "+-"
	}
	Block {
	  BlockType		  Outport
	  Name			  "a"
	  Position		  [400, 72, 430, 88]
	  IconDisplay		  "Port number"
	  BusOutputAsStruct	  off
	  InitialOutput		  "0"
	}
	Line {
	  SrcBlock		  "F"
	  SrcPort		  1
	  DstBlock		  "Sum1"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Gain2"
	  SrcPort		  1
	  Points		  [-42, 0; 0, -65]
	  DstBlock		  "Sum1"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Integrator1"
	  SrcPort		  1
	  Points		  [0, 0; 23, 0]
	  Branch {
	    DstBlock		    "Gravity"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, 70]
	    DstBlock		    "Gain2"
	    DstPort		    1
	  }
	}
	Line {
	  SrcBlock		  "Sum1"
	  SrcPort		  1
	  DstBlock		  "Integrator1"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Gravity"
	  SrcPort		  1
	  DstBlock		  "a"
	  DstPort		  1
	}
      }
    }
    Block {
      BlockType		      SubSystem
      Name		      "XY to\nRange-Bearing"
      Ports		      [1, 1]
      Position		      [365, 70, 415, 120]
      BackgroundColor	      "[0.956863, 1.000000, 0.666667]"
      TreatAsAtomicUnit	      off
      MinAlgLoopOccurrences   off
      RTWSystemCode	      "Auto"
      MaskType		      "xy2rtheta"
      MaskDescription	      "Vector transformation from cartesian to polar c"
"oordinates.\ninput:   [x, y]\noutput: [r, theta]\n\nr = hypot(x,y));\ntheta ="
" atan2(y,x);"
      MaskHelp		      "Use \"Look under mask\" to see the implementati"
"on, done in Simulink blocks."
      MaskDisplay	      "plot(0,0,100,100,[24,20,15,20,20],[85,95,85,95,"
"20],[80,20,95,85,95,85],[70,20,20,15,20,24],[56,56,55,52,50,46],[20,26,31,35,"
"38,42])"
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "autoscale"
      System {
	Name			"XY to\nRange-Bearing"
	Location		[136, 183, 495, 389]
	Open			off
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"white"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"usletter"
	PaperUnits		"inches"
	ZoomFactor		"100"
	Block {
	  BlockType		  Inport
	  Name			  "XY"
	  Position		  [25, 77, 60, 93]
	  Port			  "1"
	  IconDisplay		  "Port number"
	  LatchInput		  off
	}
	Block {
	  BlockType		  Demux
	  Name			  "Demux"
	  Ports			  [1, 2]
	  Position		  [100, 58, 110, 107]
	  BackgroundColor	  "black"
	  ShowName		  off
	  Outputs		  "2"
	  DisplayOption		  "bar"
	}
	Block {
	  BlockType		  Demux
	  Name			  "Demux1"
	  Ports			  [1, 2]
	  Position		  [100, 128, 110, 177]
	  BackgroundColor	  "black"
	  ShowName		  off
	  Outputs		  "2"
	  DisplayOption		  "bar"
	}
	Block {
	  BlockType		  Mux
	  Name			  "Mux"
	  Ports			  [2, 1]
	  Position		  [355, 52, 365, 188]
	  ShowName		  off
	  Inputs		  "2"
	  DisplayOption		  "bar"
	}
	Block {
	  BlockType		  InportShadow
	  Name			  "XY1"
	  Position		  [25, 147, 60, 163]
	  Port			  "1"
	  IconDisplay		  "Port number"
	  LatchInput		  off
	}
	Block {
	  BlockType		  Trigonometry
	  Name			  "bearing"
	  Ports			  [2, 1]
	  Position		  [220, 128, 270, 177]
	  Operator		  "atan2"
	}
	Block {
	  BlockType		  Math
	  Name			  "range"
	  Ports			  [2, 1]
	  Position		  [220, 58, 270, 107]
	  Operator		  "hypot"
	}
	Block {
	  BlockType		  Outport
	  Name			  "Rth"
	  Position		  [415, 112, 450, 128]
	  IconDisplay		  "Port number"
	  BusOutputAsStruct	  off
	  InitialOutput		  "0"
	}
	Line {
	  SrcBlock		  "Mux"
	  SrcPort		  1
	  DstBlock		  "Rth"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "range"
	  SrcPort		  1
	  DstBlock		  "Mux"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "XY"
	  SrcPort		  1
	  DstBlock		  "Demux"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Demux"
	  SrcPort		  1
	  DstBlock		  "range"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Demux"
	  SrcPort		  2
	  DstBlock		  "range"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "XY1"
	  SrcPort		  1
	  DstBlock		  "Demux1"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "bearing"
	  SrcPort		  1
	  DstBlock		  "Mux"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Demux1"
	  SrcPort		  1
	  Points		  [30, 0; 35, 25]
	  DstBlock		  "bearing"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Demux1"
	  SrcPort		  2
	  Points		  [30, 0; 35, -25]
	  DstBlock		  "bearing"
	  DstPort		  1
	}
      }
    }
    Block {
      BlockType		      Integrator
      Name		      "XYPosition"
      Ports		      [1, 1]
      Position		      [270, 76, 305, 114]
      BackgroundColor	      "[0.956863, 1.000000, 0.666667]"
      IgnoreLimit	      off
      Port {
	PortNumber		1
	Name			"XYCoords"
	TestPoint		on
	RTWStorageClass		"Auto"
	DataLogging		on
	DataLoggingNameMode	"SignalName"
	ShowSigGenPortName	on
      }
    }
    Block {
      BlockType		      Integrator
      Name		      "XYVelocity"
      Ports		      [1, 1]
      Position		      [190, 76, 225, 114]
      BackgroundColor	      "[0.956863, 1.000000, 0.666667]"
      InitialCondition	      "[0, Speed]"
      IgnoreLimit	      off
      Port {
	PortNumber		1
	Name			"xydot"
	RTWStorageClass		"Auto"
	DataLoggingNameMode	"SignalName"
	ShowSigGenPortName	on
      }
    }
    Block {
      BlockType		      ZeroOrderHold
      Name		      "ZOH"
      Position		      [540, 145, 570, 175]
      ForegroundColor	      "green"
      SampleTime	      "deltat"
    }
    Block {
      BlockType		      Outport
      Name		      "Residuals"
      Position		      [790, 128, 820, 142]
      IconDisplay	      "Port number"
      BusOutputAsStruct	      off
    }
    Block {
      BlockType		      Outport
      Name		      "Est. Position\n[x, xdot, y, ydot]"
      Position		      [790, 173, 820, 187]
      Port		      "2"
      IconDisplay	      "Port number"
      BusOutputAsStruct	      off
    }
    Line {
      Name		      "XYCoords"
      Labels		      [0, 0; 0, 0; 0, 0; 0, 0; 0, 0]
      SrcBlock		      "XYPosition"
      SrcPort		      1
      DstBlock		      "XY to\nRange-Bearing"
      DstPort		      1
    }
    Line {
      SrcBlock		      "XY to\nRange-Bearing"
      SrcPort		      1
      Points		      [30, 0]
      DstBlock		      "Sum"
      DstPort		      1
    }
    Line {
      Name		      "PolarCoords"
      Labels		      [0, 0]
      SrcBlock		      "Sum"
      SrcPort		      1
      DstBlock		      "ZOH"
      DstPort		      1
    }
    Line {
      Name		      "xydot"
      Labels		      [0, 0; 0, 0; 0, 0; 0, 0; 0, 0; 0, 0]
      SrcBlock		      "XYVelocity"
      SrcPort		      1
      DstBlock		      "XYPosition"
      DstPort		      1
    }
    Line {
      SrcBlock		      "XY\nAccleration\nModel"
      SrcPort		      1
      DstBlock		      "XYVelocity"
      DstPort		      1
    }
    Line {
      Name		      "residual"
      Labels		      [0, 0]
      SrcBlock		      "Embedded MATLAB Function"
      SrcPort		      1
      DstBlock		      "Residuals"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Random\naircraft\nmotion"
      SrcPort		      1
      DstBlock		      "XY\nAccleration\nModel"
      DstPort		      1
    }
    Line {
      Name		      "X_hat"
      Labels		      [0, 0]
      SrcBlock		      "Embedded MATLAB Function"
      SrcPort		      2
      DstBlock		      "Est. Position\n[x, xdot, y, ydot]"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Radar \nMeasurment\nNoise"
      SrcPort		      1
      DstBlock		      "Meas. noise\nintensity"
      DstPort		      1
    }
    Line {
      Name		      "Measurement_noise"
      Labels		      [0, 0]
      SrcBlock		      "Meas. noise\nintensity"
      SrcPort		      1
      Points		      [140, 0]
      DstBlock		      "Sum"
      DstPort		      2
    }
    Line {
      SrcBlock		      "ZOH"
      SrcPort		      1
      DstBlock		      "Embedded MATLAB Function"
      DstPort		      1
    }
    Annotation {
      Name		      "Radar Tracking Demonstration"
      Position		      [409, 25]
      FontName		      "Arial"
      FontSize		      18
      FontWeight	      "bold"
    }
  }
}

# Finite State Machines
#
#    Stateflow Version 6.2 (R14SP2) dated Jan 21 2005, 03:46:19
#
#

Stateflow {

	machine {
		id                   		1
		name                 		"sldemo_radar_eml"
		created              		"05-Mar-2003 11:55:40"
		isLibrary            		0
		firstTarget          		11
		sfVersion            		62014000
		sfDemoChecksum       		[633530505 398214042 1063795846 104974861]
	}

	chart {
		id                                        		2
		name                                      		"Embedded MATLAB Function"
		windowPosition                            		[310.966 312.043 200.25 189.75]
		viewLimits                                		[0 156.75 0 153.75]
		screen                                    		[1 1 1280 1024 1.611111111111111]
		treeNode                                  		[0 3 0 0]
		firstTransition                           		5
		firstJunction                             		4
		viewObj                                   		2
		machine                                   		1
		decomposition                             		CLUSTER_CHART
		type                                      		EML_CHART
		firstData                                 		6
		chartFileNumber                           		2
		disableImplicitCasting                    		1
		eml {
			name		"EXTKALMAN"
		}
	}

	state {
		id                  		3
		labelString         		"eML_blk_kernel()"
		position            		[18 64.5 118 66]
		fontSize            		12
		chart               		2
		treeNode            		[2 0 0 0]
		superState          		SUBCHART
		subviewer           		2
		type                		FUNC_STATE
		decomposition       		CLUSTER_STATE
		eml {
			isEML       		1
			script      		"function [residual, xhatOut] = EXTKALMAN(meas, deltat)\n"
						"%EXTKALMAN Radar Data Processing Tracker Using an Extended "
						"Kalman Filter\n"
						"%\n"
						"%  This program is executed as a MATLAB function block in t"
						"he \n"
						"%  aero_radmod Simulink model.  There is a file called \"ae"
						"ro_raddat.m\" that \n"
						"%  contains the data needed to run the aero_radmod model.  "
						"The estimated \n"
						"%  and actual positions are saved to the workspace and are "
						"plotted at\n"
						"%  the end of the simulation by the program aero_radplot (c"
						"alled from the \n"
						"%  simulation automatically).\n"
						"%\n"
						"%  See the description in the \"Extended Kalman Filter\" Br"
						"ochure for \n"
						"%  the equations.\n"
						"\n"
						"%  This program was developed by Dr. Richard Gran, Septembe"
						"r 1, 1996, \n"
						"%  and modified by Paul Barnard, June 1997.\n"
						"%  Copyright 1990-2002 The MathWorks, Inc.\n"
						"%  $Revision: 1.1.6.1 $  $Date: 2004/12/16 21:59:53 $\n"
						"\n"
						"\n"
						"% Initialization\n"
						"persistent P;\n"
						"persistent xhat\n"
						"if isempty(P)\n"
						"    xhat = [0.001; 0.01; 0.001; 400];\n"
						"    P = zeros(4);\n"
						"end\n"
						"    \n"
						"%  Radar update time deltat is inherited from model workspa"
						"ce\n"
						"\n"
						"% 1. Compute Phi, Q, and R \n"
						"Phi = [1 deltat 0 0; 0 1 0 0 ; 0 0 1 deltat; 0 0 0 1];\n"
						"Q =  diag([0 .005 0 .005]);\n"
						"R =  diag([300^2 0.001^2]);\n"
						"\n"
						"% 2. Propagate the covariance matrix:\n"
						"P = Phi*P*Phi' + Q;\n"
						"\n"
						"% 3. Propagate the track estimate::\n"
						"xhat = Phi*xhat;\n"
						"\n"
						"% 4 a). Compute observation estimates:\n"
						"Rangehat = sqrt(xhat(1)^2+xhat(3)^2);\n"
						"Bearinghat = atan2(xhat(3),xhat(1));\n"
						"\n"
						"% 4 b). Compute observation vector y and linearized measure"
						"ment matrix M \n"
						"yhat = \t[Rangehat;\n"
						"          Bearinghat];\n"
						"M = [ cos(Bearinghat)          0 sin(Bearinghat)          0"
						"\n"
						"   -sin(Bearinghat)/Rangehat 0 cos(Bearinghat)/Rangehat 0 ]"
						";\n"
						"\n"
						"% 4 c).  Compute residual (Estimation Error)\n"
						"residual = meas - yhat;\n"
						"\n"
						"% 5. Compute Kalman Gain:\n"
						"W = P*M'*inv(M*P*M'+ R);\n"
						"\n"
						"% 6. Update estimate\n"
						"xhat = xhat + W*residual;\n"
						"\n"
						"% 7. Update Covariance Matrix\n"
						"P = (eye(4)-W*M)*P*(eye(4)-W*M)' + W*R*W';\n"
						"\n"
						"xhatOut = xhat;\n"
						"\n"
						"\n"
						"\n"
						""
			editorLayout		"100 M4x1[153 75 1014 833]"
		}
	}

	junction {
		id         		4
		position   		[23.5747 49.5747 7]
		chart      		2
		linkNode   		[2 0 0]
		subviewer  		2
		type       		CONNECTIVE_JUNCTION
	}

	transition {
		id             		5
		labelString    		"{eML_blk_kernel();}"
		labelPosition  		[32.125 19.875 102.544 14.964]
		fontSize       		12
		src {
			intersection		[0 0 1 0 23.5747 14.625 0 0]
		}
		dst {
			id          		4
			intersection		[7 0 -1 -1 23.5747 42.5747 0 0]
		}
		midPoint       		[23.5747 24.9468]
		chart          		2
		linkNode       		[2 0 0]
		dataLimits     		[21.175 25.975 14.625 42.575]
		subviewer      		2
		drawStyle      		SMART
		executionOrder 		1
	}

	data {
		id                            		6
		name                          		"meas"
		linkNode                      		[2 0 7]
		scope                         		INPUT_DATA
		machine                       		1
		dataType                      		"double"
		fixptType {
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			baseType		SF_INT16_TYPE
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	data {
		id                            		7
		name                          		"residual"
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		scope                         		OUTPUT_DATA
		machine                       		1
		dataType                      		"double"
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			baseType		SF_INT16_TYPE
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	}

	data {
		id                            		8
		name                          		"deltat"
		linkNode                      		[2 7 9]
		scope                         		PARAMETER_DATA
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		machine                       		1
		dataType                      		"double"
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			baseType		SF_INT16_TYPE
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	data {
		id                            		9
		name                          		"xhatOut"
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		scope                         		OUTPUT_DATA
		machine                       		1
		dataType                      		"double"
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	instance {
		id     		10
		name   		"Embedded MATLAB Function"
		machine		1
		chart  		2
	}

	target {
		id                        		11
		name                      		"sfun"
		description               		"Default Simulink S-Function Target."
		codeFlags                 		" debug=1 overflow=1 echo=1"
		machine                   		1
		linkNode                  		[1 0 12]
	}

	target {
		id                        		12
		name                      		"rtw"
		codeFlags                 		" comments=1 statebitsets=1 databitsets=1 emitlogicalops=1 el"
						"seifdetection=1 constantfolding=1 redundantloadelimination=0"
						" preserveconstantnames=0 preservenames=0 preservenameswithpa"
						"rent=0 exportcharts=0"
		machine                   		1
		linkNode                  		[1 11 0]
	}
}