Model { Name "sf_yoyo" Version 6.2 MdlSubVersion 0 GraphicalInterface { NumRootInports 0 NumRootOutports 0 ParameterArgumentNames "" ComputedModelVersion "1.239" NumModelReferences 0 NumTestPointedSignals 0 } SavedCharacterEncoding "US-ASCII" SaveDefaultBlockParams on SampleTimeColors off LibraryLinkDisplay "none" WideLines on ShowLineDimensions off ShowPortDataTypes off ShowLoopsOnError on IgnoreBidirectionalLines off ShowStorageClass off ShowTestPointIcons on ShowViewerIcons on SortedOrder off ExecutionContextIcon off ShowLinearizationAnnotations on RecordCoverage off CovPath "/" CovSaveName "covdata" CovMetricSettings "dcmtr" CovNameIncrementing off CovHtmlReporting on covSaveCumulativeToWorkspaceVar on CovSaveSingleToWorkspaceVar on CovCumulativeVarName "covCumulativeData" CovCumulativeReport off CovReportOnPause on ScopeRefreshTime 0.035000 OverrideScopeRefreshTime on DisableAllScopes off DataTypeOverride "UseLocalSettings" MinMaxOverflowLogging "UseLocalSettings" MinMaxOverflowArchiveMode "Overwrite" BlockNameDataTip off BlockParametersDataTip on BlockDescriptionStringDataTip off ToolBar on StatusBar on BrowserShowLibraryLinks off BrowserLookUnderMasks off Created "Sat Jan 22 16:33:28 2000" Creator "The MathWorks Inc." UpdateHistory "UpdateHistoryNever" ModifiedByFormat "%" LastModifiedBy "batserve" ModifiedDateFormat "%" LastModifiedDate "Sat Jan 22 19:12:23 2005" ModelVersionFormat "1.%" ConfigurationManager "none" LinearizationMsg "none" Profile off ParamWorkspaceSource "MATLABWorkspace" AccelSystemTargetFile "accel.tlc" AccelTemplateMakefile "accel_default_tmf" AccelMakeCommand "make_rtw" TryForcingSFcnDF off ExtModeBatchMode off ExtModeEnableFloating on ExtModeTrigType "manual" ExtModeTrigMode "oneshot" ExtModeTrigPort "1" ExtModeTrigElement "any" ExtModeTrigDuration 1000 ExtModeTrigDurationFloating "auto" ExtModeTrigHoldOff 0 ExtModeTrigDelay 0 ExtModeTrigDirection "rising" ExtModeTrigLevel 0 ExtModeArchiveMode "off" ExtModeAutoIncOneShot off ExtModeIncDirWhenArm off ExtModeAddSuffixToVar off ExtModeWriteAllDataToWs off ExtModeArmWhenConnect off ExtModeSkipDownloadWhenConnect off ExtModeLogAll on ExtModeAutoUpdateStatusClock off BufferReuse off StrictBusMsg "None" ProdHWDeviceType "32-bit Generic" ShowModelReferenceBlockVersion off ShowModelReferenceBlockIO off Array { Type "Handle" Dimension 1 Simulink.ConfigSet { $ObjectID 1 Version "1.1.0" Array { Type "Handle" Dimension 7 Simulink.SolverCC { $ObjectID 2 Version "1.1.0" StartTime "0.0" StopTime "500" AbsTol "auto" FixedStep "1" InitialStep "auto" MaxNumMinSteps "-1" MaxOrder 5 ExtrapolationOrder 4 NumberNewtonIterations 1 MaxStep "auto" MinStep "auto" RelTol "1e-3" SolverMode "Auto" Solver "ode23" SolverName "ode23" ZeroCrossControl "UseLocalSettings" AlgebraicLoopSolver "TrustRegion" SolverResetMethod "Fast" PositivePriorityOrder off AutoInsertRateTranBlk off SampleTimeConstraint "Unconstrained" RateTranMode "Deterministic" } Simulink.DataIOCC { $ObjectID 3 Version "1.1.0" Decimation "1" ExternalInput "[t, u]" FinalStateName "xFinal" InitialState "xInitial" LimitDataPoints off MaxDataPoints "1000" LoadExternalInput off LoadInitialState off SaveFinalState off SaveFormat "Array" SaveOutput off SaveState off SignalLogging on SaveTime off StateSaveName "xout" TimeSaveName "tout" OutputSaveName "yout" SignalLoggingName "logsout" OutputOption "RefineOutputTimes" OutputTimes "[]" Refine "1" } Simulink.OptimizationCC { $ObjectID 4 Array { Type "Cell" Dimension 8 Cell "ZeroExternalMemoryAtStartup" Cell "ZeroInternalMemoryAtStartup" Cell "InitFltsAndDblsToZero" Cell "OptimizeModelRefInitCode" Cell "NoFixptDivByZeroProtection" Cell "LocalBlockOutputs" Cell "BufferReuse" Cell "ExpressionFolding" PropName "DisabledProps" } Version "1.1.0" BlockReduction off BooleanDataType off ConditionallyExecuteInputs on InlineParams off InlineInvariantSignals on OptimizeBlockIOStorage off BufferReuse off EnforceIntegerDowncast on ExpressionFolding off FoldNonRolledExpr on LocalBlockOutputs off ParameterPooling on RollThreshold 5 SystemCodeInlineAuto off StateBitsets off DataBitsets off UseTempVars off ZeroExternalMemoryAtStartup on ZeroInternalMemoryAtStartup on InitFltsAndDblsToZero on NoFixptDivByZeroProtection off EfficientFloat2IntCast off OptimizeModelRefInitCode off LifeSpan "inf" BufferReusableBoundary on } Simulink.DebuggingCC { $ObjectID 5 Version "1.1.0" RTPrefix "error" ConsistencyChecking "none" ArrayBoundsChecking "none" SignalInfNanChecking "none" AlgebraicLoopMsg "warning" ArtificialAlgebraicLoopMsg "warning" CheckSSInitialOutputMsg on CheckExecutionContextPreStartOutputMsg on CheckExecutionContextRuntimeOutputMsg on SignalResolutionControl "TryResolveAllWithWarning" BlockPriorityViolationMsg "warning" MinStepSizeMsg "warning" SolverPrmCheckMsg "none" InheritedTsInSrcMsg "warning" DiscreteInheritContinuousMsg "warning" MultiTaskDSMMsg "warning" MultiTaskRateTransMsg "error" SingleTaskRateTransMsg "none" TasksWithSamePriorityMsg "warning" CheckMatrixSingularityMsg "none" IntegerOverflowMsg "warning" Int32ToFloatConvMsg "warning" ParameterDowncastMsg "error" ParameterOverflowMsg "error" ParameterPrecisionLossMsg "warning" UnderSpecifiedDataTypeMsg "none" UnnecessaryDatatypeConvMsg "none" VectorMatrixConversionMsg "none" InvalidFcnCallConnMsg "error" FcnCallInpInsideContextMsg "Use local settings" SignalLabelMismatchMsg "none" UnconnectedInputMsg "warning" UnconnectedOutputMsg "warning" UnconnectedLineMsg "warning" SFcnCompatibilityMsg "none" UniqueDataStoreMsg "none" BusObjectLabelMismatch "warning" RootOutportRequireBusObject "warning" AssertControl "UseLocalSettings" EnableOverflowDetection off ModelReferenceIOMsg "none" ModelReferenceVersionMismatchMessage "none" ModelReferenceIOMismatchMessage "none" ModelReferenceCSMismatchMessage "none" ModelReferenceSimTargetVerbose off UnknownTsInhSupMsg "warning" ModelReferenceDataLoggingMessage "warning" ModelReferenceSymbolNameMessage "warning" ModelReferenceExtraNoncontSigs "error" } Simulink.HardwareCC { $ObjectID 6 Version "1.1.0" ProdBitPerChar 8 ProdBitPerShort 16 ProdBitPerInt 32 ProdBitPerLong 32 ProdIntDivRoundTo "Undefined" ProdEndianess "Unspecified" ProdWordSize 32 ProdShiftRightIntArith on ProdHWDeviceType "32-bit Generic" TargetBitPerChar 8 TargetBitPerShort 16 TargetBitPerInt 32 TargetBitPerLong 32 TargetShiftRightIntArith on TargetIntDivRoundTo "Undefined" TargetEndianess "Unspecified" TargetWordSize 32 TargetTypeEmulationWarnSuppressLevel 0 TargetPreprocMaxBitsSint 32 TargetPreprocMaxBitsUint 32 TargetHWDeviceType "Specified" TargetUnknown on ProdEqTarget on } Simulink.ModelReferenceCC { $ObjectID 7 Version "1.1.0" UpdateModelReferenceTargets "IfOutOfDateOrStructuralChange" CheckModelReferenceTargetMessage "error" ModelReferenceNumInstancesAllowed "Multi" ModelReferencePassRootInputsByReference on ModelReferenceMinAlgLoopOccurrences off } Simulink.RTWCC { $BackupClass "Simulink.RTWCC" $ObjectID 8 Array { Type "Cell" Dimension 1 Cell "IncludeHyperlinkInReport" PropName "DisabledProps" } Version "1.1.0" SystemTargetFile "grt.tlc" GenCodeOnly off MakeCommand "make_rtw" TemplateMakefile "grt_default_tmf" GenerateReport off SaveLog off RTWVerbose on RetainRTWFile off ProfileTLC off TLCDebug off TLCCoverage off TLCAssert off ProcessScriptMode "Default" ConfigurationMode "Optimized" ConfigAtBuild off IncludeHyperlinkInReport off LaunchReport off TargetLang "C" Array { Type "Handle" Dimension 2 Simulink.CodeAppCC { $ObjectID 9 Array { Type "Cell" Dimension 9 Cell "IgnoreCustomStorageClasses" Cell "InsertBlockDesc" Cell "SFDataObjDesc" Cell "SimulinkDataObjDesc" Cell "DefineNamingRule" Cell "SignalNamingRule" Cell "ParamNamingRule" Cell "InlinedPrmAccess" Cell "CustomSymbolStr" PropName "DisabledProps" } Version "1.1.0" ForceParamTrailComments off GenerateComments on IgnoreCustomStorageClasses on IncHierarchyInIds off MaxIdLength 31 PreserveName off PreserveNameWithParent off ShowEliminatedStatement off IncAutoGenComments off SimulinkDataObjDesc off SFDataObjDesc off IncDataTypeInIds off PrefixModelToSubsysFcnNames on CustomSymbolStr "$R$N$M" MangleLength 1 DefineNamingRule "None" ParamNamingRule "None" SignalNamingRule "None" InsertBlockDesc off SimulinkBlockComments on EnableCustomComments off InlinedPrmAccess "Literals" ReqsInCode off } Simulink.GRTTargetCC { $BackupClass "Simulink.TargetCC" $ObjectID 10 Array { Type "Cell" Dimension 12 Cell "IncludeMdlTerminateFcn" Cell "CombineOutputUpdateFcns" Cell "SuppressErrorStatus" Cell "ERTCustomFileBanners" Cell "GenerateSampleERTMain" Cell "MultiInstanceERTCode" Cell "PurelyIntegerCode" Cell "SupportNonFinite" Cell "SupportComplex" Cell "SupportAbsoluteTime" Cell "SupportContinuousTime" Cell "SupportNonInlinedSFcns" PropName "DisabledProps" } Version "1.1.0" TargetFcnLib "ansi_tfl_tmw.mat" TargetLibSuffix "" TargetPreCompLibLocation "" GenFloatMathFcnCalls "ANSI_C" UtilityFuncGeneration "Auto" GenerateFullHeader on GenerateSampleERTMain off IsPILTarget off ModelReferenceCompliant on IncludeMdlTerminateFcn on CombineOutputUpdateFcns off SuppressErrorStatus off IncludeFileDelimiter "Auto" ERTCustomFileBanners off SupportAbsoluteTime on LogVarNameModifier "rt_" MatFileLogging on MultiInstanceERTCode off SupportNonFinite on SupportComplex on PurelyIntegerCode off SupportContinuousTime on SupportNonInlinedSFcns on ExtMode off ExtModeStaticAlloc off ExtModeTesting off ExtModeStaticAllocSize 1000000 ExtModeTransport 0 ExtModeMexFile "ext_comm" RTWCAPISignals off RTWCAPIParams off RTWCAPIStates off GenerateASAP2 off } PropName "Components" } } PropName "Components" } Name "Configuration" SimulationMode "normal" CurrentDlgPage "Data Import//Export" } PropName "ConfigurationSets" } Simulink.ConfigSet { $PropName "ActiveConfigurationSet" $ObjectID 1 } 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 OutDataTypeMode "Inherit from 'Constant value'" OutDataType "sfix(16)" ConRadixGroup "Use specified scaling" OutScaling "2^0" SampleTime "inf" } Block { BlockType Demux Outputs "4" DisplayOption "none" BusSelectionMode off } Block { BlockType Fcn Expr "sin(u[1])" SampleTime "-1" } Block { BlockType Gain Gain "1" Multiplication "Element-wise(K.*u)" 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 SampleTime "-1" } Block { BlockType HitCross HitCrossingOffset "0" HitCrossingDirection "either" ShowOutputPort on ZeroCross on SampleTime "-1" } Block { BlockType Inport UseBusObject off BusObject "BusObject" BusOutputAsStruct off PortDimensions "-1" SampleTime "-1" 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" IgnoreLimit off ZeroCross on } Block { BlockType Mux Inputs "4" DisplayOption "none" UseBusObject off BusObject "BusObject" NonVirtualBus off } Block { BlockType Outport Port "1" UseBusObject off BusObject "BusObject" BusOutputAsStruct off PortDimensions "-1" SampleTime "-1" DataType "auto" OutDataType "sfix(16)" OutScaling "2^0" SignalType "auto" SamplingMode "auto" OutputWhenDisabled "held" InitialOutput "[]" } Block { BlockType RelationalOperator Operator ">=" InputSameDT on LogicOutDataTypeMode "Logical (see Configuration Parameters: Optimiza" "tion)" LogicDataType "uint(8)" ZeroCross on SampleTime "-1" } Block { BlockType Scope Floating off ModelBased off TickLabels "OneTimeTick" ZoomMode "on" Grid "on" TimeRange "auto" YMin "-5" YMax "5" SaveToWorkspace off SaveName "ScopeData" LimitDataPoints on MaxDataPoints "5000" Decimation "1" SampleInput off SampleTime "0" } Block { BlockType "S-Function" FunctionName "system" SFunctionModules "''" PortCounts "[]" } Block { BlockType SubSystem ShowPortLabels on Permissions "ReadWrite" PermitHierarchicalResolution "All" SystemSampleTime "-1" RTWFcnNameOpts "Auto" RTWFileNameOpts "Auto" SimViewingDevice off DataTypeOverride "UseLocalSettings" MinMaxOverflowLogging "UseLocalSettings" } Block { BlockType Terminator } Block { BlockType TriggerPort TriggerType "rising" StatesWhenEnabling "inherit" ShowOutputPort off OutputDataType "auto" SampleTimeType "triggered" SampleTime "1" ZeroCross 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 "sf_yoyo" Location [61, 82, 863, 570] Open on ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" ReportName "simulink-default.rpt" Block { BlockType SubSystem Name "Chart" Ports [0, 1, 0, 1] Position [35, 197, 140, 253] DropShadow on TreatAsAtomicUnit on MinAlgLoopOccurrences off RTWSystemCode "Auto" MaskType "Stateflow" MaskDescription "Stateflow diagram" MaskDisplay "plot(sf('Private','sfblk','xIcon'),sf('Private'" ",'sfblk','yIcon'));text(0.5,0,sf('Private', 'sfblk', 'tIcon'),'HorizontalAl'," "'Center','VerticalAl','Bottom');" MaskSelfModifiable on MaskIconFrame off MaskIconOpaque off MaskIconRotate "none" MaskIconUnits "autoscale" System { Name "Chart" Location [257, 457, 812, 717] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" Block { BlockType TriggerPort Name " input events " Ports [0, 1] Position [20, 101, 40, 119] TriggerType "either" ShowOutputPort on } Block { BlockType Demux Name " Demux " Ports [1, 1] Position [270, 160, 320, 200] Outputs "1" } Block { BlockType "S-Function" Name " SFunction " Tag "Stateflow S-Function sf_yoyo 1" Ports [1, 2] Position [180, 100, 230, 160] FunctionName "sf_sfun" PortCounts "[1 2]" Port { PortNumber 2 Name "ReelState" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" ShowSigGenPortName on } } Block { BlockType Terminator Name " Terminator " Position [460, 171, 480, 189] } Block { BlockType Outport Name "ReelState" Position [460, 101, 480, 119] IconDisplay "Port number" BusOutputAsStruct off } Line { SrcBlock " SFunction " SrcPort 1 Points [0, 65] DstBlock " Demux " DstPort 1 } Line { SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { SrcBlock " input events " SrcPort 1 DstBlock " SFunction " DstPort 1 } Line { Name "ReelState" Labels [0, 0] SrcBlock " SFunction " SrcPort 2 DstBlock "ReelState" DstPort 1 } } } Block { BlockType Integrator Name "Compute\ntheta" Ports [1, 1] Position [385, 135, 415, 165] InitialCondition "0.16" Port { PortNumber 1 Name "theta" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" ShowSigGenPortName on } } Block { BlockType Integrator Name "Compute\ntheta_dot" Ports [1, 1] Position [280, 135, 310, 165] Port { PortNumber 1 Name "theta_dot" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" ShowSigGenPortName on } } Block { BlockType Fcn Name "Compute\ntheta_dot_dot" Position [180, 135, 240, 165] Expr "-(2*u(4)*u(2)+9.8*sin(u(1)))/u(3)" } Block { BlockType Integrator Name "Compute l" Ports [1, 1] Position [275, 210, 305, 240] InitialCondition "100" UpperSaturationLimit "105" LowerSaturationLimit "95" Port { PortNumber 1 Name "l" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" ShowSigGenPortName on } } Block { BlockType Scope Name "Energy\nscope" Ports [1] Position [640, 114, 670, 146] Location [887, 366, 1205, 571] Open on NumInputPorts "1" ZoomMode "yonly" List { ListType AxesTitles axes1 "%" } TimeRange "500" YMin "0" YMax "15" SaveToWorkspace on SaveName "EnergyTraj" DataFormat "StructureWithTime" } Block { BlockType SubSystem Name "Energy Low" Ports [1, 1] Position [590, 249, 660, 271] TreatAsAtomicUnit off MinAlgLoopOccurrences off RTWSystemCode "Auto" MaskPromptString "Lower Limit" MaskStyleString "edit" MaskTunableValueString "on" MaskEnableString "on" MaskVisibilityString "on" MaskToolTipString "on" MaskVariables "th=@1;" MaskDisplay "disp('y = (u <= lim)')" MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskIconUnits "autoscale" MaskValueString "0.001" System { Name "Energy Low" Location [453, 681, 788, 806] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" Block { BlockType Inport Name "In1" Position [25, 28, 55, 42] Port "1" IconDisplay "Port number" LatchInput off } Block { BlockType RelationalOperator Name "RelOp" Position [80, 27, 110, 58] Operator "<=" InputSameDT off } Block { BlockType Constant Name "Threshold" Position [75, 76, 110, 94] Orientation "left" Value "th" } Block { BlockType Outport Name "Out1" Position [135, 38, 165, 52] IconDisplay "Port number" BusOutputAsStruct off } Line { SrcBlock "Threshold" SrcPort 1 Points [-15, 0; 0, -35] DstBlock "RelOp" DstPort 2 } Line { SrcBlock "In1" SrcPort 1 DstBlock "RelOp" DstPort 1 } Line { SrcBlock "RelOp" SrcPort 1 DstBlock "Out1" DstPort 1 } } } Block { BlockType Gain Name "Gain" Position [175, 210, 205, 240] Gain "20" Port { PortNumber 1 Name "l_dot" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" ShowSigGenPortName on } } Block { BlockType Scope Name "Length\nscope" Ports [1] Position [400, 339, 430, 371] Location [887, 626, 1206, 852] Open on NumInputPorts "1" List { ListType AxesTitles axes1 "%" } TimeRange "500" YMin "90" YMax "110" SaveToWorkspace on SaveName "LengthTraj" DataFormat "StructureWithTime" } Block { BlockType SubSystem Name "Lmax" Ports [1, 1] Position [465, 314, 540, 336] TreatAsAtomicUnit off MinAlgLoopOccurrences off RTWSystemCode "Auto" MaskPromptString "Upper Limit" MaskStyleString "edit" MaskTunableValueString "on" MaskEnableString "on" MaskVisibilityString "on" MaskToolTipString "on" MaskVariables "th=@1;" MaskDisplay "disp('y = (u >= lim)')" MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskIconUnits "autoscale" MaskValueString "105" System { Name "Lmax" Location [453, 681, 788, 806] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" Block { BlockType Inport Name "In1" Position [25, 28, 55, 42] Port "1" IconDisplay "Port number" LatchInput off } Block { BlockType RelationalOperator Name "RelOp" Position [80, 27, 110, 58] InputSameDT off } Block { BlockType Constant Name "Threshold" Position [75, 76, 110, 94] Orientation "left" Value "th" } Block { BlockType Outport Name "Out1" Position [135, 38, 165, 52] IconDisplay "Port number" BusOutputAsStruct off } Line { SrcBlock "Threshold" SrcPort 1 Points [-15, 0; 0, -35] DstBlock "RelOp" DstPort 2 } Line { SrcBlock "In1" SrcPort 1 DstBlock "RelOp" DstPort 1 } Line { SrcBlock "RelOp" SrcPort 1 DstBlock "Out1" DstPort 1 } } } Block { BlockType SubSystem Name "Lmin" Ports [1, 1] Position [465, 274, 540, 296] TreatAsAtomicUnit off MinAlgLoopOccurrences off RTWSystemCode "Auto" MaskPromptString "Lower Limit" MaskStyleString "edit" MaskTunableValueString "on" MaskEnableString "on" MaskVisibilityString "on" MaskToolTipString "on" MaskVariables "th=@1;" MaskDisplay "disp('y = (u <= lim)')" MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskIconUnits "autoscale" MaskValueString "95" System { Name "Lmin" Location [453, 681, 788, 806] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" Block { BlockType Inport Name "In1" Position [25, 28, 55, 42] Port "1" IconDisplay "Port number" LatchInput off } Block { BlockType RelationalOperator Name "RelOp" Position [80, 27, 110, 58] Operator "<=" InputSameDT off } Block { BlockType Constant Name "Threshold" Position [75, 76, 110, 94] Orientation "left" Value "th" } Block { BlockType Outport Name "Out1" Position [135, 38, 165, 52] IconDisplay "Port number" BusOutputAsStruct off } Line { SrcBlock "RelOp" SrcPort 1 DstBlock "Out1" DstPort 1 } Line { SrcBlock "In1" SrcPort 1 DstBlock "RelOp" DstPort 1 } Line { SrcBlock "Threshold" SrcPort 1 Points [-15, 0; 0, -35] DstBlock "RelOp" DstPort 2 } } } Block { BlockType Mux Name "Mux" Ports [3, 1] Position [475, 173, 485, 237] ShowName off Inputs "3" DisplayOption "bar" } Block { BlockType Mux Name "Mux1" Ports [5, 1] Position [720, 262, 750, 318] ShowName off Inputs "5" } Block { BlockType Mux Name "Mux2" Ports [2, 1] Position [555, 133, 565, 197] ShowName off Inputs "2" DisplayOption "bar" } Block { BlockType Scope Name "Theta\nscope" Ports [1] Position [495, 134, 525, 166] Location [879, 78, 1199, 287] Open on NumInputPorts "1" List { ListType AxesTitles axes1 "%" } TimeRange "500" YMin "-0.2" YMax "0.2" SaveToWorkspace on SaveName "ThetaTraj" DataFormat "StructureWithTime" } Block { BlockType HitCross Name "ThetaDotZero" Ports [1, 1] Position [395, 45, 425, 75] HitCrossingDirection "either" } Block { BlockType HitCross Name "ThetaZero" Ports [1, 1] Position [475, 65, 505, 95] HitCrossingDirection "either" } Block { BlockType Fcn Name "Total energy " Position [575, 188, 600, 222] Expr "u(3)*9.8*(1-cos(u(1))) + 0.5*u(3)*u(3)*u(2)*u(2" ")" } Line { SrcBlock "Compute\ntheta_dot_dot" SrcPort 1 DstBlock "Compute\ntheta_dot" DstPort 1 } Line { SrcBlock "Chart" SrcPort 1 DstBlock "Gain" DstPort 1 } Line { Name "theta_dot" Labels [0, 1] SrcBlock "Compute\ntheta_dot" SrcPort 1 Points [45, 0] Branch { Points [0, 0] Branch { DstBlock "Compute\ntheta" DstPort 1 } Branch { Points [0, -90] DstBlock "ThetaDotZero" DstPort 1 } } Branch { Points [0, 55] DstBlock "Mux" DstPort 2 } } Line { Name "l_dot" Labels [0, 0] SrcBlock "Gain" SrcPort 1 Points [30, 0] Branch { DstBlock "Compute l" DstPort 1 } Branch { Labels [2, 0] Points [0, 35; 300, 0] DstBlock "Mux2" DstPort 2 } } Line { Name "theta" Labels [0, 1] SrcBlock "Compute\ntheta" SrcPort 1 Points [30, 0] Branch { Points [0, -70] DstBlock "ThetaZero" DstPort 1 } Branch { DstBlock "Theta\nscope" DstPort 1 } Branch { Points [0, 35] DstBlock "Mux" DstPort 1 } } Line { Labels [2, 0] SrcBlock "Mux1" SrcPort 1 Points [10, 0; 0, -270; -680, 0] DstBlock "Chart" DstPort trigger } Line { SrcBlock "Mux" SrcPort 1 Points [40, 0] Branch { DstBlock "Total energy " DstPort 1 } Branch { Points [0, -55] DstBlock "Mux2" DstPort 1 } } Line { SrcBlock "Energy Low" SrcPort 1 Points [10, 0; 0, 30] DstBlock "Mux1" DstPort 3 } Line { SrcBlock "ThetaZero" SrcPort 1 Points [175, 0; 0, 200] DstBlock "Mux1" DstPort 2 } Line { SrcBlock "ThetaDotZero" SrcPort 1 Points [265, 0; 0, 210] DstBlock "Mux1" DstPort 1 } Line { Name "l" Labels [0, 0] SrcBlock "Compute l" SrcPort 1 Points [35, 0] Branch { DstBlock "Mux" DstPort 3 } Branch { Points [0, 60] Branch { Points [0, 40] Branch { Points [0, 30] DstBlock "Length\nscope" DstPort 1 } Branch { DstBlock "Lmax" DstPort 1 } } Branch { DstBlock "Lmin" DstPort 1 } } } Line { SrcBlock "Mux2" SrcPort 1 Points [0, -50; -405, 0] DstBlock "Compute\ntheta_dot_dot" DstPort 1 } Line { SrcBlock "Total energy " SrcPort 1 Points [15, 0] Branch { Points [0, -75] DstBlock "Energy\nscope" DstPort 1 } Branch { Points [0, 35; -45, 0] DstBlock "Energy Low" DstPort 1 } } Line { SrcBlock "Lmin" SrcPort 1 Points [30, 0; 0, 15] DstBlock "Mux1" DstPort 4 } Line { SrcBlock "Lmax" SrcPort 1 Points [30, 0; 0, -15] DstBlock "Mux1" DstPort 5 } Annotation { Name "Yo-Yo control of a Tethered Satellite\n" Position [169, 334] FontName "Arial" FontSize 16 FontWeight "bold" } Annotation { Name "For a demonstration, select Start from the Simu" "lation menu." Position [180, 377] FontName "Century Schoolbook" FontSize 12 FontWeight "bold" FontAngle "italic" } Annotation { Name "Reference book: Mastering Simulink by Dabney, J" "ames B." Position [174, 344] FontName "Arial" FontSize 12 FontAngle "italic" } } } # Finite State Machines # # Stateflow Version 6.2 (R14SP2) dated Jan 21 2005, 03:46:19 # # Stateflow { machine { id 1 name "sf_yoyo" created "23-Jan-2000 12:18:41" isLibrary 0 firstTarget 23 debug { breakOn [1 0 0] } sfVersion 62014000 sfDemoChecksum [609037626 1975788362 2741418448 3640979637] } chart { id 2 name "Chart" windowPosition [44.186 152.73 452.428 381.346] viewLimits [4.455 410.483 13.327 355.673] screen [1 1 1600 1200 1.25] treeNode [0 3 0 0] firstTransition 9 viewObj 2 visible 1 machine 1 subviewS { } decomposition CLUSTER_CHART firstEvent 16 firstData 21 sampleTime "1" chartFileNumber 1 } state { id 3 labelString "Active" position [14.783 64.312 376.771 201.187] fontSize 10 arrowSize 10 chart 2 treeNode [2 4 0 8] firstTransition 10 subviewer 2 type OR_STATE decomposition CLUSTER_STATE } state { id 4 labelString "ReelMoving\n" "/* example of Moore type action */\n" "exit: ReelState = 0;" position [190.247 79.5 174.874 169.875] fontSize 10 arrowSize 10 chart 2 treeNode [3 5 0 6] subviewer 2 type OR_STATE decomposition CLUSTER_STATE } state { id 5 labelString "ReelOut\n" "entry: ReelState = 1;" position [217.191 130.312 114.366 38.437] fontSize 10 arrowSize 10 chart 2 treeNode [4 0 0 7] subviewer 2 type OR_STATE decomposition CLUSTER_STATE } state { id 6 labelString "ReelStop" position [32.448 138.75 59.224 87.188] fontSize 10 arrowSize 10 chart 2 treeNode [3 0 4 0] subviewer 2 type OR_STATE decomposition CLUSTER_STATE } state { id 7 labelString "ReelIn\n" "entry:ReelState= -1;" position [220.65 191.249 113.719 36.563] fontSize 10 arrowSize 10 chart 2 treeNode [4 0 5 0] subviewer 2 type OR_STATE decomposition CLUSTER_STATE } state { id 8 labelString "Inactive" position [127.882 305.25 83.682 32.25] fontSize 10 arrowSize 10 chart 2 treeNode [2 0 3 0] subviewer 2 type OR_STATE decomposition CLUSTER_STATE } transition { id 9 labelString "{ReelState = 0;} /* example of Mealy type action */" labelPosition [173.755 36 225.748 13.598] fontSize 10 arrowSize 10 src { intersection [0 0 0 0 168.3772 31.5 0 0] } dst { id 3 intersection [1 0 -1 0.4077 168.3773 64.3125 0 0] } midPoint [168.3772 43.2937] chart 2 linkNode [2 0 15] dataLimits [165.377 171.377 31.5 64.312] subviewer 2 executionOrder 1 } transition { id 10 labelPosition [57.445 111.198 7.179 13.598] fontSize 10 arrowSize 10 src { intersection [0 0 0 0 64.4999 110.2498 0 0] } dst { id 6 intersection [1 0 -1 0.5337 64.0563 138.7505 0 0] } midPoint [64.2104 119.7931] chart 2 linkNode [3 0 11] dataLimits [61.056 67.056 110.25 138.75] subviewer 2 executionOrder 1 } transition { id 11 labelString "ThetaZero" labelPosition [127.433 136.16 47.862 13.598] fontSize 10 arrowSize 10 src { id 6 intersection [2 1 0 0.1161 91.6719 148.8705 0 0] } dst { id 5 intersection [4 -1 0 0.5268 217.1909 148.4998 0 0] } midPoint [151.8337 148.6729] chart 2 linkNode [3 10 12] dataLimits [91.672 217.191 145.5 151.5] subviewer 2 executionOrder 1 } transition { id 12 labelString "Lmax" labelPosition [136.206 158.491 24.729 13.598] fontSize 10 arrowSize 10 src { id 5 intersection [4 -1 0 0.2732 217.1909 158.2496 0 0] } dst { id 6 intersection [2 1 0 0.2237 91.6719 158.2506 0 0] } midPoint [157.0281 158.25] chart 2 linkNode [3 11 13] dataLimits [91.672 217.191 155.251 161.251] subviewer 2 executionOrder 1 } transition { id 13 labelString "Lmin" labelPosition [137.974 190.5 22.336 13.598] fontSize 10 arrowSize 10 src { id 7 intersection [4 -1 0 0.6718 220.6499 203.2497 0 0] } dst { id 6 intersection [2 1 0 0.7398 91.6719 203.2509 0 0] } midPoint [158.6826 203.25] chart 2 linkNode [3 12 14] dataLimits [91.672 220.65 200.251 206.251] subviewer 2 executionOrder 1 } transition { id 14 labelString "ThetaDotZero" labelPosition [118.258 211.543 63.018 13.598] fontSize 10 arrowSize 10 src { id 6 intersection [2 1 0 0.8387 91.6719 211.8759 0 0] } dst { id 7 intersection [4 -1 0 0.4359 220.6499 211.8748 0 0] } midPoint [153.6386 211.875] chart 2 linkNode [3 13 0] dataLimits [91.672 220.65 208.875 214.875] subviewer 2 executionOrder 2 } transition { id 15 labelString "EnergyLow" labelPosition [180.494 277.63 51.85 13.598] fontSize 10 arrowSize 10 src { id 3 intersection [3 0 1 0.5801 173 265.4995 0 0] } dst { id 8 intersection [1 0 -1 0.5397 173.0432 305.2495 0 0] } midPoint [173.023 280.9127] chart 2 linkNode [2 9 0] dataLimits [170.043 176.043 265.5 305.25] subviewer 2 executionOrder 1 } event { id 16 name "ThetaDotZero" linkNode [2 0 17] scope INPUT_EVENT trigger EITHER_EDGE_EVENT machine 1 } event { id 17 name "ThetaZero" linkNode [2 16 18] scope INPUT_EVENT trigger EITHER_EDGE_EVENT machine 1 } event { id 18 name "EnergyLow" linkNode [2 17 19] scope INPUT_EVENT trigger EITHER_EDGE_EVENT machine 1 } event { id 19 name "Lmin" linkNode [2 18 20] scope INPUT_EVENT trigger EITHER_EDGE_EVENT machine 1 } event { id 20 name "Lmax" linkNode [2 19 0] scope INPUT_EVENT trigger EITHER_EDGE_EVENT machine 1 } data { id 21 name "ReelState" linkNode [2 0 0] scope OUTPUT_DATA machine 1 dataType "double" fixptType { bias 0 slope 1 exponent 0 baseType SF_INT16_TYPE lock 0 } dlgFixptMode 0 props { range { minimum "" maximum "" } } } instance { id 22 name "Chart" machine 1 chart 2 } target { id 23 name "sfun" description "Default Simulink S-Function Target." codeFlags " debug=1 overflow=1 echo=1" machine 1 linkNode [1 0 0] } }