Model {
  Name			  "MSP"
  Version		  3.00
  SimParamPage		  "Solver"
  SampleTimeColors	  off
  InvariantConstants	  off
  WideVectorLines	  off
  ShowLineWidths	  off
  ShowPortDataTypes	  off
  StartTime		  "0.0"
  StopTime		  "Tfin"
  SolverMode		  "SingleTasking"
  Solver		  "ode15s"
  RelTol		  "1e-3"
  AbsTol		  "1e-6"
  Refine		  "1"
  MaxStep		  "Tfin/500"
  InitialStep		  "auto"
  FixedStep		  ".01"
  MaxOrder		  5
  OutputOption		  "RefineOutputTimes"
  OutputTimes		  "[]"
  LoadExternalInput	  off
  ExternalInput		  "[t, u]"
  SaveTime		  on
  TimeSaveName		  "tout"
  SaveState		  off
  StateSaveName		  "xout"
  SaveOutput		  on
  OutputSaveName	  "yout"
  LoadInitialState	  off
  InitialState		  "xInitial"
  SaveFinalState	  off
  FinalStateName	  "xFinal"
  SaveFormat		  "Matrix"
  LimitMaxRows		  off
  MaxRows		  "1000"
  Decimation		  "1"
  AlgebraicLoopMsg	  "warning"
  MinStepSizeMsg	  "warning"
  UnconnectedInputMsg	  "warning"
  UnconnectedOutputMsg	  "warning"
  UnconnectedLineMsg	  "warning"
  InheritedTsInSrcMsg	  "warning"
  IntegerOverflowMsg	  "warning"
  UnnecessaryDatatypeConvMsg "none"
  Int32ToFloatConvMsg	  "warning"
  SignalLabelMismatchMsg  "none"
  ConsistencyChecking	  "warning"
  ZeroCross		  on
  SimulationMode	  "normal"
  BlockDataTips		  on
  BlockParametersDataTip  on
  BlockAttributesDataTip  off
  BlockPortWidthsDataTip  off
  BlockDescriptionStringDataTip	off
  BlockMaskParametersDataTip off
  ToolBar		  on
  StatusBar		  on
  BrowserShowLibraryLinks off
  BrowserLookUnderMasks	  off
  OptimizeBlockIOStorage  on
  BufferReuse		  on
  BooleanDataType	  off
  RTWSystemTargetFile	  "grt.tlc"
  RTWInlineParameters	  off
  RTWRetainRTWFile	  off
  RTWTemplateMakefile	  "grt_default_tmf"
  RTWMakeCommand	  "make_rtw"
  RTWGenerateCodeOnly	  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
  Created		  "Mon Feb 14 09:33:00 2000"
  UpdateHistory		  "UpdateHistoryNever"
  ModifiedByFormat	  "%<Auto>"
  LastModifiedBy	  "DarkoV"
  ModifiedDateFormat	  "%<Auto>"
  LastModifiedDate	  "Thu Jul 06 15:42:47 2000"
  ModelVersionFormat	  "1.%<AutoIncrement:75>"
  ConfigurationManager	  "none"
  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		    "MSP"
    Location		    [317, 126, 902, 522]
    Open		    on
    ModelBrowserVisibility  off
    ModelBrowserWidth	    200
    ScreenColor		    "white"
    PaperOrientation	    "portrait"
    PaperPositionMode	    "auto"
    PaperType		    "a4letter"
    PaperUnits		    "inches"
    ZoomFactor		    "100"
    AutoZoom		    on
    ReportName		    "simulink-default.rpt"
    Block {
      BlockType		      Clock
      Name		      "Clock"
      Position		      [775, 40, 795, 60]
      DisplayTime	      off
      Decimation	      "10"
    }
    Block {
      BlockType		      TransportDelay
      Name		      "Delay1"
      Position		      [165, 455, 195, 485]
      DelayTime		      "L_MSP"
      InitialInput	      "0"
      BufferSize	      "1024"
    }
    Block {
      BlockType		      TransportDelay
      Name		      "Delay3"
      Position		      [515, 305, 545, 335]
      Orientation	      "left"
      NamePlacement	      "alternate"
      DelayTime		      "L_MSP"
      InitialInput	      "0"
      BufferSize	      "1024"
    }
    Block {
      BlockType		      TransportDelay
      Name		      "Delay4"
      Position		      [510, 365, 540, 395]
      Orientation	      "left"
      NamePlacement	      "alternate"
      DelayTime		      "Lx"
      InitialInput	      "0"
      BufferSize	      "1024"
    }
    Block {
      BlockType		      TransferFcn
      Name		      "M without delay"
      Position		      [130, 210, 190, 250]
      Orientation	      "left"
      ShowName		      off
      Numerator		      "[Km_MSP]"
      Denominator	      "[a2_MSP a1_MSP 1]"
    }
    Block {
      BlockType		      TransferFcn
      Name		      "M witout delay1"
      Position		      [440, 200, 500, 240]
      ShowName		      off
      Numerator		      "[Km_MSP]"
      Denominator	      "[a2_MSP a1_MSP  1]"
    }
    Block {
      BlockType		      Mux
      Name		      "Mux"
      Ports		      [3, 1, 0, 0, 0]
      Position		      [815, 117, 850, 153]
      ShowName		      off
      Inputs		      "3"
      DisplayOption	      "none"
    }
    Block {
      BlockType		      TransferFcn
      Name		      "PI1"
      Position		      [160, 122, 215, 158]
      Numerator		      "[Kp_MSP1*Ti_MSP1 Kp_MSP1]"
      Denominator	      "[Ti_MSP1  0]"
    }
    Block {
      BlockType		      TransferFcn
      Name		      "PI2"
      Position		      [285, 285, 345, 325]
      Orientation	      "up"
      Numerator		      "[Kp_MSP2*Ti_MSP2 Kp_MSP2]"
      Denominator	      "[Ti_MSP2 0]"
    }
    Block {
      BlockType		      SubSystem
      Name		      "Proces"
      Ports		      [1, 1, 0, 0, 0]
      Position		      [630, 123, 675, 167]
      ShowPortLabels	      on
      System {
	Name			"Proces"
	Location		[316, 348, 682, 539]
	Open			off
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"white"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"usletter"
	PaperUnits		"inches"
	ZoomFactor		"100"
	AutoZoom		on
	Block {
	  BlockType		  Inport
	  Name			  "In1"
	  Position		  [65, 98, 95, 112]
	  Port			  "1"
	  PortWidth		  "-1"
	  SampleTime		  "-1"
	  DataType		  "auto"
	  SignalType		  "auto"
	  Interpolate		  on
	}
	Block {
	  BlockType		  TransportDelay
	  Name			  "Delay2"
	  Position		  [360, 90, 390, 120]
	  DelayTime		  "L"
	  InitialInput		  "0"
	  BufferSize		  "1024"
	}
	Block {
	  BlockType		  TransferFcn
	  Name			  "Transfer Fcn"
	  Position		  [135, 85, 185, 125]
	  Numerator		  "[Tz1*Tz2*Tz3 Tz1*Tz2+Tz1*Tz3+Tz2*Tz3 Tz1+Tz"
"2+Tz3 1]"
	  Denominator		  "[Tp1*Tp2*Tp3 Tp1*Tp2+Tp1*Tp3+Tp2*Tp3 Tp1+Tp"
"2+Tp3 1]"
	}
	Block {
	  BlockType		  TransferFcn
	  Name			  "Transfer Fcn3"
	  Position		  [210, 85, 260, 125]
	  Numerator		  "[Kpr]"
	  Denominator		  "[Tp4*Tp5*Tp6 Tp4*Tp5+Tp4*Tp6+Tp5*Tp6 Tp4+Tp"
"5+Tp6 1]"
	}
	Block {
	  BlockType		  TransferFcn
	  Name			  "Transfer Fcn4"
	  Position		  [290, 85, 340, 125]
	  Numerator		  "[1]"
	  Denominator		  "[Tp7*Tp8 Tp7+Tp8 1]"
	}
	Block {
	  BlockType		  Outport
	  Name			  "Out1"
	  Position		  [420, 98, 450, 112]
	  Port			  "1"
	  OutputWhenDisabled	  "held"
	  InitialOutput		  "[]"
	}
	Line {
	  SrcBlock		  "In1"
	  SrcPort		  1
	  DstBlock		  "Transfer Fcn"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Transfer Fcn"
	  SrcPort		  1
	  DstBlock		  "Transfer Fcn3"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Transfer Fcn3"
	  SrcPort		  1
	  DstBlock		  "Transfer Fcn4"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Transfer Fcn4"
	  SrcPort		  1
	  DstBlock		  "Delay2"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Delay2"
	  SrcPort		  1
	  DstBlock		  "Out1"
	  DstPort		  1
	}
      }
    }
    Block {
      BlockType		      Scope
      Name		      "Scope"
      Ports		      [1, 0, 0, 0, 0]
      Position		      [820, 170, 850, 200]
      Floating		      off
      Location		      [658, 464, 1019, 735]
      Open		      off
      NumInputPorts	      "1"
      TickLabels	      "on"
      ZoomMode		      "yonly"
      List {
	ListType		AxesTitles
	axes1			"%<SignalLabel>"
      }
      Grid		      "on"
      TimeRange		      "auto"
      YMin		      "0"
      YMax		      "2.5"
      SaveToWorkspace	      off
      SaveName		      "ScopeData"
      DataFormat	      "Matrix"
      LimitMaxRows	      on
      MaxRows		      "5000"
      Decimation	      "1"
      SampleInput	      off
      SampleTime	      "0"
    }
    Block {
      BlockType		      Step
      Name		      "Step"
      Position		      [25, 115, 55, 145]
      Time		      "0"
      Before		      "0"
      After		      "1"
      SampleTime	      "0"
    }
    Block {
      BlockType		      Sum
      Name		      "Sum"
      Ports		      [2, 1, 0, 0, 0]
      Position		      [287, 415, 318, 445]
      Orientation	      "up"
      IconShape		      "rectangular"
      Inputs		      "-+"
      SaturateOnIntegerOverflow	on
    }
    Block {
      BlockType		      Sum
      Name		      "Sum1"
      Ports		      [2, 1, 0, 0, 0]
      Position		      [405, 132, 435, 163]
      IconShape		      "rectangular"
      Inputs		      "+-"
      SaturateOnIntegerOverflow	on
    }
    Block {
      BlockType		      Sum
      Name		      "Sum2"
      Ports		      [2, 1, 0, 0, 0]
      Position		      [425, 357, 455, 388]
      Orientation	      "left"
      NamePlacement	      "alternate"
      IconShape		      "rectangular"
      Inputs		      "+-"
      SaturateOnIntegerOverflow	on
    }
    Block {
      BlockType		      Sum
      Name		      "Sum3"
      Ports		      [2, 1, 0, 0, 0]
      Position		      [296, 360, 329, 390]
      Orientation	      "up"
      IconShape		      "rectangular"
      Inputs		      "++"
      SaturateOnIntegerOverflow	on
    }
    Block {
      BlockType		      ToWorkspace
      Name		      "To Workspace"
      Position		      [880, 120, 940, 150]
      VariableName	      "y_MSP"
      Buffer		      "inf"
      Decimation	      "1"
      SampleTime	      "0"
      SaveFormat	      "Matrix"
    }
    Block {
      BlockType		      Step
      Name		      "disturbance"
      Position		      [465, 100, 495, 130]
      Time		      "Tfin/2"
      Before		      "0"
      After		      "1"
      SampleTime	      "0"
    }
    Block {
      BlockType		      Sum
      Name		      "error"
      Ports		      [2, 1, 0, 0, 0]
      Position		      [100, 122, 130, 153]
      IconShape		      "rectangular"
      Inputs		      "+-"
      SaturateOnIntegerOverflow	on
    }
    Block {
      BlockType		      Sum
      Name		      "error1"
      Ports		      [2, 1, 0, 0, 0]
      Position		      [530, 127, 560, 158]
      ShowName		      off
      IconShape		      "rectangular"
      Inputs		      "++"
      SaturateOnIntegerOverflow	on
    }
    Line {
      SrcBlock		      "error"
      SrcPort		      1
      DstBlock		      "PI1"
      DstPort		      1
    }
    Line {
      SrcBlock		      "PI1"
      SrcPort		      1
      Points		      [35, 0]
      Branch {
	DstBlock		"Sum1"
	DstPort			1
      }
      Branch {
	Points			[0, 90]
	DstBlock		"M without delay"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Sum1"
      SrcPort		      1
      DstBlock		      "error1"
      DstPort		      2
    }
    Line {
      SrcBlock		      "disturbance"
      SrcPort		      1
      Points		      [15, 0]
      DstBlock		      "error1"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Step"
      SrcPort		      1
      Points		      [10, 0]
      Branch {
	Points			[0, -120; 690, 0; 0, 125]
	DstBlock		"Mux"
	DstPort			2
      }
      Branch {
	DstBlock		"error"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "M without delay"
      SrcPort		      1
      Points		      [-55, 0]
      Branch {
	Points			[0, -85]
	DstBlock		"error"
	DstPort			2
      }
      Branch {
	Points			[0, 240]
	DstBlock		"Delay1"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Delay1"
      SrcPort		      1
      Points		      [95, 0]
      DstBlock		      "Sum"
      DstPort		      1
    }
    Line {
      SrcBlock		      "PI2"
      SrcPort		      1
      Points		      [0, -60]
      Branch {
	Labels			[1, 0]
	Points			[0, -65]
	DstBlock		"Sum1"
	DstPort			2
      }
      Branch {
	DstBlock		"M witout delay1"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Sum"
      SrcPort		      1
      DstBlock		      "Sum3"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Sum3"
      SrcPort		      1
      DstBlock		      "PI2"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Delay4"
      SrcPort		      1
      DstBlock		      "Sum2"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Delay3"
      SrcPort		      1
      Points		      [-40, 0]
      DstBlock		      "Sum2"
      DstPort		      1
    }
    Line {
      SrcBlock		      "M witout delay1"
      SrcPort		      1
      Points		      [80, 0; 0, 100]
      Branch {
	Points			[0, 60]
	DstBlock		"Delay4"
	DstPort			1
      }
      Branch {
	DstBlock		"Delay3"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Sum2"
      SrcPort		      1
      Points		      [-15, 0; 0, 35; -85, 0]
      DstBlock		      "Sum3"
      DstPort		      2
    }
    Line {
      SrcBlock		      "error1"
      SrcPort		      1
      DstBlock		      "Proces"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Clock"
      SrcPort		      1
      DstBlock		      "Mux"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Mux"
      SrcPort		      1
      DstBlock		      "To Workspace"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Proces"
      SrcPort		      1
      Points		      [60, 0]
      Branch {
	DstBlock		"Mux"
	DstPort			3
      }
      Branch {
	Points			[0, 40]
	Branch {
	  Points		  [0, 285; -430, 0]
	  DstBlock		  "Sum"
	  DstPort		  2
	}
	Branch {
	  DstBlock		  "Scope"
	  DstPort		  1
	}
      }
    }
    Annotation {
      Position		      [152, 560]
      Text		      "MODIFIED SMITH PREDICTOR (MSP)"
    }
  }
}