Model {
  Name			  "e10_6decoup"
  Version		  5.0
  SaveDefaultBlockParams  on
  SampleTimeColors	  off
  LibraryLinkDisplay	  "none"
  WideLines		  off
  ShowLineDimensions	  off
  ShowPortDataTypes	  off
  ShowLoopsOnError	  on
  IgnoreBidirectionalLines off
  ShowStorageClass	  off
  ExecutionOrder	  off
  RecordCoverage	  off
  CovPath		  "/"
  CovSaveName		  "covdata"
  CovMetricSettings	  "dw"
  CovNameIncrementing	  off
  CovHtmlReporting	  on
  covSaveCumulativeToWorkspaceVar on
  CovSaveSingleToWorkspaceVar on
  CovCumulativeVarName	  "covCumulativeData"
  CovCumulativeReport	  off
  DataTypeOverride	  "UseLocalSettings"
  MinMaxOverflowLogging	  "UseLocalSettings"
  MinMaxOverflowArchiveMode "Overwrite"
  BlockNameDataTip	  off
  BlockParametersDataTip  on
  BlockDescriptionStringDataTip	off
  ToolBar		  on
  StatusBar		  on
  BrowserShowLibraryLinks off
  BrowserLookUnderMasks	  off
  Created		  "Tue Oct  3 14:16:17 2000"
  Creator		  "ce120f"
  UpdateHistory		  "UpdateHistoryNever"
  ModifiedByFormat	  "%<Auto>"
  LastModifiedBy	  "cdr"
  ModifiedDateFormat	  "%<Auto>"
  LastModifiedDate	  "Tue May 18 03:43:46 2004"
  ModelVersionFormat	  "1.%<AutoIncrement:29>"
  ConfigurationManager	  "none"
  SimParamPage		  "Solver"
  LinearizationMsg	  "none"
  Profile		  off
  ParamWorkspaceSource	  "MATLABWorkspace"
  AccelSystemTargetFile	  "accel.tlc"
  AccelTemplateMakefile	  "accel_default_tmf"
  AccelMakeCommand	  "make_rtw"
  TryForcingSFcnDF	  off
  ExtModeMexFile	  "ext_comm"
  ExtModeBatchMode	  off
  ExtModeTrigType	  "manual"
  ExtModeTrigMode	  "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	  off
  ExtModeSkipDownloadWhenConnect off
  ExtModeLogAll		  on
  ExtModeAutoUpdateStatusClock off
  BufferReuse		  on
  RTWExpressionDepthLimit 5
  SimulationMode	  "normal"
  Solver		  "ode45"
  SolverMode		  "Auto"
  StartTime		  "0.0"
  StopTime		  "50"
  MaxOrder		  5
  MaxStep		  "auto"
  MinStep		  "auto"
  MaxNumMinSteps	  "-1"
  InitialStep		  "auto"
  FixedStep		  "auto"
  RelTol		  "1e-3"
  AbsTol		  "auto"
  OutputOption		  "RefineOutputTimes"
  OutputTimes		  "[]"
  Refine		  "1"
  LoadExternalInput	  off
  ExternalInput		  "[t, u]"
  LoadInitialState	  off
  InitialState		  "xInitial"
  SaveTime		  off
  TimeSaveName		  "tout"
  SaveState		  off
  StateSaveName		  "xout"
  SaveOutput		  off
  OutputSaveName	  "yout"
  SaveFinalState	  off
  FinalStateName	  "xFinal"
  SaveFormat		  "Array"
  Decimation		  "1"
  LimitDataPoints	  off
  MaxDataPoints		  "1000"
  SignalLoggingName	  "sigsOut"
  ConsistencyChecking	  "none"
  ArrayBoundsChecking	  "none"
  AlgebraicLoopMsg	  "warning"
  BlockPriorityViolationMsg "warning"
  MinStepSizeMsg	  "warning"
  InheritedTsInSrcMsg	  "warning"
  DiscreteInheritContinuousMsg "warning"
  MultiTaskRateTransMsg	  "error"
  SingleTaskRateTransMsg  "none"
  CheckForMatrixSingularity "none"
  IntegerOverflowMsg	  "warning"
  Int32ToFloatConvMsg	  "warning"
  ParameterDowncastMsg	  "error"
  ParameterOverflowMsg	  "error"
  ParameterPrecisionLossMsg "warning"
  UnderSpecifiedDataTypeMsg "none"
  UnnecessaryDatatypeConvMsg "none"
  VectorMatrixConversionMsg "none"
  InvalidFcnCallConnMsg	  "error"
  SignalLabelMismatchMsg  "none"
  UnconnectedInputMsg	  "warning"
  UnconnectedOutputMsg	  "warning"
  UnconnectedLineMsg	  "warning"
  SfunCompatibilityCheckMsg "none"
  RTWInlineParameters	  off
  BlockReductionOpt	  on
  BooleanDataType	  off
  ConditionallyExecuteInputs on
  ParameterPooling	  on
  OptimizeBlockIOStorage  on
  ZeroCross		  on
  AssertionControl	  "UseLocalSettings"
  ProdHWDeviceType	  "Microprocessor"
  ProdHWWordLengths	  "8,16,32,32"
  RTWSystemTargetFile	  "grt.tlc"
  RTWTemplateMakefile	  "grt_default_tmf"
  RTWMakeCommand	  "make_rtw"
  RTWGenerateCodeOnly	  off
  RTWRetainRTWFile	  off
  TLCProfiler		  off
  TLCDebug		  off
  TLCCoverage		  off
  TLCAssertion		  off
  BlockDefaults {
    Orientation		    "right"
    ForegroundColor	    "black"
    BackgroundColor	    "white"
    DropShadow		    off
    NamePlacement	    "normal"
    FontName		    "Helvetica"
    FontSize		    10
    FontWeight		    "normal"
    FontAngle		    "normal"
    ShowName		    on
  }
  BlockParameterDefaults {
    Block {
      BlockType		      Clock
      DisplayTime	      off
    }
    Block {
      BlockType		      Derivative
    }
    Block {
      BlockType		      Gain
      Gain		      "1"
      Multiplication	      "Element-wise(K.*u)"
      ShowAdditionalParam     off
      ParameterDataTypeMode   "Same as input"
      ParameterDataType	      "sfix(16)"
      ParameterScalingMode    "Best Precision: Matrix-wise"
      ParameterScaling	      "2^0"
      OutDataTypeMode	      "Same as input"
      OutDataType	      "sfix(16)"
      OutScaling	      "2^0"
      LockScale		      off
      RndMeth		      "Floor"
      SaturateOnIntegerOverflow	on
    }
    Block {
      BlockType		      Inport
      Port		      "1"
      PortDimensions	      "-1"
      SampleTime	      "-1"
      ShowAdditionalParam     off
      LatchInput	      off
      DataType		      "auto"
      OutDataType	      "sfix(16)"
      OutScaling	      "2^0"
      SignalType	      "auto"
      SamplingMode	      "auto"
      Interpolate	      on
    }
    Block {
      BlockType		      Mux
      Inputs		      "4"
      DisplayOption	      "none"
    }
    Block {
      BlockType		      Outport
      Port		      "1"
      OutputWhenDisabled      "held"
      InitialOutput	      "[]"
    }
    Block {
      BlockType		      "S-Function"
      FunctionName	      "system"
      PortCounts	      "[]"
      SFunctionModules	      "''"
    }
    Block {
      BlockType		      Step
      Time		      "1"
      Before		      "0"
      After		      "1"
      SampleTime	      "-1"
      VectorParams1D	      on
      ZeroCross		      on
    }
    Block {
      BlockType		      SubSystem
      ShowPortLabels	      on
      Permissions	      "ReadWrite"
      RTWSystemCode	      "Auto"
      RTWFcnNameOpts	      "Auto"
      RTWFileNameOpts	      "Auto"
      SimViewingDevice	      off
      DataTypeOverride	      "UseLocalSettings"
      MinMaxOverflowLogging   "UseLocalSettings"
    }
    Block {
      BlockType		      Sum
      IconShape		      "rectangular"
      Inputs		      "++"
      ShowAdditionalParam     off
      InputSameDT	      on
      OutDataTypeMode	      "Same as first input"
      OutDataType	      "sfix(16)"
      OutScaling	      "2^0"
      LockScale		      off
      RndMeth		      "Floor"
      SaturateOnIntegerOverflow	on
    }
    Block {
      BlockType		      ToWorkspace
      VariableName	      "simulink_output"
      MaxDataPoints	      "1000"
      Decimation	      "1"
      SampleTime	      "0"
    }
    Block {
      BlockType		      TransferFcn
      Numerator		      "[1]"
      Denominator	      "[1 2 1]"
      AbsoluteTolerance	      "auto"
      Realization	      "auto"
    }
    Block {
      BlockType		      TransportDelay
      DelayTime		      "1"
      InitialInput	      "0"
      BufferSize	      "1024"
      PadeOrder		      "0"
      TransDelayFeedthrough   off
    }
  }
  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		    "e10_6decoup"
    Location		    [382, 193, 1202, 599]
    Open		    on
    ModelBrowserVisibility  off
    ModelBrowserWidth	    200
    ScreenColor		    "white"
    PaperOrientation	    "landscape"
    PaperPositionMode	    "auto"
    PaperType		    "usletter"
    PaperUnits		    "inches"
    ZoomFactor		    "100"
    ReportName		    "simulink-default.rpt"
    Block {
      BlockType		      Clock
      Name		      "Clock"
      Position		      [620, 25, 640, 45]
      Decimation	      "10"
    }
    Block {
      BlockType		      TransferFcn
      Name		      "D12"
      Position		      [220, 192, 280, 228]
      Numerator		      "[12 1]"
      Denominator	      "[15 1]"
    }
    Block {
      BlockType		      TransferFcn
      Name		      "D21"
      Position		      [220, 127, 280, 163]
      Numerator		      "[10 1]"
      Denominator	      "[11 1]"
    }
    Block {
      BlockType		      TransferFcn
      Name		      "G11"
      Position		      [395, 67, 455, 103]
      Numerator		      "[0.07]"
      Denominator	      "[12 1]"
    }
    Block {
      BlockType		      TransferFcn
      Name		      "G12"
      Position		      [395, 127, 455, 163]
      Numerator		      "[-0.05]"
      Denominator	      "[15 1]"
    }
    Block {
      BlockType		      TransferFcn
      Name		      "G21"
      Position		      [390, 217, 450, 253]
      Numerator		      "[0.1]"
      Denominator	      "[11 1]"
    }
    Block {
      BlockType		      TransferFcn
      Name		      "G22"
      Position		      [390, 277, 450, 313]
      Numerator		      "[-0.15]"
      Denominator	      "[10 1]"
    }
    Block {
      BlockType		      Gain
      Name		      "Gain"
      Position		      [175, 130, 205, 160]
      Gain		      "1*0.1/0.15"
    }
    Block {
      BlockType		      Gain
      Name		      "Gain1"
      Position		      [175, 195, 205, 225]
      Gain		      "1*0.05/0.07"
    }
    Block {
      BlockType		      Reference
      Name		      "Gc1"
      Ports		      [1, 1]
      Position		      [110, 70, 140, 100]
      SourceBlock	      "simulink_extras/Additional\nLinear/PID Controll"
"er"
      SourceType	      "PID Controller"
      P			      "30"
      I			      "30/12"
      D			      "0"
    }
    Block {
      BlockType		      Reference
      Name		      "Gc2"
      Ports		      [1, 1]
      Position		      [115, 280, 145, 310]
      SourceBlock	      "simulink_extras/Additional\nLinear/PID Controll"
"er"
      SourceType	      "PID Controller"
      P			      "-17"
      I			      "-17/10"
      D			      "0"
    }
    Block {
      BlockType		      Step
      Name		      "Step R1"
      Position		      [15, 70, 45, 100]
      Time		      "0"
      SampleTime	      "0"
    }
    Block {
      BlockType		      Step
      Name		      "Step R2"
      Position		      [15, 280, 45, 310]
      Time		      "0"
      After		      "0"
      SampleTime	      "0"
    }
    Block {
      BlockType		      Sum
      Name		      "Sum"
      Ports		      [2, 1]
      Position		      [70, 75, 90, 95]
      NamePlacement	      "alternate"
      ShowName		      off
      IconShape		      "round"
      Inputs		      "-+|"
    }
    Block {
      BlockType		      Sum
      Name		      "Sum1"
      Ports		      [2, 1]
      Position		      [75, 285, 95, 305]
      ShowName		      off
      IconShape		      "round"
      Inputs		      "|+-"
    }
    Block {
      BlockType		      Sum
      Name		      "Sum2"
      Ports		      [2, 1]
      Position		      [550, 75, 570, 95]
      ShowName		      off
      IconShape		      "round"
      Inputs		      "|++"
    }
    Block {
      BlockType		      Sum
      Name		      "Sum3"
      Ports		      [2, 1]
      Position		      [575, 285, 595, 305]
      NamePlacement	      "alternate"
      ShowName		      off
      IconShape		      "round"
      Inputs		      "++|"
    }
    Block {
      BlockType		      Sum
      Name		      "Sum4"
      Ports		      [2, 1]
      Position		      [280, 285, 300, 305]
      NamePlacement	      "alternate"
      ShowName		      off
      IconShape		      "round"
      Inputs		      "++|"
    }
    Block {
      BlockType		      Sum
      Name		      "Sum5"
      Ports		      [2, 1]
      Position		      [300, 75, 320, 95]
      ShowName		      off
      IconShape		      "round"
      Inputs		      "|++"
    }
    Block {
      BlockType		      ToWorkspace
      Name		      "To Workspace"
      Position		      [685, 115, 745, 145]
      VariableName	      "xd"
      MaxDataPoints	      "inf"
      SampleTime	      "-1"
      SaveFormat	      "Array"
    }
    Block {
      BlockType		      ToWorkspace
      Name		      "To Workspace1"
      Position		      [680, 325, 740, 355]
      VariableName	      "xb"
      MaxDataPoints	      "inf"
      SampleTime	      "-1"
      SaveFormat	      "Array"
    }
    Block {
      BlockType		      ToWorkspace
      Name		      "To Workspace2"
      Position		      [725, 20, 785, 50]
      VariableName	      "t"
      MaxDataPoints	      "inf"
      SampleTime	      "-1"
      SaveFormat	      "Array"
    }
    Block {
      BlockType		      TransportDelay
      Name		      "tdead 11"
      Position		      [490, 70, 520, 100]
      DelayTime		      "3"
    }
    Block {
      BlockType		      TransportDelay
      Name		      "tdead 12"
      Position		      [490, 130, 520, 160]
    }
    Block {
      BlockType		      TransportDelay
      Name		      "tdead 21"
      Position		      [485, 220, 515, 250]
      DelayTime		      "4"
    }
    Block {
      BlockType		      TransportDelay
      Name		      "tdead 22"
      Position		      [485, 280, 515, 310]
      DelayTime		      "2"
    }
    Block {
      BlockType		      Reference
      Name		      "xb Graph"
      Ports		      [2]
      Position		      [680, 271, 710, 304]
      SourceBlock	      "simulink/Sinks/XY Graph"
      SourceType	      "XY scope."
      xmin		      "0"
      xmax		      "50"
      ymin		      "-2"
      ymax		      "2"
      st		      "-1"
    }
    Block {
      BlockType		      Reference
      Name		      "xd Graph"
      Ports		      [2]
      Position		      [685, 61, 715, 94]
      SourceBlock	      "simulink/Sinks/XY Graph"
      SourceType	      "XY scope."
      xmin		      "0"
      xmax		      "50"
      ymin		      "0"
      ymax		      "2"
      st		      "-1"
    }
    Line {
      SrcBlock		      "G11"
      SrcPort		      1
      DstBlock		      "tdead 11"
      DstPort		      1
    }
    Line {
      SrcBlock		      "G22"
      SrcPort		      1
      DstBlock		      "tdead 22"
      DstPort		      1
    }
    Line {
      SrcBlock		      "tdead 11"
      SrcPort		      1
      DstBlock		      "Sum2"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Sum2"
      SrcPort		      1
      Points		      [15, 0]
      Branch {
	Points			[0, -45; -510, 0]
	DstBlock		"Sum"
	DstPort			1
      }
      Branch {
	Points			[75, 0]
	Branch {
	  DstBlock		  "xd Graph"
	  DstPort		  2
	}
	Branch {
	  Points		  [0, 45]
	  DstBlock		  "To Workspace"
	  DstPort		  1
	}
      }
    }
    Line {
      SrcBlock		      "tdead 22"
      SrcPort		      1
      DstBlock		      "Sum3"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Sum3"
      SrcPort		      1
      Points		      [20, 0]
      Branch {
	Points			[0, 45; -535, 0]
	DstBlock		"Sum1"
	DstPort			2
      }
      Branch {
	Points			[35, 0]
	Branch {
	  DstBlock		  "xb Graph"
	  DstPort		  2
	}
	Branch {
	  Points		  [0, 45]
	  DstBlock		  "To Workspace1"
	  DstPort		  1
	}
      }
    }
    Line {
      SrcBlock		      "Clock"
      SrcPort		      1
      Points		      [10, 0]
      Branch {
	Points			[0, 35]
	Branch {
	  Points		  [0, 210]
	  DstBlock		  "xb Graph"
	  DstPort		  1
	}
	Branch {
	  DstBlock		  "xd Graph"
	  DstPort		  1
	}
      }
      Branch {
	DstBlock		"To Workspace2"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "G12"
      SrcPort		      1
      DstBlock		      "tdead 12"
      DstPort		      1
    }
    Line {
      SrcBlock		      "tdead 12"
      SrcPort		      1
      Points		      [35, 0]
      DstBlock		      "Sum2"
      DstPort		      2
    }
    Line {
      SrcBlock		      "G21"
      SrcPort		      1
      DstBlock		      "tdead 21"
      DstPort		      1
    }
    Line {
      SrcBlock		      "tdead 21"
      SrcPort		      1
      Points		      [65, 0]
      DstBlock		      "Sum3"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Sum4"
      SrcPort		      1
      Points		      [25, 0]
      Branch {
	DstBlock		"G22"
	DstPort			1
      }
      Branch {
	Points			[0, -150]
	DstBlock		"G12"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Sum5"
      SrcPort		      1
      Points		      [40, 0]
      Branch {
	DstBlock		"G11"
	DstPort			1
      }
      Branch {
	Points			[0, 150]
	DstBlock		"G21"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Sum"
      SrcPort		      1
      DstBlock		      "Gc1"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Sum1"
      SrcPort		      1
      DstBlock		      "Gc2"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Step R1"
      SrcPort		      1
      DstBlock		      "Sum"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Step R2"
      SrcPort		      1
      DstBlock		      "Sum1"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Gain"
      SrcPort		      1
      DstBlock		      "D21"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Gain1"
      SrcPort		      1
      DstBlock		      "D12"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Gc1"
      SrcPort		      1
      Points		      [10, 0]
      Branch {
	DstBlock		"Sum5"
	DstPort			1
      }
      Branch {
	Points			[0, 60]
	DstBlock		"Gain"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "D21"
      SrcPort		      1
      Points		      [5, 0]
      DstBlock		      "Sum4"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Gc2"
      SrcPort		      1
      Points		      [10, 0]
      Branch {
	DstBlock		"Sum4"
	DstPort			2
      }
      Branch {
	DstBlock		"Gain1"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "D12"
      SrcPort		      1
      Points		      [25, 0]
      DstBlock		      "Sum5"
      DstPort		      2
    }
    Annotation {
      Name		      "Example 10.6. Using decoupler"
      Position		      [129, 19]
      FontSize		      12
      FontWeight	      "bold"
    }
  }
}