Model {
  Name			  "pid2"
  Version		  2.20
  SimParamPage		  Solver
  SampleTimeColors	  off
  InvariantConstants	  off
  WideVectorLines	  off
  ShowLineWidths	  off
  StartTime		  "0.0"
  StopTime		  "10"
  Solver		  ode45
  RelTol		  "1e-3"
  AbsTol		  "1e-3"
  Refine		  "1"
  MaxStep		  "0.01"
  InitialStep		  "auto"
  FixedStep		  "auto"
  MaxOrder		  5
  OutputOption		  RefineOutputTimes
  OutputTimes		  "[]"
  LoadExternalInput	  off
  ExternalInput		  "[t, u]"
  SaveTime		  off
  TimeSaveName		  "tout"
  SaveState		  off
  StateSaveName		  "xout"
  SaveOutput		  off
  OutputSaveName	  "yout"
  LoadInitialState	  off
  InitialState		  "xInitial"
  SaveFinalState	  off
  FinalStateName	  "xFinal"
  LimitMaxRows		  off
  MaxRows		  "1000"
  Decimation		  "1"
  AlgebraicLoopMsg	  warning
  MinStepSizeMsg	  warning
  UnconnectedInputMsg	  warning
  UnconnectedOutputMsg	  warning
  UnconnectedLineMsg	  warning
  ConsistencyChecking	  off
  ZeroCross		  on
  SimulationMode	  normal
  RTWSystemTargetFile	  "grt.tlc"
  RTWInlineParameters	  off
  RTWPlaceOutputsASAP	  off
  RTWRetainRTWFile	  off
  RTWTemplateMakefile	  "grt_default_tmf"
  RTWMakeCommand	  "make_rtw"
  RTWGenerateCodeOnly	  off
  ExtModeMexFile	  "ext_comm"
  ExtModeBatchMode	  off
  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		    "pid2"
    Location		    [12, 74, 987, 842]
    Open		    on
    ToolBar		    on
    StatusBar		    on
    ScreenColor		    white
    PaperOrientation	    landscape
    PaperPositionMode	    auto
    PaperType		    usletter
    PaperUnits		    inches
    Block {
      BlockType		      Mux
      Name		      "Mux"
      Ports		      [2, 1, 0, 0, 0]
      Position		      [715, 511, 745, 544]
      ShowName		      off
      FontSize		      12
      Inputs		      "2"
    }
    Block {
      BlockType		      Mux
      Name		      "Mux1"
      Ports		      [2, 1, 0, 0, 0]
      Position		      [735, 376, 765, 409]
      ShowName		      off
      FontSize		      12
      Inputs		      "2"
    }
    Block {
      BlockType		      ZeroPole
      Name		      "P(s)"
      Position		      [450, 368, 565, 422]
      FontName		      "Arial"
      FontSize		      12
      Zeros		      "[]"
      Poles		      "[-1;-1; -1]"
      Gain		      "[1]"
    }
    Block {
      BlockType		      ZeroPole
      Name		      "P(s) "
      Position		      [450, 583, 565, 637]
      FontName		      "Arial"
      FontSize		      12
      Zeros		      "[]"
      Poles		      "[-1;-1; -1]"
      Gain		      "[1]"
    }
    Block {
      BlockType		      TransferFcn
      Name		      "R_D(s)"
      Position		      [250, 435, 315, 475]
      FontSize		      12
      Numerator		      "[1, 0]"
      Denominator	      "[0.1 1]"
    }
    Block {
      BlockType		      TransferFcn
      Name		      "R_D(s) "
      Position		      [250, 650, 315, 690]
      FontSize		      12
      Numerator		      "[1, 0]"
      Denominator	      "[0.01 1]"
    }
    Block {
      BlockType		      ZeroPole
      Name		      "R_I(s)"
      Position		      [255, 377, 300, 413]
      FontSize		      12
      Zeros		      "[]"
      Poles		      "[0]"
      Gain		      "[1]"
    }
    Block {
      BlockType		      ZeroPole
      Name		      "R_I(s) "
      Position		      [255, 592, 300, 628]
      FontSize		      12
      Zeros		      "[]"
      Poles		      "[0]"
      Gain		      "[1]"
    }
    Block {
      BlockType		      Gain
      Name		      "R_P(s)"
      Position		      [260, 323, 295, 347]
      FontSize		      12
      Gain		      "2"
    }
    Block {
      BlockType		      Gain
      Name		      "R_P(s) "
      Position		      [260, 538, 295, 562]
      FontSize		      12
      Gain		      "2"
    }
    Block {
      BlockType		      SubSystem
      Name		      "Rumore in \nuscita"
      Ports		      [0, 1, 0, 0, 0]
      Position		      [380, 197, 425, 233]
      FontSize		      12
      ShowPortLabels	      off
      MaskType		      "Continuous White Noise."
      MaskDescription	      "White noise for continuous (s-domain) systems."
"\nBand-limited using zero-order-hold."
      MaskHelp		      "Implemented using white noise into Zero-Order H"
"old block. The seed and power can be vectors of the same length to produce a "
"vector of white noise sources. For faster simulation, set sample time to the "
"highest value possible but in accordance with the fastest dynamics of system."
      MaskPromptString	      "Noise Power:|Sample Time:|Seed"
      MaskStyleString	      "edit,edit,edit"
      MaskTunableValueString  "on,on,on"
      MaskInitialization      "Cov = @1; Ts = @2; seed = @3; r = rand(1,12); r"
"2 = [r(1),r;r,r(12)]; t =[1:13;1:13];"
      MaskDisplay	      "plot(t(:),r2(:))"
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      none
      MaskIconUnits	      autoscale
      MaskValueString	      "[0.01]|0.05|[23341]"
      System {
	Name			"Rumore in \nuscita"
	Location		[54, 341, 339, 470]
	Open			off
	ToolBar			off
	StatusBar		off
	ScreenColor		white
	PaperOrientation	landscape
	PaperPositionMode	auto
	PaperType		usletter
	PaperUnits		inches
	Block {
	  BlockType		  Gain
	  Name			  "Gain"
	  Position		  [155, 31, 195, 69]
	  Gain			  "[sqrt(Cov)]/[sqrt(Ts)]"
	}
	Block {
	  BlockType		  RandomNumber
	  Name			  "White Noise"
	  Position		  [25, 40, 45, 60]
	  Mean			  "0"
	  Variance		  "1"
	  Seed			  "seed"
	  SampleTime		  "-1"
	}
	Block {
	  BlockType		  ZeroOrderHold
	  Name			  "Zero-Order\nHold"
	  Position		  [85, 34, 120, 66]
	  SampleTime		  "Ts"
	}
	Block {
	  BlockType		  Outport
	  Name			  "Out_1"
	  Position		  [230, 40, 250, 60]
	  Port			  "1"
	  OutputWhenDisabled	  held
	  InitialOutput		  "0"
	}
	Line {
	  SrcBlock		  "White Noise"
	  SrcPort		  1
	  DstBlock		  "Zero-Order\nHold"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Gain"
	  SrcPort		  1
	  DstBlock		  "Out_1"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Zero-Order\nHold"
	  SrcPort		  1
	  DstBlock		  "Gain"
	  DstPort		  1
	}
      }
    }
    Block {
      BlockType		      Step
      Name		      "Step Input"
      Position		      [55, 370, 75, 390]
      FontSize		      12
      Time		      "1"
      Before		      "0"
      After		      "1"
    }
    Block {
      BlockType		      Sum
      Name		      "Sum"
      Ports		      [3, 1, 0, 0, 0]
      Position		      [340, 301, 365, 489]
      ShowName		      off
      FontSize		      12
      Inputs		      "++-"
    }
    Block {
      BlockType		      Sum
      Name		      "Sum1"
      Ports		      [2, 1, 0, 0, 0]
      Position		      [175, 369, 195, 416]
      ShowName		      off
      FontSize		      12
      Inputs		      "+-"
    }
    Block {
      BlockType		      Sum
      Name		      "Sum2"
      Ports		      [3, 1, 0, 0, 0]
      Position		      [340, 516, 365, 704]
      ShowName		      off
      FontSize		      12
      Inputs		      "++-"
    }
    Block {
      BlockType		      Sum
      Name		      "Sum3"
      Ports		      [2, 1, 0, 0, 0]
      Position		      [175, 584, 195, 631]
      ShowName		      off
      FontSize		      12
      Inputs		      "+-"
    }
    Block {
      BlockType		      Sum
      Name		      "Sum4"
      Ports		      [2, 1, 0, 0, 0]
      Position		      [615, 359, 635, 406]
      ShowName		      off
      FontSize		      12
      Inputs		      "++"
    }
    Block {
      BlockType		      Sum
      Name		      "Sum5"
      Ports		      [2, 1, 0, 0, 0]
      Position		      [615, 574, 635, 621]
      ShowName		      off
      FontSize		      12
      Inputs		      "++"
    }
    Block {
      BlockType		      Gain
      Name		      "i"
      Position		      [460, 200, 580, 230]
      ShowName		      off
      FontSize		      12
      Gain		      "0.01"
    }
    Block {
      BlockType		      SubSystem
      Name		      "ingresso \ndi controllo"
      Ports		      [1, 0, 0, 0, 0]
      Position		      [790, 510, 820, 550]
      FontSize		      12
      ShowPortLabels	      off
      MaskType		      "Storage scope."
      MaskDescription	      "Storage scope using MATLAB graph window.\nEnter"
" plotting ranges and line type."
      MaskHelp		      "This block uses a MATLAB figure window to plot "
"the input signal.  The graph limits are automatically scaled to the min and m"
"ax values of the signal stored in the scope's signal buffer.  Line type must "
"be in quotes.  See the M-file sfunyst.m."
      MaskPromptString	      "Initial Time Range:|Initial y-min:|Initial y-ma"
"x:|Storage pts.:|Line type (rgbw-.:xo):"
      MaskStyleString	      "edit,edit,edit,edit,edit"
      MaskTunableValueString  "on,on,on,on,on"
      MaskInitialization      "npts = @4; color = @5; ax = [0, @1, @2, @3]; dt"
"=-1;"
      MaskDisplay	      "plot(0,0,100,100,[83,76,63,52,42,38,28,16,11,84"
",11,11,11,90,90,11],[75,58,47,54,72,80,84,74,65,65,65,90,40,40,90,90])"
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      none
      MaskIconUnits	      autoscale
      MaskValueString	      "5|-1|1|200000|'b-/r--/c-./w:/m*/ro/b+'"
      System {
	Name			"ingresso \ndi controllo"
	Location		[0, 59, 274, 252]
	Open			off
	ToolBar			off
	StatusBar		off
	ScreenColor		white
	PaperOrientation	landscape
	PaperPositionMode	auto
	PaperType		usletter
	PaperUnits		inches
	Block {
	  BlockType		  Inport
	  Name			  "x"
	  Position		  [65, 55, 85, 75]
	  Port			  "1"
	  PortWidth		  "-1"
	  SampleTime		  "-1"
	}
	Block {
	  BlockType		  "S-Function"
	  Name			  "S-function\nM-file which plots\nlines\n"
	  Ports			  [1, 0, 0, 0, 0]
	  Position		  [130, 55, 180, 75]
	  CopyFcn		  "sfunyst([],[],[],'CopyBlock')"
	  DeleteFcn		  "sfunyst([],[],[],'DeleteBlock')"
	  LoadFcn		  "sfunyst([],[],[],'LoadBlock')"
	  FunctionName		  "sfunyst"
	  Parameters		  "ax, color, npts, dt"
	  PortCounts		  "[]"
	  SFunctionModules	  "''"
	}
	Line {
	  SrcBlock		  "x"
	  SrcPort		  1
	  DstBlock		  "S-function\nM-file which plots\nlines\n"
	  DstPort		  1
	}
      }
    }
    Block {
      BlockType		      SubSystem
      Name		      "uscita\ncontrollata"
      Ports		      [1, 0, 0, 0, 0]
      Position		      [795, 375, 825, 415]
      FontSize		      12
      ShowPortLabels	      off
      MaskType		      "Storage scope."
      MaskDescription	      "Storage scope using MATLAB graph window.\nEnter"
" plotting ranges and line type."
      MaskHelp		      "This block uses a MATLAB figure window to plot "
"the input signal.  The graph limits are automatically scaled to the min and m"
"ax values of the signal stored in the scope's signal buffer.  Line type must "
"be in quotes.  See the M-file sfunyst.m."
      MaskPromptString	      "Initial Time Range:|Initial y-min:|Initial y-ma"
"x:|Storage pts.:|Line type (rgbw-.:xo):"
      MaskStyleString	      "edit,edit,edit,edit,edit"
      MaskTunableValueString  "on,on,on,on,on"
      MaskInitialization      "npts = @4; color = @5; ax = [0, @1, @2, @3]; dt"
"=-1;"
      MaskDisplay	      "plot(0,0,100,100,[83,76,63,52,42,38,28,16,11,84"
",11,11,11,90,90,11],[75,58,47,54,72,80,84,74,65,65,65,90,40,40,90,90])"
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      none
      MaskIconUnits	      autoscale
      MaskValueString	      "5|-1|1|200000|'b-/r--/c-./w:/m*/ro/b+'"
      System {
	Name			"uscita\ncontrollata"
	Location		[0, 59, 274, 252]
	Open			off
	ToolBar			off
	StatusBar		off
	ScreenColor		white
	PaperOrientation	landscape
	PaperPositionMode	auto
	PaperType		usletter
	PaperUnits		inches
	Block {
	  BlockType		  Inport
	  Name			  "x"
	  Position		  [65, 55, 85, 75]
	  Port			  "1"
	  PortWidth		  "-1"
	  SampleTime		  "-1"
	}
	Block {
	  BlockType		  "S-Function"
	  Name			  "S-function\nM-file which plots\nlines\n"
	  Ports			  [1, 0, 0, 0, 0]
	  Position		  [130, 55, 180, 75]
	  CopyFcn		  "sfunyst([],[],[],'CopyBlock')"
	  DeleteFcn		  "sfunyst([],[],[],'DeleteBlock')"
	  LoadFcn		  "sfunyst([],[],[],'LoadBlock')"
	  FunctionName		  "sfunyst"
	  Parameters		  "ax, color, npts, dt"
	  PortCounts		  "[]"
	  SFunctionModules	  "''"
	}
	Line {
	  SrcBlock		  "x"
	  SrcPort		  1
	  DstBlock		  "S-function\nM-file which plots\nlines\n"
	  DstPort		  1
	}
      }
    }
    Line {
      SrcBlock		      "R_I(s)"
      SrcPort		      1
      DstBlock		      "Sum"
      DstPort		      2
    }
    Line {
      SrcBlock		      "R_P(s)"
      SrcPort		      1
      DstBlock		      "Sum"
      DstPort		      1
    }
    Line {
      SrcBlock		      "R_D(s)"
      SrcPort		      1
      DstBlock		      "Sum"
      DstPort		      3
    }
    Line {
      SrcBlock		      "Sum1"
      SrcPort		      1
      Points		      [0, 0]
      Branch {
	DstBlock		"R_I(s)"
	DstPort			1
      }
      Branch {
	Points			[25, 0; 0, -60]
	DstBlock		"R_P(s)"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "R_I(s) "
      SrcPort		      1
      DstBlock		      "Sum2"
      DstPort		      2
    }
    Line {
      SrcBlock		      "R_P(s) "
      SrcPort		      1
      DstBlock		      "Sum2"
      DstPort		      1
    }
    Line {
      SrcBlock		      "R_D(s) "
      SrcPort		      1
      DstBlock		      "Sum2"
      DstPort		      3
    }
    Line {
      SrcBlock		      "Sum3"
      SrcPort		      1
      Points		      [25, 0]
      Branch {
	DstBlock		"R_I(s) "
	DstPort			1
      }
      Branch {
	Points			[0, -60]
	DstBlock		"R_P(s) "
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Step Input"
      SrcPort		      1
      Points		      [35, 0]
      Branch {
	DstBlock		"Sum1"
	DstPort			1
      }
      Branch {
	Points			[0, 215]
	DstBlock		"Sum3"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Mux"
      SrcPort		      1
      DstBlock		      "ingresso \ndi controllo"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Sum"
      SrcPort		      1
      Points		      [35, 0]
      Branch {
	DstBlock		"P(s)"
	DstPort			1
      }
      Branch {
	Points			[0, -90; 295, 0]
	DstBlock		"Mux"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Sum2"
      SrcPort		      1
      Points		      [35, 0]
      Branch {
	DstBlock		"P(s) "
	DstPort			1
      }
      Branch {
	Points			[0, -75]
	DstBlock		"Mux"
	DstPort			2
      }
    }
    Line {
      SrcBlock		      "Mux1"
      SrcPort		      1
      DstBlock		      "uscita\ncontrollata"
      DstPort		      1
    }
    Line {
      SrcBlock		      "P(s)"
      SrcPort		      1
      DstBlock		      "Sum4"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Rumore in \nuscita"
      SrcPort		      1
      DstBlock		      "i"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Sum4"
      SrcPort		      1
      Points		      [0, 0]
      Branch {
	DstBlock		"Mux1"
	DstPort			1
      }
      Branch {
	Points			[0, 115; -485, 0; 0, -45]
	Branch {
	  Points		  [0, -50]
	  DstBlock		  "Sum1"
	  DstPort		  2
	}
	Branch {
	  DstBlock		  "R_D(s)"
	  DstPort		  1
	}
      }
    }
    Line {
      SrcBlock		      "P(s) "
      SrcPort		      1
      DstBlock		      "Sum5"
      DstPort		      2
    }
    Line {
      SrcBlock		      "i"
      SrcPort		      1
      Points		      [5, 0; 0, 105]
      Branch {
	Points			[0, 50]
	DstBlock		"Sum4"
	DstPort			1
      }
      Branch {
	Points			[0, 265]
	DstBlock		"Sum5"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Sum5"
      SrcPort		      1
      Points		      [15, 0]
      Branch {
	Points			[15, 0; 0, -200]
	DstBlock		"Mux1"
	DstPort			2
      }
      Branch {
	Points			[0, 120; -430, 0]
	Branch {
	  Points		  [-80, 0; 0, -100]
	  DstBlock		  "Sum3"
	  DstPort		  2
	}
	Branch {
	  Points		  [0, -50]
	  DstBlock		  "R_D(s) "
	  DstPort		  1
	}
      }
    }
    Annotation {
      Position		      [352, 17]
      VerticalAlignment	      top
      Text		      "Schema di controllo P.I.D. con azione derivativ"
"a dall'uscita"
      FontName		      "Arial"
      FontSize		      12
    }
    Annotation {
      Position		      [327, 42]
      VerticalAlignment	      top
      Text		      "Effetto della scelta del 'polo lontano' \nnell'"
"approssimazione dell'azione derivativa"
      FontName		      "Arial"
      FontSize		      12
    }
    Annotation {
      Position		      [362, 87]
      VerticalAlignment	      top
      Text		      "Notare come piu' il polo e' lontano piu' il dis"
"turbo in uscita influenza\nl'andamento dell'ingresso di controllo, a parita' "
"di prestazioni"
      FontName		      "Arial"
      FontSize		      12
    }
  }
}