Library {
  Name			  "pidLibrary"
  Version		  7.1
  MdlSubVersion		  0
  SavedCharacterEncoding  "windows-1252"
  LibraryType		  "BlockLibrary"
  SaveDefaultBlockParams  on
  SampleTimeColors	  off
  LibraryLinkDisplay	  "none"
  WideLines		  off
  ShowLineDimensions	  off
  ShowPortDataTypes	  off
  ShowLoopsOnError	  on
  IgnoreBidirectionalLines off
  ShowStorageClass	  off
  ShowTestPointIcons	  on
  ShowSignalResolutionIcons on
  ShowViewerIcons	  on
  SortedOrder		  off
  ExecutionContextIcon	  off
  ShowLinearizationAnnotations on
  ScopeRefreshTime	  0.035000
  OverrideScopeRefreshTime on
  DisableAllScopes	  off
  BlockNameDataTip	  off
  BlockParametersDataTip  off
  BlockDescriptionStringDataTip	off
  ToolBar		  on
  StatusBar		  on
  BrowserShowLibraryLinks off
  BrowserLookUnderMasks	  off
  Created		  "Tue Dec 11 09:50:24 2007"
  Creator		  "sethp"
  UpdateHistory		  "UpdateHistoryNever"
  ModifiedByFormat	  "%<Auto>"
  LastModifiedBy	  "sethp"
  ModifiedDateFormat	  "%<Auto>"
  LastModifiedDate	  "Mon Mar 03 22:06:54 2008"
  RTWModifiedTimeStamp	  0
  ModelVersionFormat	  "1.%<AutoIncrement:9>"
  ConfigurationManager	  "None"
  SimulationMode	  "normal"
  LinearizationMsg	  "none"
  Profile		  off
  ParamWorkspaceSource	  "MATLABWorkspace"
  CovSaveName		  "covdata"
  CovMetricSettings	  "dw"
  CovNameIncrementing	  off
  CovHtmlReporting	  on
  covSaveCumulativeToWorkspaceVar on
  CovSaveSingleToWorkspaceVar on
  CovCumulativeReport	  off
  CovReportOnPause	  on
  CovModelRefEnable	  "Off"
  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
  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		      Derivative
      LinearizePole	      "inf"
    }
    Block {
      BlockType		      DiscreteIntegrator
      IntegratorMethod	      "Integration: Forward Euler"
      gainval		      "1.0"
      ExternalReset	      "none"
      InitialConditionSource  "internal"
      InitialCondition	      "0"
      InitialConditionMode    "State and output"
      SampleTime	      "1"
      OutMin		      "[]"
      OutMax		      "[]"
      OutDataTypeMode	      "Inherit via internal rule"
      OutDataType	      "fixdt(1,16,0)"
      OutScaling	      "[]"
      OutDataTypeStr	      "Inherit: Inherit via internal rule"
      LockScale		      off
      RndMeth		      "Floor"
      SaturateOnIntegerOverflow	off
      LimitOutput	      off
      UpperSaturationLimit    "inf"
      LowerSaturationLimit    "-inf"
      ShowSaturationPort      off
      ShowStatePort	      off
      IgnoreLimit	      off
      StateMustResolveToSignalObject off
      RTWStateStorageClass    "Auto"
    }
    Block {
      BlockType		      Gain
      Gain		      "1"
      Multiplication	      "Element-wise(K.*u)"
      ParamMin		      "[]"
      ParamMax		      "[]"
      ParameterDataTypeMode   "Same as input"
      ParameterDataType	      "fixdt(1,16,0)"
      ParameterScalingMode    "Best Precision: Matrix-wise"
      ParameterScaling	      "[]"
      ParamDataTypeStr	      "Inherit: Same as input"
      OutMin		      "[]"
      OutMax		      "[]"
      OutDataTypeMode	      "Same as input"
      OutDataType	      "fixdt(1,16,0)"
      OutScaling	      "[]"
      OutDataTypeStr	      "Inherit: Same as input"
      LockScale		      off
      RndMeth		      "Floor"
      SaturateOnIntegerOverflow	on
      SampleTime	      "-1"
    }
    Block {
      BlockType		      Inport
      Port		      "1"
      UseBusObject	      off
      BusObject		      "BusObject"
      BusOutputAsStruct	      off
      PortDimensions	      "-1"
      SampleTime	      "-1"
      OutMin		      "[]"
      OutMax		      "[]"
      DataType		      "auto"
      OutDataType	      "fixdt(1,16,0)"
      OutScaling	      "[]"
      OutDataTypeStr	      "Inherit: auto"
      SignalType	      "auto"
      SamplingMode	      "auto"
      LatchByDelayingOutsideSignal off
      LatchByCopyingInsideSignal off
      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
      ContinuousStateAttributes	"''"
    }
    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"
      OutMin		      "[]"
      OutMax		      "[]"
      DataType		      "auto"
      OutDataType	      "fixdt(1,16,0)"
      OutScaling	      "[]"
      OutDataTypeStr	      "Inherit: auto"
      SignalType	      "auto"
      SamplingMode	      "auto"
      OutputWhenDisabled      "held"
      InitialOutput	      "[]"
    }
    Block {
      BlockType		      Reference
    }
    Block {
      BlockType		      "S-Function"
      FunctionName	      "system"
      SFunctionModules	      "''"
      PortCounts	      "[]"
      SFunctionDeploymentMode off
    }
    Block {
      BlockType		      SubSystem
      ShowPortLabels	      "FromPortIcon"
      Permissions	      "ReadWrite"
      PermitHierarchicalResolution "All"
      TreatAsAtomicUnit	      off
      CheckFcnCallInpInsideContextMsg off
      SystemSampleTime	      "-1"
      RTWFcnNameOpts	      "Auto"
      RTWFileNameOpts	      "Auto"
      RTWMemSecFuncInitTerm   "Inherit from model"
      RTWMemSecFuncExecute    "Inherit from model"
      RTWMemSecDataConstants  "Inherit from model"
      RTWMemSecDataInternal   "Inherit from model"
      RTWMemSecDataParameters "Inherit from model"
      SimViewingDevice	      off
      DataTypeOverride	      "UseLocalSettings"
      MinMaxOverflowLogging   "UseLocalSettings"
    }
    Block {
      BlockType		      Sum
      IconShape		      "rectangular"
      Inputs		      "++"
      CollapseMode	      "All dimensions"
      CollapseDim	      "1"
      InputSameDT	      on
      AccumDataTypeStr	      "Inherit: Inherit via internal rule"
      OutMin		      "[]"
      OutMax		      "[]"
      OutDataTypeMode	      "Same as first input"
      OutDataType	      "fixdt(1,16,0)"
      OutScaling	      "[]"
      OutDataTypeStr	      "Inherit: Same as first input"
      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"
    UseDisplayTextAsClickCallback off
  }
  LineDefaults {
    FontName		    "Arial"
    FontSize		    9
    FontWeight		    "normal"
    FontAngle		    "normal"
  }
  System {
    Name		    "pidLibrary"
    Location		    [480, 85, 794, 409]
    Open		    on
    ModelBrowserVisibility  off
    ModelBrowserWidth	    200
    ScreenColor		    "white"
    PaperOrientation	    "landscape"
    PaperPositionMode	    "auto"
    PaperType		    "usletter"
    PaperUnits		    "inches"
    TiledPaperMargins	    [0.500000, 0.500000, 0.500000, 0.500000]
    TiledPageScale	    1
    ShowPageBoundaries	    off
    ZoomFactor		    "100"
    ReportName		    "simulink-default.rpt"
    Block {
      BlockType		      SubSystem
      Name		      "Continuous PI \nController"
      Ports		      [1, 1]
      Position		      [75, 220, 120, 250]
      MinAlgLoopOccurrences   off
      PropExecContextOutsideSubsystem off
      RTWSystemCode	      "Auto"
      FunctionWithSeparateData off
      Opaque		      off
      RequestExecContextInheritance off
      MaskHideContents	      off
      MaskType		      "Continuous PI Controller"
      MaskDescription	      "Enter Proportional(P), Integral(I) terms.\n\nP + I/s"
      MaskPromptString	      "Proportional:|Integral:"
      MaskStyleString	      "edit,edit"
      MaskTunableValueString  "on,on"
      MaskCallbackString      "|"
      MaskEnableString	      "on,on"
      MaskVisibilityString    "on,on"
      MaskToolTipString	      "on,on"
      MaskVarAliasString      ","
      MaskVariables	      "P=@1;I=@2;"
      MaskDisplay	      "disp('PI (s)')"
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "autoscale"
      MaskValueString	      "1|1"
      MaskTabNameString	      ","
      System {
	Name			"Continuous PI \nController"
	Location		[433, 403, 931, 703]
	Open			off
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"white"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"usletter"
	PaperUnits		"inches"
	TiledPaperMargins	[0.500000, 0.500000, 0.500000, 0.500000]
	TiledPageScale		1
	ShowPageBoundaries	off
	ZoomFactor		"100"
	Block {
	  BlockType		  Inport
	  Name			  "U"
	  Position		  [50, 88, 80, 102]
	  IconDisplay		  "Port number"
	  OutDataType		  "sfix(16)"
	  OutScaling		  "2^0"
	}
	Block {
	  BlockType		  Derivative
	  Name			  "Derivative"
	  Position		  [170, 130, 200, 160]
	}
	Block {
	  BlockType		  Gain
	  Name			  "Gain"
	  Position		  [290, 75, 335, 115]
	  Gain			  "[P, I, D]"
	  Multiplication	  "Matrix(K*u)"
	  ParameterDataTypeMode	  "Inherit via internal rule"
	  ParameterDataType	  "sfix(16)"
	  ParameterScaling	  "2^0"
	  ParamDataTypeStr	  "Inherit: Inherit via internal rule"
	  OutDataTypeMode	  "Inherit via internal rule"
	  OutDataType		  "sfix(16)"
	  OutScaling		  "2^0"
	  OutDataTypeStr	  "Inherit: Inherit via internal rule"
	  SaturateOnIntegerOverflow off
	}
	Block {
	  BlockType		  Integrator
	  Name			  "Integrator"
	  Ports			  [1, 1]
	  Position		  [170, 80, 200, 110]
	}
	Block {
	  BlockType		  Mux
	  Name			  "Mux"
	  Ports			  [3, 1]
	  Position		  [260, 18, 265, 172]
	  ShowName		  off
	  Inputs		  "3"
	  DisplayOption		  "bar"
	}
	Block {
	  BlockType		  Outport
	  Name			  "Y"
	  Position		  [365, 88, 395, 102]
	  IconDisplay		  "Port number"
	  OutDataType		  "sfix(16)"
	  OutScaling		  "2^0"
	}
	Line {
	  SrcBlock		  "Gain"
	  SrcPort		  1
	  DstBlock		  "Y"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Derivative"
	  SrcPort		  1
	  DstBlock		  "Mux"
	  DstPort		  3
	}
	Line {
	  SrcBlock		  "Integrator"
	  SrcPort		  1
	  DstBlock		  "Mux"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "U"
	  SrcPort		  1
	  Points		  [15, 0]
	  Branch {
	    Points		    [0, -50]
	    DstBlock		    "Mux"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, 50]
	    DstBlock		    "Derivative"
	    DstPort		    1
	  }
	  Branch {
	    DstBlock		    "Integrator"
	    DstPort		    1
	  }
	}
	Line {
	  SrcBlock		  "Mux"
	  SrcPort		  1
	  DstBlock		  "Gain"
	  DstPort		  1
	}
      }
    }
    Block {
      BlockType		      SubSystem
      Name		      "Continuous PID \nController"
      Ports		      [1, 1]
      Position		      [75, 35, 120, 65]
      MinAlgLoopOccurrences   off
      PropExecContextOutsideSubsystem off
      RTWSystemCode	      "Auto"
      FunctionWithSeparateData off
      Opaque		      off
      RequestExecContextInheritance off
      MaskHideContents	      off
      MaskType		      "Continuous PID Controller"
      MaskDescription	      "Enter Proportional(P), Integral(I), and Derivative(D) terms.\n\nP + I/s + Ds"
      MaskHelp		      "This block implements a PID controller where parameters are entered for the Proportional, Integral and Derivative terms. Unmask this block to see how it works. The derivative term is implemented using a true derivative block."
      MaskPromptString	      "Proportional:|Integral:|Derivative:"
      MaskStyleString	      "edit,edit,edit"
      MaskTunableValueString  "on,on,on"
      MaskCallbackString      "||"
      MaskEnableString	      "on,on,on"
      MaskVisibilityString    "on,on,on"
      MaskToolTipString	      "on,on,on"
      MaskVarAliasString      ",,"
      MaskVariables	      "P=@1;I=@2;D=@3;"
      MaskDisplay	      "disp('PID (s)')"
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "autoscale"
      MaskValueString	      "1|1|0"
      MaskTabNameString	      ",,"
      System {
	Name			"Continuous PID \nController"
	Location		[433, 403, 931, 703]
	Open			off
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"white"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"usletter"
	PaperUnits		"inches"
	TiledPaperMargins	[0.500000, 0.500000, 0.500000, 0.500000]
	TiledPageScale		1
	ShowPageBoundaries	off
	ZoomFactor		"100"
	Block {
	  BlockType		  Inport
	  Name			  "U"
	  Position		  [50, 88, 80, 102]
	  IconDisplay		  "Port number"
	  OutDataType		  "sfix(16)"
	  OutScaling		  "2^0"
	}
	Block {
	  BlockType		  Derivative
	  Name			  "Derivative"
	  Position		  [170, 130, 200, 160]
	}
	Block {
	  BlockType		  Gain
	  Name			  "Gain"
	  Position		  [290, 75, 335, 115]
	  Gain			  "[P, I, D]"
	  Multiplication	  "Matrix(K*u)"
	  ParameterDataTypeMode	  "Inherit via internal rule"
	  ParameterDataType	  "sfix(16)"
	  ParameterScaling	  "2^0"
	  ParamDataTypeStr	  "Inherit: Inherit via internal rule"
	  OutDataTypeMode	  "Inherit via internal rule"
	  OutDataType		  "sfix(16)"
	  OutScaling		  "2^0"
	  OutDataTypeStr	  "Inherit: Inherit via internal rule"
	  SaturateOnIntegerOverflow off
	}
	Block {
	  BlockType		  Integrator
	  Name			  "Integrator"
	  Ports			  [1, 1]
	  Position		  [170, 80, 200, 110]
	}
	Block {
	  BlockType		  Mux
	  Name			  "Mux"
	  Ports			  [3, 1]
	  Position		  [260, 18, 265, 172]
	  ShowName		  off
	  Inputs		  "3"
	  DisplayOption		  "bar"
	}
	Block {
	  BlockType		  Outport
	  Name			  "Y"
	  Position		  [365, 88, 395, 102]
	  IconDisplay		  "Port number"
	  OutDataType		  "sfix(16)"
	  OutScaling		  "2^0"
	}
	Line {
	  SrcBlock		  "Mux"
	  SrcPort		  1
	  DstBlock		  "Gain"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "U"
	  SrcPort		  1
	  Points		  [15, 0]
	  Branch {
	    DstBlock		    "Integrator"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, 50]
	    DstBlock		    "Derivative"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, -50]
	    DstBlock		    "Mux"
	    DstPort		    1
	  }
	}
	Line {
	  SrcBlock		  "Integrator"
	  SrcPort		  1
	  DstBlock		  "Mux"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Derivative"
	  SrcPort		  1
	  DstBlock		  "Mux"
	  DstPort		  3
	}
	Line {
	  SrcBlock		  "Gain"
	  SrcPort		  1
	  DstBlock		  "Y"
	  DstPort		  1
	}
      }
    }
    Block {
      BlockType		      SubSystem
      Name		      "Continuous PID \nController\n(with Approximate\nDerivative)"
      Ports		      [1, 1]
      Position		      [75, 115, 120, 145]
      MinAlgLoopOccurrences   off
      PropExecContextOutsideSubsystem off
      RTWSystemCode	      "Auto"
      FunctionWithSeparateData off
      Opaque		      off
      RequestExecContextInheritance off
      MaskHideContents	      off
      MaskType		      "PID Controller w/ Approx Deriv"
      MaskDescription	      "Enter Proportional(P), Integral(I), and Derivative(D) and divisor (N) terms.\n\nP+I/s+Ds/(1/Ns+1)"
      MaskHelp		      "This block implements a PID controller where parameters are entered for the Proportional, Integral and Derivative and divisor terms. Unmask this block to see how it works. The derivative term is implemented using an s/(s/N +1)  transfer function block. Making N large can create a \"stiff\" system."
      MaskPromptString	      "Proportional:|Integral:|Derivative:|Derivative divisor(N):"
      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	      "P=@1;I=@2;D=@3;N=@4;"
      MaskDisplay	      "disp('PID (s)')"
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "autoscale"
      MaskValueString	      "1|1|0|100"
      MaskTabNameString	      ",,,"
      System {
	Name			"Continuous PID \nController\n(with Approximate\nDerivative)"
	Location		[70, 117, 594, 486]
	Open			off
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"white"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"usletter"
	PaperUnits		"inches"
	TiledPaperMargins	[0.500000, 0.500000, 0.500000, 0.500000]
	TiledPageScale		1
	ShowPageBoundaries	off
	ZoomFactor		"100"
	Block {
	  BlockType		  Inport
	  Name			  "e"
	  Position		  [55, 115, 75, 135]
	  IconDisplay		  "Port number"
	  OutDataType		  "sfix(16)"
	  OutScaling		  "2^0"
	}
	Block {
	  BlockType		  Gain
	  Name			  "Derivative\nDivisor"
	  Position		  [255, 177, 300, 203]
	  Gain			  "N"
	  ParameterDataType	  "sfix(16)"
	  ParameterScaling	  "2^0"
	  OutDataType		  "sfix(16)"
	  OutScaling		  "2^0"
	}
	Block {
	  BlockType		  Gain
	  Name			  "Derivative\nGain"
	  Position		  [125, 177, 170, 203]
	  Gain			  "D"
	  ParameterDataType	  "sfix(16)"
	  ParameterScaling	  "2^0"
	  OutDataType		  "sfix(16)"
	  OutScaling		  "2^0"
	}
	Block {
	  BlockType		  Integrator
	  Name			  "Filter"
	  Ports			  [1, 1]
	  Position		  [260, 235, 290, 265]
	  Orientation		  "left"
	}
	Block {
	  BlockType		  Gain
	  Name			  "Integral\nGain"
	  Position		  [130, 111, 175, 139]
	  Gain			  "I"
	  ParameterDataType	  "sfix(16)"
	  ParameterScaling	  "2^0"
	  OutDataType		  "sfix(16)"
	  OutScaling		  "2^0"
	}
	Block {
	  BlockType		  Integrator
	  Name			  "Integrator"
	  Ports			  [1, 1]
	  Position		  [265, 110, 295, 140]
	}
	Block {
	  BlockType		  Gain
	  Name			  "Proportional\nGain"
	  Position		  [130, 47, 170, 73]
	  Gain			  "P"
	  ParameterDataType	  "sfix(16)"
	  ParameterScaling	  "2^0"
	  OutDataType		  "sfix(16)"
	  OutScaling		  "2^0"
	}
	Block {
	  BlockType		  Sum
	  Name			  "Sum"
	  Ports			  [3, 1]
	  Position		  [345, 110, 375, 140]
	  ShowName		  off
	  IconShape		  "round"
	  Inputs		  "+++"
	  OutDataType		  "sfix(16)"
	  OutScaling		  "2^0"
	}
	Block {
	  BlockType		  Sum
	  Name			  "Sum1"
	  Ports			  [2, 1]
	  Position		  [195, 175, 225, 205]
	  ShowName		  off
	  IconShape		  "round"
	  Inputs		  "|+-"
	  OutDataType		  "sfix(16)"
	  OutScaling		  "2^0"
	}
	Block {
	  BlockType		  Outport
	  Name			  "u"
	  Position		  [405, 115, 425, 135]
	  IconDisplay		  "Port number"
	  OutDataType		  "sfix(16)"
	  OutScaling		  "2^0"
	  InitialOutput		  "0"
	}
	Line {
	  SrcBlock		  "Filter"
	  SrcPort		  1
	  Points		  [-45, 0]
	  DstBlock		  "Sum1"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Derivative\nDivisor"
	  SrcPort		  1
	  Points		  [55, 0]
	  Branch {
	    DstBlock		    "Sum"
	    DstPort		    3
	  }
	  Branch {
	    Points		    [0, 60]
	    DstBlock		    "Filter"
	    DstPort		    1
	  }
	}
	Line {
	  SrcBlock		  "Derivative\nGain"
	  SrcPort		  1
	  DstBlock		  "Sum1"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Sum1"
	  SrcPort		  1
	  DstBlock		  "Derivative\nDivisor"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Integral\nGain"
	  SrcPort		  1
	  DstBlock		  "Integrator"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Sum"
	  SrcPort		  1
	  DstBlock		  "u"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "e"
	  SrcPort		  1
	  Points		  [15, 0]
	  Branch {
	    Points		    [0, -65]
	    DstBlock		    "Proportional\nGain"
	    DstPort		    1
	  }
	  Branch {
	    DstBlock		    "Integral\nGain"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, 65]
	    DstBlock		    "Derivative\nGain"
	    DstPort		    1
	  }
	}
	Line {
	  SrcBlock		  "Integrator"
	  SrcPort		  1
	  DstBlock		  "Sum"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Proportional\nGain"
	  SrcPort		  1
	  Points		  [185, 0]
	  DstBlock		  "Sum"
	  DstPort		  1
	}
      }
    }
    Block {
      BlockType		      SubSystem
      Name		      "Discrete PI \nController"
      Ports		      [1, 1]
      Position		      [200, 220, 245, 250]
      MinAlgLoopOccurrences   off
      PropExecContextOutsideSubsystem off
      RTWSystemCode	      "Auto"
      FunctionWithSeparateData off
      Opaque		      off
      RequestExecContextInheritance off
      MaskHideContents	      off
      MaskType		      "Discrete PI Controller"
      MaskDescription	      "Enter Proportional(P), Integral(I) terms.  Set the sample time (ts) for the discrete integrator.\n"
      MaskPromptString	      "Proportional:| Integral:|Sample Time:"
      MaskStyleString	      "edit,edit,edit"
      MaskTunableValueString  "on,on,on"
      MaskCallbackString      "||"
      MaskEnableString	      "on,on,on"
      MaskVisibilityString    "on,on,on"
      MaskToolTipString	      "on,on,on"
      MaskVarAliasString      ",,"
      MaskVariables	      "P=@1;I=@2;ts=@3;"
      MaskDisplay	      "disp('PI (z)')"
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "autoscale"
      MaskValueString	      "1|1|1"
      MaskTabNameString	      ",,"
      System {
	Name			"Discrete PI \nController"
	Location		[526, 396, 1024, 696]
	Open			off
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"white"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"usletter"
	PaperUnits		"inches"
	TiledPaperMargins	[0.500000, 0.500000, 0.500000, 0.500000]
	TiledPageScale		1
	ShowPageBoundaries	off
	ZoomFactor		"100"
	Block {
	  BlockType		  Inport
	  Name			  "U"
	  Position		  [50, 88, 80, 102]
	  IconDisplay		  "Port number"
	  SampleTime		  "ts"
	  OutDataType		  "sfix(16)"
	  OutScaling		  "2^0"
	}
	Block {
	  BlockType		  DiscreteIntegrator
	  Name			  "Discrete-Time\nIntegrator"
	  Ports			  [1, 1]
	  Position		  [165, 119, 200, 151]
	  IntegratorMethod	  "Integration: Forward Euler"
	  ExternalReset		  "none"
	  InitialConditionSource  "internal"
	  SampleTime		  "ts"
	  OutDataType		  "sfix(16)"
	  OutScaling		  "2^0"
	  ICPrevOutput		  "DiscIntNeverNeededParam"
	  ICPrevScaledInput	  "DiscIntNeverNeededParam"
	}
	Block {
	  BlockType		  Gain
	  Name			  "Gain"
	  Position		  [290, 80, 335, 120]
	  Gain			  "[P, I]"
	  Multiplication	  "Matrix(K*u)"
	  ParameterDataTypeMode	  "Inherit via internal rule"
	  ParameterDataType	  "sfix(16)"
	  ParameterScaling	  "2^0"
	  ParamDataTypeStr	  "Inherit: Inherit via internal rule"
	  OutDataTypeMode	  "Inherit via internal rule"
	  OutDataType		  "sfix(16)"
	  OutScaling		  "2^0"
	  OutDataTypeStr	  "Inherit: Inherit via internal rule"
	  SaturateOnIntegerOverflow off
	  SampleTime		  "ts"
	}
	Block {
	  BlockType		  Mux
	  Name			  "Mux"
	  Ports			  [2, 1]
	  Position		  [260, 20, 265, 175]
	  ShowName		  off
	  Inputs		  "2"
	  DisplayOption		  "bar"
	}
	Block {
	  BlockType		  Outport
	  Name			  "Y"
	  Position		  [365, 93, 395, 107]
	  IconDisplay		  "Port number"
	  OutDataType		  "sfix(16)"
	  OutScaling		  "2^0"
	}
	Line {
	  SrcBlock		  "Mux"
	  SrcPort		  1
	  DstBlock		  "Gain"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "U"
	  SrcPort		  1
	  Points		  [15, 0]
	  Branch {
	    Points		    [0, 40]
	    DstBlock		    "Discrete-Time\nIntegrator"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, -35]
	    DstBlock		    "Mux"
	    DstPort		    1
	  }
	}
	Line {
	  SrcBlock		  "Discrete-Time\nIntegrator"
	  SrcPort		  1
	  DstBlock		  "Mux"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Gain"
	  SrcPort		  1
	  DstBlock		  "Y"
	  DstPort		  1
	}
      }
    }
    Block {
      BlockType		      SubSystem
      Name		      "Discrete PID \nController"
      Ports		      [1, 1]
      Position		      [200, 35, 245, 65]
      MinAlgLoopOccurrences   off
      PropExecContextOutsideSubsystem off
      RTWSystemCode	      "Auto"
      FunctionWithSeparateData off
      Opaque		      off
      RequestExecContextInheritance off
      MaskHideContents	      off
      MaskType		      "Discrete PID Controller"
      MaskDescription	      "Enter Proportional(P), Integral(I), and Derivative(D) terms.  Set the sample time (ts) for the discrete integrator.\n"
      MaskHelp		      "This block implements a PID controller where parameters are entered for the Proportional, Integral and Derivative terms. Unmask this block to see how it works. The derivative term is implemented using a discrete integrator and derivative block."
      MaskPromptString	      "Proportional:| Integral:|Derivative:|Sample Time:"
      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	      "P=@1;I=@2;D=@3;ts=@4;"
      MaskDisplay	      "disp('PID (z)')"
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "autoscale"
      MaskValueString	      "1|1|0|1"
      MaskTabNameString	      ",,,"
      System {
	Name			"Discrete PID \nController"
	Location		[526, 396, 1024, 696]
	Open			off
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"white"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"usletter"
	PaperUnits		"inches"
	TiledPaperMargins	[0.500000, 0.500000, 0.500000, 0.500000]
	TiledPageScale		1
	ShowPageBoundaries	off
	ZoomFactor		"100"
	Block {
	  BlockType		  Inport
	  Name			  "U"
	  Position		  [50, 88, 80, 102]
	  IconDisplay		  "Port number"
	  SampleTime		  "ts"
	  OutDataType		  "sfix(16)"
	  OutScaling		  "2^0"
	}
	Block {
	  BlockType		  Reference
	  Name			  "Discrete Derivative"
	  Ports			  [1, 1]
	  Position		  [125, 127, 185, 163]
	  SourceBlock		  "simulink/Discrete/Discrete Derivative"
	  SourceType		  "Discrete Derivative"
	  ShowPortLabels	  "FromPortIcon"
	  SystemSampleTime	  "-1"
	  FunctionWithSeparateData off
	  RTWMemSecFuncInitTerm	  "Inherit from model"
	  RTWMemSecFuncExecute	  "Inherit from model"
	  RTWMemSecDataConstants  "Inherit from model"
	  RTWMemSecDataInternal	  "Inherit from model"
	  RTWMemSecDataParameters "Inherit from model"
	  gainval		  "1.0"
	  ICPrevScaledInput	  "0.0"
	  OutMin		  "[]"
	  OutMax		  "[]"
	  OutDataTypeStr	  "Inherit: Inherit via internal rule"
	  OutputDataTypeScalingMode "Inherit via internal rule"
	  OutDataType		  "sfix(16)"
	  OutScaling		  "2^-10"
	  LockScale		  off
	  RndMeth		  "Floor"
	  DoSatur		  off
	}
	Block {
	  BlockType		  DiscreteIntegrator
	  Name			  "Discrete-Time\nIntegrator"
	  Ports			  [1, 1]
	  Position		  [200, 79, 235, 111]
	  IntegratorMethod	  "Integration: Forward Euler"
	  ExternalReset		  "none"
	  InitialConditionSource  "internal"
	  SampleTime		  "ts"
	  OutDataType		  "sfix(16)"
	  OutScaling		  "2^0"
	  ICPrevOutput		  "DiscIntNeverNeededParam"
	  ICPrevScaledInput	  "DiscIntNeverNeededParam"
	}
	Block {
	  BlockType		  Gain
	  Name			  "Gain"
	  Position		  [290, 75, 335, 115]
	  Gain			  "[P, I, D]"
	  Multiplication	  "Matrix(K*u)"
	  ParameterDataTypeMode	  "Inherit via internal rule"
	  ParameterDataType	  "sfix(16)"
	  ParameterScaling	  "2^0"
	  ParamDataTypeStr	  "Inherit: Inherit via internal rule"
	  OutDataTypeMode	  "Inherit via internal rule"
	  OutDataType		  "sfix(16)"
	  OutScaling		  "2^0"
	  OutDataTypeStr	  "Inherit: Inherit via internal rule"
	  SaturateOnIntegerOverflow off
	  SampleTime		  "ts"
	}
	Block {
	  BlockType		  Mux
	  Name			  "Mux"
	  Ports			  [3, 1]
	  Position		  [260, 18, 265, 172]
	  ShowName		  off
	  Inputs		  "3"
	  DisplayOption		  "bar"
	}
	Block {
	  BlockType		  Outport
	  Name			  "Y"
	  Position		  [365, 88, 395, 102]
	  IconDisplay		  "Port number"
	  OutDataType		  "sfix(16)"
	  OutScaling		  "2^0"
	}
	Line {
	  SrcBlock		  "Gain"
	  SrcPort		  1
	  DstBlock		  "Y"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Discrete Derivative"
	  SrcPort		  1
	  DstBlock		  "Mux"
	  DstPort		  3
	}
	Line {
	  SrcBlock		  "Discrete-Time\nIntegrator"
	  SrcPort		  1
	  DstBlock		  "Mux"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "U"
	  SrcPort		  1
	  Points		  [15, 0]
	  Branch {
	    Points		    [0, -50]
	    DstBlock		    "Mux"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, 50]
	    DstBlock		    "Discrete Derivative"
	    DstPort		    1
	  }
	  Branch {
	    DstBlock		    "Discrete-Time\nIntegrator"
	    DstPort		    1
	  }
	}
	Line {
	  SrcBlock		  "Mux"
	  SrcPort		  1
	  DstBlock		  "Gain"
	  DstPort		  1
	}
      }
    }
  }
}