Library { Name "tp155079" Version 6.3 MdlSubVersion 0 SavedCharacterEncoding "windows-1250" LibraryType "BlockLibrary" SaveDefaultBlockParams on SampleTimeColors off LibraryLinkDisplay "none" WideLines off ShowLineDimensions off ShowPortDataTypes off ShowLoopsOnError on IgnoreBidirectionalLines off ShowStorageClass off ShowTestPointIcons on ShowViewerIcons on SortedOrder off ExecutionContextIcon off ShowLinearizationAnnotations on CovSaveName "covdata" CovMetricSettings "dw" CovNameIncrementing off CovHtmlReporting on covSaveCumulativeToWorkspaceVar on CovSaveSingleToWorkspaceVar on CovCumulativeReport off CovReportOnPause on ScopeRefreshTime 0.035000 OverrideScopeRefreshTime on DisableAllScopes 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 17:15:51 2006" ModelVersionFormat "1.%" ConfigurationManager "None" LinearizationMsg "none" Profile off ParamWorkspaceSource "MATLABWorkspace" ExtModeBatchMode off ExtModeEnableFloating on ExtModeTrigType "manual" ExtModeTrigMode "normal" 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 on ExtModeSkipDownloadWhenConnect off ExtModeLogAll on ExtModeAutoUpdateStatusClock on StrictBusMsg "Warning" ProdHWDeviceType "32-bit Generic" ShowModelReferenceBlockVersion off ShowModelReferenceBlockIO off 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 DisplayTime off } Block { BlockType DiscreteFilter Numerator "[1]" Denominator "[1 2]" SampleTime "1" StateMustResolveToSignalObject off RTWStateStorageClass "Auto" Realization "auto" } 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 Inport Port "1" UseBusObject off BusObject "BusObject" BusOutputAsStruct off PortDimensions "-1" SampleTime "-1" DataType "auto" OutDataType "sfix(16)" OutScaling "2^0" SignalType "auto" SamplingMode "auto" LatchByCopyingInsideSignal off Interpolate on } Block { BlockType MATLABFcn MATLABFcn "sin" OutputDimensions "-1" OutputSignalType "auto" Output1D on SampleTime "-1" } Block { BlockType Memory X0 "0" InheritSampleTime off LinearizeMemory off StateMustResolveToSignalObject off RTWStateStorageClass "Auto" } 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 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 SampleTime "-1" } 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" IndexMode "One-based" ElementSrc "Internal" Elements "1" RowSrc "Internal" Rows "1" ColumnSrc "Internal" Columns "1" InputPortWidth "-1" IndexIsStartValue off OutputPortSize "1" } Block { BlockType Step Time "1" Before "0" After "1" SampleTime "-1" VectorParams1D on ZeroCross on } Block { BlockType SubSystem ShowPortLabels on Permissions "ReadWrite" PermitHierarchicalResolution "All" SystemSampleTime "-1" 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 SampleTime "-1" } Block { BlockType UnitDelay X0 "0" SampleTime "1" StateMustResolveToSignalObject off 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 "tp155079" 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 MinAlgLoopOccurrences 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)" MaskTabNameString ",,," 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] IconDisplay "Port number" Port { PortNumber 1 Name "u" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } } Block { BlockType Inport Name "y" Position [15, 203, 45, 217] Port "2" IconDisplay "Port number" Port { PortNumber 1 Name "y" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } } Block { BlockType Inport Name "lambda" Position [15, 238, 45, 252] Port "3" IconDisplay "Port number" 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" SampleTime "Ts" } 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] IconDisplay "Port number" BusOutputAsStruct off } Block { BlockType Outport Name "theta" Position [545, 243, 575, 257] Port "2" IconDisplay "Port number" BusOutputAsStruct off } 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 MinAlgLoopOccurrences 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" IconDisplay "Port number" } 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" IconDisplay "Port number" BusOutputAsStruct off } 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 MinAlgLoopOccurrences 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" MaskTabNameString "," 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] IconDisplay "Port number" } Block { BlockType Inport Name "ref" Position [40, 143, 70, 157] Port "2" IconDisplay "Port number" } Block { BlockType Inport Name "y" Position [40, 183, 70, 197] Port "3" IconDisplay "Port number" } 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" SampleTime "Ts" } 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] IconDisplay "Port number" BusOutputAsStruct off } 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] } } }