Library { Name "tp163665" Version 6.3 SaveDefaultBlockParams on SampleTimeColors off LibraryLinkDisplay "none" WideLines off ShowLineDimensions off ShowPortDataTypes off ShowLoopsOnError on IgnoreBidirectionalLines off ShowStorageClass off SortedOrder off CovSaveName "covdata" CovMetricSettings "dw" CovNameIncrementing off CovHtmlReporting on covSaveCumulativeToWorkspaceVar on CovSaveSingleToWorkspaceVar on CovCumulativeReport off BlockNameDataTip off BlockParametersDataTip off BlockDescriptionStringDataTip off ToolBar on StatusBar on BrowserShowLibraryLinks off BrowserLookUnderMasks off Created "Fri Dec 09 14:47:53 2005" UpdateHistory "UpdateHistoryNever" ModifiedByFormat "%" LastModifiedBy "Nikola" ModifiedDateFormat "%" LastModifiedDate "Sat Jan 28 18:16:38 2006" ModelVersionFormat "1.%" ConfigurationManager "None" LinearizationMsg "none" Profile off ParamWorkspaceSource "MATLABWorkspace" ExtModeBatchMode off ExtModeTrigType "manual" ExtModeTrigMode "normal" ExtModeTrigPort "1" 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UnconnectedInputMsg "warning" UnconnectedOutputMsg "warning" UnconnectedLineMsg "warning" SfunCompatibilityCheckMsg "none" ProdHWDeviceType "Microprocessor" ProdHWWordLengths "8,16,32,32" RTWMakeCommand "make_rtw" RTWGenerateCodeOnly off RTWRetainRTWFile off TLCProfiler off TLCDebug off TLCCoverage off TLCAssertion off RTWOptions "-aEnforceIntegerDowncast=1 -aFoldNonRolledExpr=1 -a" "InlineInvariantSignals=0 -aInlineParameters=0 -aLocalBlockOutputs=1 -aRollThr" "eshold=5 -aGenerateReport=0 -aGenCodeOnly=0 -aRTWVerbose=1 -aIncludeHyperlink" "InReport=0 -aLaunchReport=0 -aForceParamTrailComments=0 -aGenerateComments=1 " "-aIgnoreCustomStorageClasses=1 -aIncHierarchyInIds=0 -aMaxRTWIdLen=31 -aShowE" "liminatedStatements=0 -aPrefixModelToSubsysFcnNames=1 -aIncDataTypeInIds=0 -a" "InsertBlockDesc=0 -aSimulinkBlockComments=1 -aInlinedPrmAccess=\"Literals\" " "-aSuppressErrorStatus=0 -aModelReferenceCompliant=1 -aSupportNonInlinedSFcns=" "1 -aSupportContinuousTime=1 -aSupportComplex=1 -aSupportNonFinite=1 -aSupport" "AbsoluteTime=1 -aTargetPreCompLibLocation=\"\" -aTargetLibSuffix=\"\" -aTarge" "tFcnLib=\"ansi_tfl_tmw.mat\" -aMultiInstanceERTCode=0 -aLogVarNameModifier=\"" "rt_\" -aIsPILTarget=0 -aCombineOutputUpdateFcns=0 -aGenerateASAP2=0 -aGenerat" "eSampleERTMain=0 -aGenerateFullHeader=1 -aUtilityFuncGeneration=\"Auto\" -aIn" "cludeFileDelimiter=\"Auto\" -aIncludeMdlTerminateFcn=1 -aPurelyIntegerCode=0 " "-aERTCustomFileBanners=0 -aRTWCAPIStates=0 -aRTWCAPIParams=0 -aRTWCAPISignals" "=0 -aMatFileLogging=1 -aGenFloatMathFcnCalls=\"ANSI_C\" -aExtModeMexFile=\"ex" "t_comm\" -aExtModeTransport=0 -aExtModeStaticAllocSize=1000000 -aExtModeTesti" "ng=0 -aExtModeStaticAlloc=0 -aExtMode=0 " SimulationMode "normal" BlockDefaults { Orientation "right" ForegroundColor "black" BackgroundColor "white" DropShadow off NamePlacement "normal" FontName "arial" FontSize 10 FontWeight "normal" FontAngle "normal" ShowName on } BlockParameterDefaults { Block { BlockType Clock 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OutputWhenDisabled "held" InitialOutput "[]" } Block { BlockType Product Inputs "2" Multiplication "Element-wise(.*)" InputSameDT on OutDataTypeMode "Same as first input" OutDataType "sfix(16)" OutScaling "2^0" LockScale off RndMeth "Zero" SaturateOnIntegerOverflow on } Block { BlockType Scope 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 "-1" } Block { BlockType Selector InputType "Vector" ElementSrc "Internal" Elements "1" RowSrc "Internal" Rows "1" ColumnSrc "Internal" Columns "1" InputPortWidth "-1" } Block { BlockType Step Time "1" Before "0" After "1" SampleTime "-1" VectorParams1D on ZeroCross on } Block { BlockType SubSystem Permissions "ReadWrite" RTWFcnNameOpts "Auto" RTWFileNameOpts "Auto" SimViewingDevice off DataTypeOverride "UseLocalSettings" MinMaxOverflowLogging "UseLocalSettings" } Block { BlockType Sum IconShape "rectangular" Inputs "++" InputSameDT on OutDataTypeMode "Same as first input" OutDataType "sfix(16)" OutScaling "2^0" LockScale off RndMeth "Floor" SaturateOnIntegerOverflow on } Block { BlockType UnitDelay X0 "0" SampleTime "1" RTWStateStorageClass "Auto" } } AnnotationDefaults { HorizontalAlignment "center" VerticalAlignment "middle" ForegroundColor "black" BackgroundColor "white" DropShadow off FontName "arial" FontSize 10 FontWeight "normal" FontAngle "normal" } LineDefaults { FontName "arial" FontSize 9 FontWeight "normal" FontAngle "normal" } System { Name "tp163665" Location [14, 82, 594, 393] 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 "RLS_student" Ports [3, 2] Position [240, 15, 385, 75] BackgroundColor "lightBlue" ShowName off FontSize 14 FontWeight "bold" TreatAsAtomicUnit off RTWSystemCode "Auto" MaskType "on-line RLS estimacija" MaskDescription "Blok koji obavlja on-line estimaciju parametara" " ARX modela zadanog prijenosnom funkcijom:\n\n y(k) b_0 q^-1 + b_" "1 q^-2 + ... + b_nb q^-(nb+1)\n ----- = ------------------------------" "------------------------------------------\n u(k) 1 + a_1 " "q^-1 + ... +a_na q^(-na)\n\nPocetna vrijednost matrice kovarijance je kvadrat" "na matrica dimenzije na + nb + 1.\n\nPocetna vrijednost matrice parametara je" " jednostupcani vektor dimenzije na + nb + 1. " MaskPromptString "na|nb|P_init|theta_init" MaskStyleString "edit,edit,edit,edit" MaskTunableValueString "on,on,on,on" MaskCallbackString "|||" MaskEnableString "on,on,on,on" MaskVisibilityString "on,on,on,on" MaskToolTipString "on,on,on,on" MaskVarAliasString ",,," MaskVariables "na=@1;nb=@2;P_init=@3;theta_init=@4;" MaskDisplay "text(0.5, 0.5, 'R L S', 'horizontalAlignment', " "'center','texmode','on')\nport_label('input', 1, 'u')\nport_label('input', 2," " 'y')\nport_label('input', 3, '\\lambda','texmode','on')\nport_label('output'" ", 1, 'trag(P)')\nport_label('output', 2, '\\Theta','texmode','on')" MaskIconFrame on MaskIconOpaque on MaskIconRotate "port" MaskIconUnits "normalized" MaskValueString "1|0|eye(2)*1e4|ones(2,1)" System { Name "RLS_student" Location [255, 304, 999, 706] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" Block { BlockType Inport Name "u" Position [15, 168, 45, 182] Port { PortNumber 1 Name "u" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } } Block { BlockType Inport Name "y" Position [15, 203, 45, 217] Port "2" Port { PortNumber 1 Name "y" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } } Block { BlockType Inport Name "lambda" Position [15, 238, 45, 252] Port "3" Port { PortNumber 1 Name "lambda" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } } Block { BlockType Clock Name "Clock" Position [110, 285, 130, 305] Decimation "10" Port { PortNumber 1 Name "t" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } } Block { BlockType MATLABFcn Name "MATLAB Fcn" Position [310, 195, 370, 225] MATLABFcn "RLS_student(u(1), u(2), na, nb, u(3),u(4), " "P_init, theta_init)" OutputDimensions "1+na+nb+1" } Block { BlockType Mux Name "Mux2" Ports [4, 1] Position [230, 153, 290, 277] ShowName off DisplayOption "signals" } Block { BlockType Scope Name "Scope6" Ports [1] Position [440, 69, 470, 101] Floating off Location [40, 451, 364, 690] Open off NumInputPorts "1" ZoomMode "yonly" List { ListType AxesTitles axes1 "%" } TimeRange "200" SaveName "ScopeData7" DataFormat "StructureWithTime" SampleTime "0" } Block { BlockType Selector Name "Selector" Ports [1, 1] Position [445, 156, 485, 194] Elements "[1]" InputPortWidth "1+na+nb+1" } Block { BlockType Selector Name "Selector1" Ports [1, 1] Position [445, 234, 505, 276] Elements "[(2:(1+na+nb+1))]" InputPortWidth "1+na+nb+1" } Block { BlockType Outport Name "trag(P)" Position [515, 168, 545, 182] } Block { BlockType Outport Name "theta" Position [545, 243, 575, 257] Port "2" } Line { SrcBlock "Selector1" SrcPort 1 Points [0, -5] DstBlock "theta" DstPort 1 } Line { SrcBlock "Selector" SrcPort 1 DstBlock "trag(P)" DstPort 1 } Line { Name "t" Labels [0, 0] SrcBlock "Clock" SrcPort 1 Points [40, 0; 0, -35] DstBlock "Mux2" DstPort 4 } Line { Name "lambda" Labels [0, 0] SrcBlock "lambda" SrcPort 1 Points [165, 0] DstBlock "Mux2" DstPort 3 } Line { Name "y" Labels [0, 0] SrcBlock "y" SrcPort 1 Points [165, 0] DstBlock "Mux2" DstPort 2 } Line { Name "u" Labels [0, 0] SrcBlock "u" SrcPort 1 Points [165, 0] DstBlock "Mux2" DstPort 1 } Line { SrcBlock "Mux2" SrcPort 1 DstBlock "MATLAB Fcn" DstPort 1 } Line { SrcBlock "MATLAB Fcn" SrcPort 1 Points [5, 0] Branch { Points [50, 0] Branch { DstBlock "Selector1" DstPort 1 } Branch { DstBlock "Selector" DstPort 1 } } Branch { Points [0, -125] DstBlock "Scope6" DstPort 1 } } } } Block { BlockType SubSystem Name "Subsystem1" Ports [1, 1] Position [440, 30, 520, 70] BackgroundColor "yellow" ShowName off AncestorBlock "library_adaptive_student_staro/Subsystem1" TreatAsAtomicUnit off RTWSystemCode "Auto" MaskDisplay "text(0.5, 0.5, 'P R O C E S\\n 1. reda', 'horiz" "ontalAlignment', 'center')" MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskIconUnits "normalized" System { Name "Subsystem1" Location [398, 262, 888, 618] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" Block { BlockType Inport Name "u(k)" Position [20, 143, 50, 157] BackgroundColor "blue" } Block { BlockType DiscreteFilter Name "Discrete Filter2" Position [180, 15, 285, 55] ShowName off Numerator "[0 1]" Denominator "[1 0.5]" } Block { BlockType Product Name "Product1" Ports [2, 1] Position [315, 221, 345, 254] Orientation "left" NamePlacement "alternate" ShowName off InputSameDT off OutDataTypeMode "Inherit via internal rule" SaturateOnIntegerOverflow off Port { PortNumber 1 Name "b0*y(k-1)" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } } Block { BlockType Product Name "Product2" Ports [2, 1] Position [130, 141, 160, 174] ShowName off InputSameDT off OutDataTypeMode "Inherit via internal rule" SaturateOnIntegerOverflow off Port { PortNumber 1 Name "a1*u(k)" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } } Block { BlockType Step Name "Step2" Position [385, 270, 415, 300] Orientation "left" NamePlacement "alternate" ShowName off Time "70" Before "1" SampleTime "0" } Block { BlockType Step Name "Step4" Position [75, 170, 105, 200] ShowName off Time "115" Before "1" After "2" SampleTime "0" } Block { BlockType Sum Name "Sum" Ports [2, 1] Position [275, 150, 295, 170] ShowName off IconShape "round" Inputs "|+-" InputSameDT off OutDataTypeMode "Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType UnitDelay Name "Unit Delay" Position [345, 143, 380, 177] ShowName off } Block { BlockType UnitDelay Name "Unit Delay1" Position [215, 143, 250, 177] ShowName off } Block { BlockType Gain Name "a1" Position [365, 215, 395, 245] Orientation "left" BackgroundColor "cyan" NamePlacement "alternate" ShowName off Gain "0.5" ParameterDataTypeMode "Inherit via internal rule" OutDataTypeMode "Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Gain Name "b0" Position [75, 135, 105, 165] BackgroundColor "green" ShowName off ParameterDataTypeMode "Inherit via internal rule" OutDataTypeMode "Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Outport Name "y(k)" Position [395, 73, 425, 87] BackgroundColor "red" } Line { SrcBlock "a1" SrcPort 1 DstBlock "Product1" DstPort 1 } Line { SrcBlock "Step2" SrcPort 1 Points [0, -40] DstBlock "Product1" DstPort 2 } Line { SrcBlock "Step4" SrcPort 1 DstBlock "Product2" DstPort 2 } Line { SrcBlock "b0" SrcPort 1 DstBlock "Product2" DstPort 1 } Line { SrcBlock "Unit Delay" SrcPort 1 Points [35, 0; 0, 70] DstBlock "a1" DstPort 1 } Line { SrcBlock "Unit Delay1" SrcPort 1 DstBlock "Sum" DstPort 1 } Line { Name "b0*y(k-1)" Labels [0, 1] SrcBlock "Product1" SrcPort 1 Points [-25, 0] DstBlock "Sum" DstPort 2 } Line { Name "a1*u(k)" Labels [0, 0] SrcBlock "Product2" SrcPort 1 DstBlock "Unit Delay1" DstPort 1 } Line { SrcBlock "Sum" SrcPort 1 Points [0, 0; 10, 0] Branch { DstBlock "Unit Delay" DstPort 1 } Branch { Points [0, -80] DstBlock "y(k)" DstPort 1 } } Line { SrcBlock "u(k)" SrcPort 1 DstBlock "b0" DstPort 1 } Annotation { Name "proces 1. reda gdje je b0=1, a1=0.5" Position [161, 316] ForegroundColor "red" DropShadow on FontSize 16 } } } Block { BlockType SubSystem Name "Subsystem3" Ports [3, 1] Position [50, 19, 175, 81] BackgroundColor "orange" ShowName off FontSize 14 FontWeight "bold" TreatAsAtomicUnit off RTWSystemCode "Auto" MaskPromptString "na|nb" MaskStyleString "edit,edit" MaskTunableValueString "on,on" MaskCallbackString "|" MaskEnableString "on,on" MaskVisibilityString "on,on" MaskToolTipString "on,on" MaskVarAliasString "," MaskVariables "na=@1;nb=@2;" MaskDisplay "text(0.5, 0.5, 'R S T\\n regulator', 'horizonta" "lAlignment', 'center')\nport_label('input', 1, '\\Theta','texmode','on')\npor" "t_label('input', 2, 'ref')\nport_label('input', 3, 'y')\nport_label('output'," " 1, 'u')\n" MaskIconFrame on MaskIconOpaque on MaskIconRotate "port" MaskIconUnits "normalized" MaskValueString "1|0" System { Name "Subsystem3" Location [460, 86, 1007, 442] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" Block { BlockType Inport Name "theta" Position [30, 223, 60, 237] } Block { BlockType Inport Name "ref" Position [40, 143, 70, 157] Port "2" } Block { BlockType Inport Name "y" Position [40, 183, 70, 197] Port "3" } Block { BlockType MATLABFcn Name "MATLAB Fcn" Position [210, 190, 270, 220] MATLABFcn "RST_student(u(1),u(2),u(3:(2+na+nb+1)),na,n" "b)" OutputDimensions "1" } Block { BlockType Memory Name "Memory2" Position [85, 215, 115, 245] InheritSampleTime on } Block { BlockType Mux Name "Mux" Ports [3, 1] Position [160, 147, 165, 263] ShowName off Inputs "3" DisplayOption "bar" } Block { BlockType Scope Name "Scope1" Ports [1] Position [250, 284, 280, 316] Floating off Location [30, 186, 354, 425] Open off NumInputPorts "1" List { ListType AxesTitles axes1 "%" } YMin "0" YMax "2" SaveName "ScopeData2" DataFormat "StructureWithTime" SampleTime "0" } Block { BlockType Outport Name "u" Position [320, 198, 350, 212] } Line { SrcBlock "Memory2" SrcPort 1 Points [15, 0; 0, 15] DstBlock "Mux" DstPort 3 } Line { SrcBlock "y" SrcPort 1 Points [35, 0; 0, 15] DstBlock "Mux" DstPort 2 } Line { SrcBlock "ref" SrcPort 1 Points [35, 0; 0, 15] DstBlock "Mux" DstPort 1 } Line { SrcBlock "Mux" SrcPort 1 Points [10, 0] Branch { Points [0, 95] DstBlock "Scope1" DstPort 1 } Branch { DstBlock "MATLAB Fcn" DstPort 1 } } Line { SrcBlock "MATLAB Fcn" SrcPort 1 DstBlock "u" DstPort 1 } Line { SrcBlock "theta" SrcPort 1 DstBlock "Memory2" DstPort 1 } } } Annotation { Name "library za izvodenje seminarskog zadatka\niz ad" "aptivnog upravljanja" Position [293, 125] ForegroundColor "darkGreen" DropShadow on FontSize 14 FontWeight "bold" } Annotation { Name "Autor: Nikola Miskovic, dipl. ing.\nDatum: pros" "inac 2005." Position [16, 276] HorizontalAlignment "left" } Annotation { Position [492, 57] } } }