├── .DS_Store
├── .gitignore
├── F16.slx
├── F16AeroData.h5
├── F16AeroDataInterpolants.mat
├── F16AeroFM.m
├── F16Testing.slx
├── F16_2022a.mdl
├── F16_2023a.mdl
├── F16_Julia_Dump.mat
├── JuliaF16Model.ipynb
├── LICENSE
├── README.md
├── TrimF16.m
├── conversion.m
├── load_F16_params.m
├── load_aerodynamics.m
├── plot_trajectories.m
├── preprocess_F16_AeroData.m
├── runF16.m
├── test_with_julia.m
└── trim_and_linearize.m


/.DS_Store:
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https://raw.githubusercontent.com/isrlab/F16-Model-Matlab/d019742f2fe7f5f25c521bc7e846519b28b759b3/.DS_Store


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/.gitignore:
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1 | *.asv
2 | *.slxc
3 | slprj/
4 | 
5 | 


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/F16.slx:
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https://raw.githubusercontent.com/isrlab/F16-Model-Matlab/d019742f2fe7f5f25c521bc7e846519b28b759b3/F16.slx


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/F16AeroData.h5:
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https://raw.githubusercontent.com/isrlab/F16-Model-Matlab/d019742f2fe7f5f25c521bc7e846519b28b759b3/F16AeroData.h5


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/F16AeroDataInterpolants.mat:
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https://raw.githubusercontent.com/isrlab/F16-Model-Matlab/d019742f2fe7f5f25c521bc7e846519b28b759b3/F16AeroDataInterpolants.mat


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/F16AeroFM.m:
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  1 | % ==========================
  2 | % Developed by
  3 | % Raktim Bhattacharya, 
  4 | % Professor
  5 | % Aerospace Engineering,
  6 | % Texas A&M University.
  7 | % ==========================
  8 | 
  9 | function FM = F16AeroFM(inp)
 10 | 
 11 | persistent Param F16Aero r2d persistent_flag
 12 | if isempty(persistent_flag)
 13 |     persistent_flag = 1;
 14 |     Param = load_F16_params(); % System Parameters, mass, inertia, etc.
 15 |     Data = load('F16AeroDataInterpolants.mat');
 16 |     F16Aero = Data.F16AeroData;
 17 |     r2d = 180/pi;
 18 | end
 19 | 
 20 | Vt    = inp(1);
 21 | alpha = inp(2)*r2d; % Convert to degrees for aero table look up.
 22 | beta  = inp(3)*r2d; % Convert to degrees for aero table look up.
 23 | om    = inp(4:6);
 24 | qbar  = inp(7);
 25 | ele   = inp(8)*r2d; % Convert to degrees for aero table look up.
 26 | ail   = inp(9)*r2d; % Convert to degrees for aero table look up.
 27 | rud   = inp(10)*r2d; % Convert to degrees for aero table look up.
 28 | lef   = inp(11)*r2d; % Convert to degrees for aero table look up.
 29 | 
 30 | p = om(1);
 31 | q = om(2);
 32 | r = om(3);
 33 | 
 34 | dail  = ail/21.5;        % Aileron angle normalized against max deflection
 35 | drud  = rud/30.0;        % Rudder normalized against max angle
 36 | dlef  = (1 - lef/25.0); % Leading edge flap normalized against max angle
 37 | 
 38 | 
 39 | % Interpolate aerodynamics data
 40 | % =============================
 41 | Cx = F16Aero.Cx(alpha,beta,ele);
 42 | Cy = F16Aero.Cy(alpha,beta);
 43 | Cz = F16Aero.Cz(alpha,beta,ele);
 44 | Cm = F16Aero.Cm(alpha,beta,ele);
 45 | Cn = F16Aero.Cn(alpha,beta,ele);
 46 | Cl = F16Aero.Cl(alpha,beta,ele);
 47 | 
 48 | delta_Cx_lef = F16Aero.Cx_lef(alpha,beta) - F16Aero.Cx(alpha,beta,0.0);
 49 | delta_Cy_lef = F16Aero.Cy_lef(alpha,beta) - F16Aero.Cy(alpha,beta);
 50 | delta_Cz_lef = F16Aero.Cz_lef(alpha,beta) - F16Aero.Cz(alpha,beta,0.0);
 51 | 
 52 | delta_Cl_lef = F16Aero.Cl_lef(alpha,beta) - F16Aero.Cl(alpha,beta,0.0);
 53 | delta_Cm_lef = F16Aero.Cm_lef(alpha,beta) - F16Aero.Cm(alpha,beta,0.0);
 54 | delta_Cn_lef = F16Aero.Cn_lef(alpha,beta) - F16Aero.Cn(alpha,beta,0.0);
 55 | 
 56 | Cxq = F16Aero.Cxq(alpha);
 57 | Cyr = F16Aero.Cyr(alpha);
 58 | Cyp = F16Aero.Cyp(alpha);
 59 | Czq = F16Aero.Czq(alpha);
 60 | Clr = F16Aero.Clr(alpha);
 61 | Clp = F16Aero.Clp(alpha);
 62 | Cmq = F16Aero.Cmq(alpha);
 63 | Cnr = F16Aero.Cnr(alpha);
 64 | Cnp = F16Aero.Cnp(alpha);
 65 | 
 66 | delta_Cxq_lef = F16Aero.deltaCxq_lef(alpha);
 67 | delta_Cyr_lef = F16Aero.deltaCyr_lef(alpha);
 68 | delta_Cyp_lef = F16Aero.deltaCyp_lef(alpha);
 69 | delta_Czq_lef = F16Aero.deltaCzq_lef(alpha);
 70 | delta_Clr_lef = F16Aero.deltaClr_lef(alpha);
 71 | delta_Clp_lef = F16Aero.deltaClp_lef(alpha);
 72 | delta_Cmq_lef = F16Aero.deltaCmq_lef(alpha);
 73 | delta_Cnr_lef = F16Aero.deltaCnr_lef(alpha);
 74 | delta_Cnp_lef = F16Aero.deltaCnp_lef(alpha);
 75 | 
 76 | delta_Cy_r30 = F16Aero.Cy_r30(alpha,beta) - F16Aero.Cy(alpha,beta);
 77 | delta_Cn_r30 = F16Aero.Cn_r30(alpha,beta) - F16Aero.Cn(alpha,beta,0.0);
 78 | delta_Cl_r30 = F16Aero.Cl_r30(alpha,beta) - F16Aero.Cl(alpha,beta,0.0);
 79 | 
 80 | delta_Cy_a20 = F16Aero.Cy_a20(alpha,beta) - F16Aero.Cy(alpha,beta);
 81 | delta_Cy_a20_lef = F16Aero.Cy_a20_lef(alpha,beta) - F16Aero.Cy_lef(alpha,beta) - delta_Cy_a20;
 82 | 
 83 | delta_Cn_a20 = F16Aero.Cn_a20(alpha,beta) - F16Aero.Cn(alpha,beta,0.0);
 84 | delta_Cn_a20_lef = F16Aero.Cn_a20_lef(alpha,beta) - F16Aero.Cn_lef(alpha,beta) - delta_Cn_a20;
 85 | 
 86 | delta_Cl_a20 = F16Aero.Cl_a20(alpha,beta) - F16Aero.Cl(alpha,beta,0.0);
 87 | delta_Cl_a20_lef = F16Aero.Cl_a20_lef(alpha,beta) - F16Aero.Cl_lef(alpha,beta) - delta_Cl_a20;
 88 | 
 89 | delta_Cnbeta = F16Aero.deltaCnbeta(alpha);
 90 | delta_Clbeta = F16Aero.deltaClbeta(alpha);
 91 | delta_Cm = F16Aero.deltaCm(alpha);
 92 | eta_el = F16Aero.eta_el(ele);
 93 | delta_Cm_ds = 0; % Ignore deep-stall effects.
 94 | 
 95 | % Compute total aerodynamic coefficients
 96 | % ======================================
 97 | % Compute total Cx
 98 | dXdq = (Param.cbar/(2*Vt))*(Cxq + delta_Cxq_lef*dlef);
 99 | Cx_tot = Cx + delta_Cx_lef*dlef + dXdq*q;
100 | 
101 | % Compute total Cz
102 | dZdq = (Param.cbar/(2*Vt))*(Czq + delta_Cz_lef*dlef);
103 | Cz_tot = Cz + delta_Cz_lef*dlef + dZdq*q;
104 | 
105 | % Compute total Cm
106 | dMdq = (Param.cbar/(2*Vt))*(Cmq + delta_Cmq_lef*dlef);
107 | Cm_tot = Cm*eta_el + Cz_tot*(Param.xcgr - Param.xcg) + delta_Cm_lef*dlef + dMdq*q + delta_Cm + delta_Cm_ds;
108 | 
109 | % Compute total Cy
110 | dYdail = delta_Cy_a20 + delta_Cy_a20_lef*dlef;
111 | dYdr = (Param.b/(2*Vt))*(Cyr + delta_Cyr_lef*dlef);
112 | dYdp = (Param.b/(2*Vt))*(Cyp + delta_Cyp_lef*dlef);
113 | Cy_tot = Cy + delta_Cy_lef*dlef + dYdail*dail + delta_Cy_r30*drud + dYdr*r + dYdp*p;
114 | 
115 | % Compute total Cn
116 | dNdail = delta_Cn_a20 + delta_Cn_a20_lef*dlef;
117 | dNdr = (Param.b/(2*Vt))*(Cnr + delta_Cnr_lef*dlef);
118 | dNdp = (Param.b/(2*Vt))*(Cnp + delta_Cnp_lef*dlef);
119 | Cn_tot = Cn + delta_Cn_lef*dlef - Cy_tot*(Param.xcgr - Param.xcg)*(Param.cbar/Param.b) + dNdail*dail + delta_Cn_r30*drud + dNdr*r + dNdp*p + delta_Cnbeta*beta;
120 | 
121 | % Compute total Cl
122 | dLdail = delta_Cl_a20 + delta_Cl_a20_lef*dlef;
123 | dLdr = (Param.b/(2*Vt))*(Clr + delta_Clr_lef*dlef);
124 | dLdp = (Param.b/(2*Vt))*(Clp + delta_Clp_lef*dlef);
125 | Cl_tot = Cl + delta_Cl_lef*dlef + dLdail*dail + delta_Cl_r30*drud + dLdr*r + dLdp*p + delta_Clbeta*beta;
126 | 
127 | % Compute forces
128 | Fx = qbar*Param.S*Cx_tot;
129 | Fy = qbar*Param.S*Cy_tot;
130 | Fz = qbar*Param.S*Cz_tot;
131 | 
132 | % Compute moments
133 | L = Cl_tot*qbar*Param.S*Param.b;  
134 | M = Cm_tot*qbar*Param.S*Param.cbar;
135 | N = Cn_tot*qbar*Param.S*Param.b;
136 | 
137 | 
138 | % Fb = [Fx,Fy,Fz];
139 | % Mb = [L,M,N];
140 | 
141 | FM = [Fx,Fy,Fz,L,M,N];
142 | 
143 | if isnan(norm(FM))
144 |     keyboard
145 | end
146 | 
147 | end
148 | 


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/F16Testing.slx:
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https://raw.githubusercontent.com/isrlab/F16-Model-Matlab/d019742f2fe7f5f25c521bc7e846519b28b759b3/F16Testing.slx


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/F16_2022a.mdl:
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   1 | # MathWorks OPC Text Package
   2 | Model {
   3 |   Version  10.5
   4 |   Description "Simulink model exported from R2024b to R2022a format"
   5 | }
   6 | __MWOPC_PACKAGE_BEGIN__ R2024b
   7 | __MWOPC_PART_BEGIN__ /[Content_Types].xml
   8 | <?xml version="1.0" encoding="UTF-8" standalone="yes" ?>
   9 | <Types xmlns="http://schemas.openxmlformats.org/package/2006/content-types">
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  13 |   <Override ContentType="application/vnd.mathworks.package.coreProperties+xml" PartName="/metadata/mwcoreProperties.xml"/>
  14 |   <Override ContentType="application/vnd.mathworks.package.corePropertiesExtension+xml" PartName="/metadata/mwcorePropertiesExtension.xml"/>
  15 |   <Override ContentType="application/vnd.mathworks.simulink.configSet+xml" PartName="/simulink/configSet0.xml"/>
  16 |   <Override ContentType="application/vnd.mathworks.simulink.configSetInfo+xml" PartName="/simulink/configSetInfo.xml"/>
  17 |   <Override ContentType="application/vnd.mathworks.simulink.graphicalInterface+json" PartName="/simulink/graphicalInterface.xml"/>
  18 |   <Override ContentType="application/vnd.mathworks.simulink.mf0+xml" PartName="/simulink/modelDictionary.xml"/>
  19 |   <Override ContentType="application/vnd.mathworks.simulink.pluginParameters+xml" PartName="/simulink/plugins/SimscapeModelParametersPlugin.xml"/>
  20 |   <Override ContentType="application/vnd.mathworks.simulink.ScheduleCore+xml" PartName="/simulink/ScheduleCore.xml"/>
  21 |   <Override ContentType="application/vnd.mathworks.simulink.ScheduleEditor+xml" PartName="/simulink/ScheduleEditor.xml"/>
  22 |   <Override ContentType="application/vnd.mathworks.stateflow.chart+xml" PartName="/simulink/stateflow/chart_8.xml"/>
  23 |   <Override ContentType="application/vnd.mathworks.stateflow.machine+xml" PartName="/simulink/stateflow/machine.xml"/>
  24 |   <Override ContentType="application/vnd.mathworks.simulink.blockDiagram+xml" PartName="/simulink/windowsInfo.xml"/>
  25 | </Types>
  26 | 
  27 | __MWOPC_PART_BEGIN__ /_rels/.rels
  28 | <?xml version="1.0" encoding="UTF-8" standalone="yes" ?>
  29 | <Relationships xmlns="http://schemas.openxmlformats.org/package/2006/relationships">
  30 |   <Relationship Id="blockDiagram" Target="simulink/blockdiagram.xml" Type="http://schemas.mathworks.com/simulink/2010/relationships/blockDiagram"/>
  31 |   <Relationship Id="blockDiagramDefaults" Target="simulink/bddefaults.xml" Type="http://schemas.mathworks.com/simulink/2017/relationships/blockDiagramDefaults"/>
  32 |   <Relationship Id="configSetInfo" Target="simulink/configSetInfo.xml" Type="http://schemas.mathworks.com/simulink/2014/relationships/configSetInfo"/>
  33 |   <Relationship Id="modelDictionary" Target="simulink/modelDictionary.xml" Type="http://schemas.mathworks.com/simulinkModel/2016/relationships/modelDictionary"/>
  34 |   <Relationship Id="rId1" Target="metadata/mwcoreProperties.xml" Type="http://schemas.mathworks.com/package/2012/relationships/coreProperties"/>
  35 |   <Relationship Id="rId2" Target="metadata/mwcorePropertiesExtension.xml" Type="http://schemas.mathworks.com/package/2014/relationships/corePropertiesExtension"/>
  36 |   <Relationship Id="rId3" Target="metadata/coreProperties.xml" Type="http://schemas.openxmlformats.org/package/2006/relationships/metadata/core-properties"/>
  37 | </Relationships>
  38 | 
  39 | __MWOPC_PART_BEGIN__ /metadata/coreProperties.xml
  40 | <?xml version="1.0" encoding="UTF-8" standalone="yes" ?>
  41 | <cp:coreProperties xmlns:cp="http://schemas.openxmlformats.org/package/2006/metadata/core-properties" xmlns:dc="http://purl.org/dc/elements/1.1/" xmlns:dcmitype="http://purl.org/dc/dcmitype/" xmlns:dcterms="http://purl.org/dc/terms/" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
  42 |   <cp:category>model</cp:category>
  43 |   <cp:contentStatus></cp:contentStatus>
  44 |   <dcterms:created xsi:type="dcterms:W3CDTF">2022-01-03T18:52:29Z</dcterms:created>
  45 |   <dc:creator>sherpa</dc:creator>
  46 |   <cp:lastModifiedBy>sherpa</cp:lastModifiedBy>
  47 |   <dcterms:modified xsi:type="dcterms:W3CDTF">2025-02-07T04:25:52Z</dcterms:modified>
  48 |   <cp:revision>9.4</cp:revision>
  49 |   <cp:version>R2022a</cp:version>
  50 | </cp:coreProperties>
  51 | 
  52 | __MWOPC_PART_BEGIN__ /metadata/mwcoreProperties.xml
  53 | <?xml version="1.0" encoding="UTF-8" standalone="yes" ?>
  54 | <mwcoreProperties xmlns="http://schemas.mathworks.com/package/2012/coreProperties">
  55 |   <contentType>application/vnd.mathworks.simulink.model</contentType>
  56 |   <contentTypeFriendlyName>Simulink Model</contentTypeFriendlyName>
  57 |   <matlabRelease>R2022a</matlabRelease>
  58 | </mwcoreProperties>
  59 | 
  60 | __MWOPC_PART_BEGIN__ /metadata/mwcorePropertiesExtension.xml
  61 | <?xml version="1.0" encoding="UTF-8" standalone="yes" ?>
  62 | <mwcoreProperties xmlns="http://schemas.mathworks.com/package/2014/corePropertiesExtension">
  63 |   <uuid>2bc3bc68-94db-46af-bf99-4bd93440a67d</uuid>
  64 | </mwcoreProperties>
  65 | 
  66 | __MWOPC_PART_BEGIN__ /simulink/_rels/blockdiagram.xml.rels
  67 | <?xml version="1.0" encoding="UTF-8" standalone="yes" ?>
  68 | <Relationships xmlns="http://schemas.openxmlformats.org/package/2006/relationships">
  69 |   <Relationship Id="ScheduleCore" Target="ScheduleCore.xml" Type="http://schemas.mathworks.com/simulink/2013/relationships/ScheduleCore"/>
  70 |   <Relationship Id="ScheduleEditor" Target="ScheduleEditor.xml" Type="http://schemas.mathworks.com/simulink/2013/relationships/ScheduleEditor"/>
  71 |   <Relationship Id="SimscapeModelParametersPlugin" Target="plugins/SimscapeModelParametersPlugin.xml" Type="http://schemas.mathworks.com/simulinkModel/2014/relationships/pluginParameters"/>
  72 |   <Relationship Id="graphicalInterface" Target="graphicalInterface.xml" Type="http://schemas.mathworks.com/simulinkModel/2014/relationships/graphicalInterface"/>
  73 |   <Relationship Id="stateflow_machine" Target="stateflow/machine.xml" Type="http://schemas.mathworks.com/simulinkModel/2014/relationships/stateflowMachine"/>
  74 |   <Relationship Id="system_root" Target="systems/system_root.xml" Type="http://schemas.mathworks.com/simulink/2010/relationships/system"/>
  75 |   <Relationship Id="windowsInfo" Target="windowsInfo.xml" Type="http://schemas.mathworks.com/simulinkModel/2019/relationships/windowsInfo"/>
  76 | </Relationships>
  77 | 
  78 | __MWOPC_PART_BEGIN__ /simulink/_rels/configSetInfo.xml.rels
  79 | <?xml version="1.0" encoding="UTF-8" standalone="yes" ?>
  80 | <Relationships xmlns="http://schemas.openxmlformats.org/package/2006/relationships">
  81 |   <Relationship Id="configSet0" Target="configSet0.xml" Type="http://schemas.mathworks.com/simulink/2014/relationships/configSet"/>
  82 | </Relationships>
  83 | 
  84 | __MWOPC_PART_BEGIN__ /simulink/bddefaults.xml
  85 | <?xml version="1.0" encoding="utf-8"?>
  86 | <BlockDiagramDefaults>
  87 |   <MaskDefaults SelfModifiable="off">
  88 |     <Display IconFrame="on" IconOpaque="opaque" RunInitForIconRedraw="analyze" IconRotate="none" PortRotate="default" IconUnits="autoscale"/>
  89 |     <MaskParameter Evaluate="on" Tunable="on" NeverSave="off" Internal="off" ReadOnly="off" Enabled="on" Visible="on" ToolTip="on"/>
  90 |     <DialogControl>
  91 |       <ControlOptions Visible="on" Enabled="on" Row="new" HorizontalStretch="on" PromptLocation="top" Orientation="horizontal" Scale="linear" TextType="Plain Text" Expand="off" ShowFilter="on" ShowParameterName="on" WordWrap="on" AlignPrompts="off"/>
  92 |     </DialogControl>
  93 |   </MaskDefaults>
  94 | </BlockDiagramDefaults>
  95 | 
  96 | __MWOPC_PART_BEGIN__ /simulink/blockdiagram.xml
  97 | <?xml version="1.0" encoding="utf-8"?>
  98 | <ModelInformation Version="1.0">
  99 |   <Model>
 100 |     <P Name="ModelUUID">277a7258-65a5-482f-ab5f-cc4d492c78ee</P>
 101 |     <P Name="LastSavedArchitecture">maca64</P>
 102 |     <ConfigManagerSettings>
 103 |       <P Name="ModifiedByFormat">%&lt;Auto&gt;</P>
 104 |       <P Name="ModifiedDateFormat">%&lt;Auto&gt;</P>
 105 |       <P Name="ModelVersionFormat">%&lt;AutoIncrement:4.0&gt;</P>
 106 |     </ConfigManagerSettings>
 107 |     <SimulationSettings>
 108 |       <P Name="SimulationMode">normal</P>
 109 |       <Object PropName="DataLoggingOverride" ObjectID="1" ClassName="Simulink.SimulationData.ModelLoggingInfo">
 110 |         <P Name="model_" Class="char">$bdroot</P>
 111 |         <P Name="overrideMode_" Class="uint32">0U</P>
 112 |         <Array PropName="logAsSpecifiedByModels_" Type="Cell" Dimension="1*1">
 113 |           <Cell Class="char">$bdroot</Cell>
 114 |         </Array>
 115 |         <Array PropName="logAsSpecifiedByModelsSSIDs_" Type="Cell" Dimension="1*1">
 116 |           <Cell Class="double">[]</Cell>
 117 |         </Array>
 118 |       </Object>
 119 |     </SimulationSettings>
 120 |     <EngineSettings>
 121 |       <P Name="ConfigurableSubsystemUsage">warning</P>
 122 |     </EngineSettings>
 123 |     <ConcurrentExecutionSettings>
 124 |       <Object PropName="DataTransfer" ObjectID="2" ClassName="Simulink.GlobalDataTransfer">
 125 |         <P Name="DefaultTransitionBetweenSyncTasks" Class="char">Ensure deterministic transfer (maximum delay)</P>
 126 |         <P Name="DefaultTransitionBetweenAsyncTasks" Class="char">Ensure data integrity only</P>
 127 |         <P Name="DefaultTransitionBetweenContTasks" Class="char">Ensure deterministic transfer (minimum delay)</P>
 128 |         <P Name="DefaultExtrapolationMethodBetweenContTasks" Class="char">None</P>
 129 |       </Object>
 130 |     </ConcurrentExecutionSettings>
 131 |     <System Ref="system_root"/>
 132 |   </Model>
 133 | </ModelInformation>
 134 | 
 135 | __MWOPC_PART_BEGIN__ /simulink/configSet0.xml
 136 | <?xml version="1.0" encoding="utf-8"?>
 137 | <ConfigSet>
 138 |   <Object Version="22.0.0" ClassName="Simulink.ConfigSet">
 139 |     <P Name="DisabledProps" Class="double">[]</P>
 140 |     <P Name="Description"/>
 141 |     <Array PropName="Components" Type="Handle" Dimension="1*9">
 142 |       <Object ObjectID="2" Version="22.0.0" ClassName="Simulink.SolverCC">
 143 |         <P Name="DisabledProps" Class="double">[]</P>
 144 |         <P Name="Description"/>
 145 |         <P Name="Components" Class="double">[]</P>
 146 |         <P Name="StartTime">0.0</P>
 147 |         <P Name="StopTime">Tend</P>
 148 |         <P Name="AbsTol">auto</P>
 149 |         <P Name="AutoScaleAbsTol">on</P>
 150 |         <P Name="FixedStep">auto</P>
 151 |         <P Name="InitialStep">auto</P>
 152 |         <P Name="MaxOrder">5</P>
 153 |         <P Name="ZcThreshold">auto</P>
 154 |         <P Name="ConsecutiveZCsStepRelTol">10*128*eps</P>
 155 |         <P Name="MaxConsecutiveZCs">1000</P>
 156 |         <P Name="ExtrapolationOrder">4</P>
 157 |         <P Name="NumberNewtonIterations">1</P>
 158 |         <P Name="MaxStep">auto</P>
 159 |         <P Name="MinStep">auto</P>
 160 |         <P Name="MaxConsecutiveMinStep">1</P>
 161 |         <P Name="RelTol">1e-3</P>
 162 |         <P Name="EnableMultiTasking">off</P>
 163 |         <P Name="AllowMultiTaskInputOutput">off</P>
 164 |         <P Name="ConcurrentTasks">off</P>
 165 |         <P Name="SolverName">VariableStepAuto</P>
 166 |         <P Name="SolverJacobianMethodControl">auto</P>
 167 |         <P Name="DaesscMode">auto</P>
 168 |         <P Name="ShapePreserveControl">DisableAll</P>
 169 |         <P Name="ZeroCrossControl">UseLocalSettings</P>
 170 |         <P Name="ZeroCrossAlgorithm">Nonadaptive</P>
 171 |         <P Name="AlgebraicLoopSolver">TrustRegion</P>
 172 |         <P Name="SolverInfoToggleStatus">on</P>
 173 |         <P Name="IsAutoAppliedInSIP">off</P>
 174 |         <P Name="SolverResetMethod">Fast</P>
 175 |         <P Name="PositivePriorityOrder">off</P>
 176 |         <P Name="AutoInsertRateTranBlk">off</P>
 177 |         <P Name="SampleTimeConstraint">Unconstrained</P>
 178 |         <P Name="InsertRTBMode">Whenever possible</P>
 179 |         <P Name="SampleTimeProperty" Class="double">[]</P>
 180 |         <P Name="DecoupledContinuousIntegration">off</P>
 181 |         <P Name="MinimalZcImpactIntegration">off</P>
 182 |         <P Name="ODENIntegrationMethod">ode3</P>
 183 |         <P Name="EnableFixedStepZeroCrossing">off</P>
 184 |         <P Name="MaxZcPerStep">2</P>
 185 |         <P Name="MaxZcBracketingIterations">10</P>
 186 |       </Object>
 187 |       <Object ObjectID="3" Version="22.0.0" ClassName="Simulink.DataIOCC">
 188 |         <P Name="DisabledProps" Class="double">[]</P>
 189 |         <P Name="Description"/>
 190 |         <P Name="Components" Class="double">[]</P>
 191 |         <P Name="Decimation">1</P>
 192 |         <P Name="ExternalInput"/>
 193 |         <P Name="FinalStateName">xFinal</P>
 194 |         <P Name="InitialState"/>
 195 |         <P Name="LimitDataPoints">off</P>
 196 |         <P Name="MaxDataPoints">1000</P>
 197 |         <P Name="LoadExternalInput">off</P>
 198 |         <P Name="LoadInitialState">off</P>
 199 |         <P Name="SaveFinalState">off</P>
 200 |         <P Name="SaveOperatingPoint">off</P>
 201 |         <P Name="SaveFormat">Dataset</P>
 202 |         <P Name="SignalLoggingSaveFormat">Dataset</P>
 203 |         <P Name="SaveOutput">on</P>
 204 |         <P Name="SaveState">off</P>
 205 |         <P Name="SignalLogging">on</P>
 206 |         <P Name="DSMLogging">on</P>
 207 |         <P Name="StreamToWks">on</P>
 208 |         <P Name="InspectSignalLogs">off</P>
 209 |         <P Name="VisualizeSimOutput">on</P>
 210 |         <P Name="StreamToWorkspace">off</P>
 211 |         <P Name="StreamVariableName">streamout</P>
 212 |         <P Name="SaveTime">on</P>
 213 |         <P Name="ReturnWorkspaceOutputs">on</P>
 214 |         <P Name="StateSaveName">xout</P>
 215 |         <P Name="TimeSaveName">tout</P>
 216 |         <P Name="OutputSaveName">yout</P>
 217 |         <P Name="SignalLoggingName">logsout</P>
 218 |         <P Name="DSMLoggingName">dsmout</P>
 219 |         <P Name="OutputOption">RefineOutputTimes</P>
 220 |         <P Name="OutputTimes">[]</P>
 221 |         <P Name="ReturnWorkspaceOutputsName">out</P>
 222 |         <P Name="Refine">1</P>
 223 |         <P Name="LoggingToFile">off</P>
 224 |         <P Name="DatasetSignalFormat">timeseries</P>
 225 |         <P Name="LoggingFileName">out.mat</P>
 226 |         <P Name="LoggingIntervals">[-inf, inf]</P>
 227 |       </Object>
 228 |       <Object ObjectID="4" Version="22.0.0" ClassName="Simulink.OptimizationCC">
 229 |         <Array PropName="DisabledProps" Type="Cell" Dimension="1*9">
 230 |           <Cell Class="char">BooleansAsBitfields</Cell>
 231 |           <Cell Class="char">PassReuseOutputArgsAs</Cell>
 232 |           <Cell Class="char">PassReuseOutputArgsThreshold</Cell>
 233 |           <Cell Class="char">ZeroExternalMemoryAtStartup</Cell>
 234 |           <Cell Class="char">ZeroInternalMemoryAtStartup</Cell>
 235 |           <Cell Class="char">OptimizeModelRefInitCode</Cell>
 236 |           <Cell Class="char">NoFixptDivByZeroProtection</Cell>
 237 |           <Cell Class="char">UseSpecifiedMinMax</Cell>
 238 |           <Cell Class="char">EfficientTunableParamExpr</Cell>
 239 |         </Array>
 240 |         <P Name="Description"/>
 241 |         <P Name="Components" Class="double">[]</P>
 242 |         <P Name="BlockReduction">on</P>
 243 |         <P Name="BooleanDataType">on</P>
 244 |         <P Name="ConditionallyExecuteInputs">on</P>
 245 |         <P Name="DefaultParameterBehavior">Tunable</P>
 246 |         <P Name="UseDivisionForNetSlopeComputation">off</P>
 247 |         <P Name="GainParamInheritBuiltInType">off</P>
 248 |         <P Name="UseFloatMulNetSlope">off</P>
 249 |         <P Name="InheritOutputTypeSmallerThanSingle">off</P>
 250 |         <P Name="DefaultUnderspecifiedDataType">double</P>
 251 |         <P Name="UseSpecifiedMinMax">off</P>
 252 |         <P Name="InlineInvariantSignals">off</P>
 253 |         <P Name="OptimizeBlockIOStorage">on</P>
 254 |         <P Name="BufferReuse">on</P>
 255 |         <P Name="EnhancedBackFolding">off</P>
 256 |         <P Name="CachingGlobalReferences">off</P>
 257 |         <P Name="GlobalBufferReuse">on</P>
 258 |         <P Name="StrengthReduction">off</P>
 259 |         <P Name="AdvancedOptControl"/>
 260 |         <P Name="ExpressionFolding">on</P>
 261 |         <P Name="BooleansAsBitfields">off</P>
 262 |         <P Name="BitfieldContainerType">uint_T</P>
 263 |         <P Name="BitwiseOrLogicalOp">Same as modeled</P>
 264 |         <P Name="EnableMemcpy">on</P>
 265 |         <P Name="MemcpyThreshold">64</P>
 266 |         <P Name="PassReuseOutputArgsAs">Structure reference</P>
 267 |         <P Name="PassReuseOutputArgsThreshold">12</P>
 268 |         <P Name="ExpressionDepthLimit">128</P>
 269 |         <P Name="LocalBlockOutputs">on</P>
 270 |         <P Name="RollThreshold">5</P>
 271 |         <P Name="StateBitsets">off</P>
 272 |         <P Name="DataBitsets">off</P>
 273 |         <P Name="ActiveStateOutputEnumStorageType">Native Integer</P>
 274 |         <P Name="ZeroExternalMemoryAtStartup">on</P>
 275 |         <P Name="ZeroInternalMemoryAtStartup">on</P>
 276 |         <P Name="InitFltsAndDblsToZero">off</P>
 277 |         <P Name="NoFixptDivByZeroProtection">off</P>
 278 |         <P Name="EfficientFloat2IntCast">off</P>
 279 |         <P Name="EfficientMapNaN2IntZero">on</P>
 280 |         <P Name="LifeSpan">auto</P>
 281 |         <P Name="MaxStackSize">Inherit from target</P>
 282 |         <P Name="BufferReusableBoundary">on</P>
 283 |         <P Name="SimCompilerOptimization">off</P>
 284 |         <P Name="AccelVerboseBuild">off</P>
 285 |         <P Name="OptimizeBlockOrder">off</P>
 286 |         <P Name="OptimizeDataStoreBuffers">on</P>
 287 |         <P Name="BusAssignmentInplaceUpdate">on</P>
 288 |         <P Name="DifferentSizesBufferReuse">off</P>
 289 |         <P Name="UseRowMajorAlgorithm">off</P>
 290 |         <P Name="OptimizationLevel">level2</P>
 291 |         <P Name="OptimizationPriority">Balanced</P>
 292 |         <P Name="OptimizationCustomize">on</P>
 293 |         <P Name="LabelGuidedReuse">off</P>
 294 |         <P Name="MultiThreadedLoops">off</P>
 295 |         <P Name="DenormalBehavior">GradualUnderflow</P>
 296 |         <P Name="EfficientTunableParamExpr">off</P>
 297 |       </Object>
 298 |       <Object ObjectID="5" Version="22.0.0" ClassName="Simulink.DebuggingCC">
 299 |         <Array PropName="DisabledProps" Type="Cell" Dimension="1*1">
 300 |           <Cell Class="char">UseOnlyExistingSharedCode</Cell>
 301 |         </Array>
 302 |         <P Name="Description"/>
 303 |         <P Name="Components" Class="double">[]</P>
 304 |         <P Name="RTPrefix">error</P>
 305 |         <P Name="ConsistencyChecking">none</P>
 306 |         <P Name="ArrayBoundsChecking">none</P>
 307 |         <P Name="SignalInfNanChecking">none</P>
 308 |         <P Name="StringTruncationChecking">error</P>
 309 |         <P Name="SignalRangeChecking">none</P>
 310 |         <P Name="ReadBeforeWriteMsg">UseLocalSettings</P>
 311 |         <P Name="WriteAfterWriteMsg">UseLocalSettings</P>
 312 |         <P Name="WriteAfterReadMsg">UseLocalSettings</P>
 313 |         <P Name="AlgebraicLoopMsg">warning</P>
 314 |         <P Name="ArtificialAlgebraicLoopMsg">warning</P>
 315 |         <P Name="SaveWithDisabledLinksMsg">warning</P>
 316 |         <P Name="SaveWithParameterizedLinksMsg">warning</P>
 317 |         <P Name="CheckSSInitialOutputMsg">on</P>
 318 |         <P Name="UnderspecifiedInitializationDetection">Simplified</P>
 319 |         <P Name="MergeDetectMultiDrivingBlocksExec">error</P>
 320 |         <P Name="CheckExecutionContextPreStartOutputMsg">off</P>
 321 |         <P Name="SignalResolutionControl">UseLocalSettings</P>
 322 |         <P Name="BlockPriorityViolationMsg">warning</P>
 323 |         <P Name="MinStepSizeMsg">warning</P>
 324 |         <P Name="TimeAdjustmentMsg">none</P>
 325 |         <P Name="MaxConsecutiveZCsMsg">error</P>
 326 |         <P Name="MaskedZcDiagnostic">warning</P>
 327 |         <P Name="IgnoredZcDiagnostic">warning</P>
 328 |         <P Name="SolverPrmCheckMsg">none</P>
 329 |         <P Name="InheritedTsInSrcMsg">warning</P>
 330 |         <P Name="MultiTaskDSMMsg">error</P>
 331 |         <P Name="MultiTaskCondExecSysMsg">error</P>
 332 |         <P Name="MultiTaskRateTransMsg">error</P>
 333 |         <P Name="SingleTaskRateTransMsg">none</P>
 334 |         <P Name="TasksWithSamePriorityMsg">warning</P>
 335 |         <P Name="ExportedTasksRateTransMsg">none</P>
 336 |         <P Name="SigSpecEnsureSampleTimeMsg">warning</P>
 337 |         <P Name="CheckMatrixSingularityMsg">none</P>
 338 |         <P Name="IntegerOverflowMsg">warning</P>
 339 |         <P Name="Int32ToFloatConvMsg">warning</P>
 340 |         <P Name="ParameterDowncastMsg">error</P>
 341 |         <P Name="ParameterOverflowMsg">error</P>
 342 |         <P Name="ParameterUnderflowMsg">none</P>
 343 |         <P Name="ParameterPrecisionLossMsg">warning</P>
 344 |         <P Name="ParameterTunabilityLossMsg">warning</P>
 345 |         <P Name="FixptConstUnderflowMsg">none</P>
 346 |         <P Name="FixptConstOverflowMsg">none</P>
 347 |         <P Name="FixptConstPrecisionLossMsg">none</P>
 348 |         <P Name="UnderSpecifiedDataTypeMsg">none</P>
 349 |         <P Name="UnnecessaryDatatypeConvMsg">none</P>
 350 |         <P Name="VectorMatrixConversionMsg">none</P>
 351 |         <P Name="FcnCallInpInsideContextMsg">error</P>
 352 |         <P Name="SignalLabelMismatchMsg">none</P>
 353 |         <P Name="UnconnectedInputMsg">warning</P>
 354 |         <P Name="UnconnectedOutputMsg">warning</P>
 355 |         <P Name="UnconnectedLineMsg">warning</P>
 356 |         <P Name="UseOnlyExistingSharedCode">error</P>
 357 |         <P Name="SFcnCompatibilityMsg">none</P>
 358 |         <P Name="FrameProcessingCompatibilityMsg">error</P>
 359 |         <P Name="UniqueDataStoreMsg">none</P>
 360 |         <P Name="BusObjectLabelMismatch">warning</P>
 361 |         <P Name="RootOutportRequireBusObject">warning</P>
 362 |         <P Name="AssertControl">UseLocalSettings</P>
 363 |         <P Name="AllowSymbolicDim">on</P>
 364 |         <P Name="RowMajorDimensionSupport">off</P>
 365 |         <P Name="ModelReferenceMultiInstanceNormalModeStructChecksumCheck">error</P>
 366 |         <P Name="ModelReferenceVersionMismatchMessage">none</P>
 367 |         <P Name="ModelReferenceIOMismatchMessage">none</P>
 368 |         <P Name="UnknownTsInhSupMsg">warning</P>
 369 |         <P Name="ModelReferenceDataLoggingMessage">warning</P>
 370 |         <P Name="ModelReferenceNoExplicitFinalValueMsg">none</P>
 371 |         <P Name="ModelReferenceSymbolNameMessage">warning</P>
 372 |         <P Name="StateNameClashWarn">none</P>
 373 |         <P Name="OperatingPointInterfaceChecksumMismatchMsg">warning</P>
 374 |         <P Name="NonCurrentReleaseOperatingPointMsg">error</P>
 375 |         <P Name="PregeneratedLibrarySubsystemCodeDiagnostic">warning</P>
 376 |         <P Name="MatchCodeGenerationContextForUpdateDiagram">none</P>
 377 |         <P Name="InitInArrayFormatMsg">warning</P>
 378 |         <P Name="StrictBusMsg">ErrorLevel1</P>
 379 |         <P Name="BusNameAdapt">WarnAndRepair</P>
 380 |         <P Name="NonBusSignalsTreatedAsBus">none</P>
 381 |         <P Name="SymbolicDimMinMaxWarning">warning</P>
 382 |         <P Name="LossOfSymbolicDimsSimulationWarning">warning</P>
 383 |         <P Name="LossOfSymbolicDimsCodeGenerationWarning">error</P>
 384 |         <P Name="SymbolicDimsDataTypeCodeGenerationDiagnostic">error</P>
 385 |         <P Name="BlockIODiagnostic">none</P>
 386 |         <P Name="SFUnusedDataAndEventsDiag">warning</P>
 387 |         <P Name="SFUnexpectedBacktrackingDiag">error</P>
 388 |         <P Name="SFInvalidInputDataAccessInChartInitDiag">warning</P>
 389 |         <P Name="SFNoUnconditionalDefaultTransitionDiag">error</P>
 390 |         <P Name="SFTransitionOutsideNaturalParentDiag">warning</P>
 391 |         <P Name="SFUnreachableExecutionPathDiag">warning</P>
 392 |         <P Name="SFUndirectedBroadcastEventsDiag">warning</P>
 393 |         <P Name="SFTransitionActionBeforeConditionDiag">warning</P>
 394 |         <P Name="SFOutputUsedAsStateInMooreChartDiag">error</P>
 395 |         <P Name="SFTemporalDelaySmallerThanSampleTimeDiag">warning</P>
 396 |         <P Name="SFSelfTransitionDiag">warning</P>
 397 |         <P Name="SFExecutionAtInitializationDiag">warning</P>
 398 |         <P Name="IntegerSaturationMsg">warning</P>
 399 |         <P Name="AllowedUnitSystems">all</P>
 400 |         <P Name="UnitsInconsistencyMsg">warning</P>
 401 |         <P Name="AllowAutomaticUnitConversions">on</P>
 402 |         <P Name="RCSCRenamedMsg">warning</P>
 403 |         <P Name="RCSCObservableMsg">warning</P>
 404 |         <P Name="ForceCombineOutputUpdateInSim">off</P>
 405 |         <P Name="UnitDatabase"/>
 406 |         <P Name="UnderSpecifiedDimensionMsg">none</P>
 407 |         <P Name="DebugExecutionForFMUViaOutOfProcess">off</P>
 408 |         <P Name="ArithmeticOperatorsInVariantConditions">error</P>
 409 |         <P Name="VariantConditionMismatch">none</P>
 410 |       </Object>
 411 |       <Object ObjectID="6" Version="22.0.0" ClassName="Simulink.HardwareCC">
 412 |         <P Name="DisabledProps" Class="double">[]</P>
 413 |         <P Name="Description"/>
 414 |         <P Name="Components" Class="double">[]</P>
 415 |         <P Name="ProdBitPerChar">8</P>
 416 |         <P Name="ProdBitPerShort">16</P>
 417 |         <P Name="ProdBitPerInt">32</P>
 418 |         <P Name="ProdBitPerLong">32</P>
 419 |         <P Name="ProdBitPerLongLong">64</P>
 420 |         <P Name="ProdBitPerFloat">32</P>
 421 |         <P Name="ProdBitPerDouble">64</P>
 422 |         <P Name="ProdBitPerPointer">64</P>
 423 |         <P Name="ProdBitPerSizeT">64</P>
 424 |         <P Name="ProdBitPerPtrDiffT">64</P>
 425 |         <P Name="ProdLargestAtomicInteger">Char</P>
 426 |         <P Name="ProdLargestAtomicFloat">Float</P>
 427 |         <P Name="ProdIntDivRoundTo">Zero</P>
 428 |         <P Name="ProdEndianess">LittleEndian</P>
 429 |         <P Name="ProdWordSize">64</P>
 430 |         <P Name="ProdShiftRightIntArith">on</P>
 431 |         <P Name="ProdLongLongMode">off</P>
 432 |         <P Name="ProdHWDeviceType">Intel-&gt;x86-64 (Windows64)</P>
 433 |         <P Name="TargetBitPerChar">8</P>
 434 |         <P Name="TargetBitPerShort">16</P>
 435 |         <P Name="TargetBitPerInt">32</P>
 436 |         <P Name="TargetBitPerLong">32</P>
 437 |         <P Name="TargetBitPerLongLong">64</P>
 438 |         <P Name="TargetBitPerFloat">32</P>
 439 |         <P Name="TargetBitPerDouble">64</P>
 440 |         <P Name="TargetBitPerPointer">32</P>
 441 |         <P Name="TargetBitPerSizeT">32</P>
 442 |         <P Name="TargetBitPerPtrDiffT">32</P>
 443 |         <P Name="TargetLargestAtomicInteger">Char</P>
 444 |         <P Name="TargetLargestAtomicFloat">None</P>
 445 |         <P Name="TargetShiftRightIntArith">on</P>
 446 |         <P Name="TargetLongLongMode">off</P>
 447 |         <P Name="TargetIntDivRoundTo">Undefined</P>
 448 |         <P Name="TargetEndianess">Unspecified</P>
 449 |         <P Name="TargetWordSize">32</P>
 450 |         <P Name="TargetPreprocMaxBitsSint">32</P>
 451 |         <P Name="TargetPreprocMaxBitsUint">32</P>
 452 |         <P Name="TargetHWDeviceType">Specified</P>
 453 |         <P Name="TargetUnknown">off</P>
 454 |         <P Name="ProdEqTarget">on</P>
 455 |         <P Name="UseEmbeddedCoderFeatures">on</P>
 456 |         <P Name="UseSimulinkCoderFeatures">on</P>
 457 |         <P Name="HardwareBoardFeatureSet">EmbeddedCoderHSP</P>
 458 |       </Object>
 459 |       <Object ObjectID="7" Version="22.0.0" ClassName="Simulink.ModelReferenceCC">
 460 |         <P Name="DisabledProps" Class="double">[]</P>
 461 |         <P Name="Description"/>
 462 |         <P Name="Components" Class="double">[]</P>
 463 |         <P Name="UpdateModelReferenceTargets">IfOutOfDateOrStructuralChange</P>
 464 |         <P Name="EnableRefExpFcnMdlSchedulingChecks">on</P>
 465 |         <P Name="CheckModelReferenceTargetMessage">error</P>
 466 |         <P Name="EnableParallelModelReferenceBuilds">off</P>
 467 |         <P Name="ParallelModelReferenceErrorOnInvalidPool">on</P>
 468 |         <P Name="ParallelModelReferenceMATLABWorkerInit">None</P>
 469 |         <P Name="ModelReferenceNumInstancesAllowed">Multi</P>
 470 |         <P Name="PropagateVarSize">Infer from blocks in model</P>
 471 |         <P Name="ModelDependencies"/>
 472 |         <P Name="ModelReferencePassRootInputsByReference">on</P>
 473 |         <P Name="ModelReferenceMinAlgLoopOccurrences">off</P>
 474 |         <P Name="PropagateSignalLabelsOutOfModel">on</P>
 475 |         <P Name="SupportModelReferenceSimTargetCustomCode">off</P>
 476 |         <P Name="UseModelRefSolver">off</P>
 477 |       </Object>
 478 |       <Object ObjectID="8" Version="22.0.0" ClassName="Simulink.SFSimCC">
 479 |         <P Name="DisabledProps" Class="double">[]</P>
 480 |         <P Name="Description"/>
 481 |         <P Name="Components" Class="double">[]</P>
 482 |         <P Name="SimCustomSourceCode"/>
 483 |         <P Name="SimCustomHeaderCode"/>
 484 |         <P Name="SimCustomInitializer"/>
 485 |         <P Name="SimCustomTerminator"/>
 486 |         <P Name="SimReservedNameArray" Class="double">[]</P>
 487 |         <P Name="SimUserSources"/>
 488 |         <P Name="SimUserIncludeDirs"/>
 489 |         <P Name="SimUserLibraries"/>
 490 |         <P Name="SimUserDefines"/>
 491 |         <P Name="SimCustomCompilerFlags"/>
 492 |         <P Name="SimCustomLinkerFlags"/>
 493 |         <P Name="SFSimEcho">on</P>
 494 |         <P Name="SimCtrlC">on</P>
 495 |         <P Name="SimIntegrity">on</P>
 496 |         <P Name="SimUseLocalCustomCode">on</P>
 497 |         <P Name="SimParseCustomCode">on</P>
 498 |         <P Name="SimAnalyzeCustomCode">off</P>
 499 |         <P Name="SimDebugExecutionForCustomCode">off</P>
 500 |         <P Name="SimGenImportedTypeDefs">off</P>
 501 |         <P Name="ModelFunctionsGlobalVisibility">on</P>
 502 |         <P Name="CompileTimeRecursionLimit">50</P>
 503 |         <P Name="EnableRuntimeRecursion">on</P>
 504 |         <P Name="EnableImplicitExpansion">on</P>
 505 |         <P Name="MATLABDynamicMemAlloc">on</P>
 506 |         <P Name="MATLABDynamicMemAllocThreshold">65536</P>
 507 |         <P Name="LegacyBehaviorForPersistentVarInContinuousTime">off</P>
 508 |         <P Name="CustomCodeFunctionArrayLayout" Class="double">[]</P>
 509 |         <P Name="DefaultCustomCodeFunctionArrayLayout">NotSpecified</P>
 510 |         <P Name="CustomCodeUndefinedFunction">FilterOut</P>
 511 |         <P Name="CustomCodeGlobalsAsFunctionIO">off</P>
 512 |         <P Name="DefaultCustomCodeDeterministicFunctions">None</P>
 513 |         <P Name="CustomCodeDeterministicFunctions"/>
 514 |         <P Name="SimHardwareAcceleration">generic</P>
 515 |         <P Name="SimTargetLang">C</P>
 516 |         <P Name="GPUAcceleration">off</P>
 517 |         <P Name="SimGPUMallocThreshold">200</P>
 518 |         <P Name="SimGPUStackLimitPerThread">1024</P>
 519 |         <P Name="SimGPUErrorChecks">off</P>
 520 |         <P Name="SimGPUCustomComputeCapability"/>
 521 |         <P Name="SimGPUCompilerFlags"/>
 522 |         <P Name="SimDLTargetLibrary">mkl-dnn</P>
 523 |         <P Name="SimDLAutoTuning">on</P>
 524 |       </Object>
 525 |       <Object BackupClass="Simulink.RTWCC" ObjectID="9" Version="22.0.0" ClassName="Simulink.RTWCC">
 526 |         <Array PropName="DisabledProps" Type="Cell" Dimension="1*15">
 527 |           <Cell Class="char">IncludeHyperlinkInReport</Cell>
 528 |           <Cell Class="char">GenerateTraceInfo</Cell>
 529 |           <Cell Class="char">GenerateTraceReport</Cell>
 530 |           <Cell Class="char">GenerateTraceReportSl</Cell>
 531 |           <Cell Class="char">GenerateTraceReportSf</Cell>
 532 |           <Cell Class="char">GenerateTraceReportEml</Cell>
 533 |           <Cell Class="char">PortableWordSizes</Cell>
 534 |           <Cell Class="char">GenerateWebview</Cell>
 535 |           <Cell Class="char">GenerateCodeMetricsReport</Cell>
 536 |           <Cell Class="char">GenerateCodeReplacementReport</Cell>
 537 |           <Cell Class="char">GenerateMissedCodeReplacementReport</Cell>
 538 |           <Cell Class="char">GenerateErtSFunction</Cell>
 539 |           <Cell Class="char">CreateSILPILBlock</Cell>
 540 |           <Cell Class="char">CodeProfilingInstrumentation</Cell>
 541 |           <Cell Class="char">CodeStackProfiling</Cell>
 542 |         </Array>
 543 |         <P Name="Description"/>
 544 |         <P Name="SystemTargetFile">grt.tlc</P>
 545 |         <P Name="EmbeddedCoderDictionary"/>
 546 |         <P Name="HardwareBoard">None</P>
 547 |         <P Name="ShowCustomHardwareApp">off</P>
 548 |         <P Name="ShowEmbeddedHardwareApp">off</P>
 549 |         <P Name="TLCOptions"/>
 550 |         <P Name="GenCodeOnly">off</P>
 551 |         <P Name="MakeCommand">make_rtw</P>
 552 |         <P Name="GenerateMakefile">on</P>
 553 |         <P Name="PackageGeneratedCodeAndArtifacts">off</P>
 554 |         <P Name="PackageName"/>
 555 |         <P Name="TemplateMakefile">grt_default_tmf</P>
 556 |         <P Name="PostCodeGenCommand"/>
 557 |         <P Name="GenerateReport">off</P>
 558 |         <P Name="RTWVerbose">on</P>
 559 |         <P Name="RetainRTWFile">off</P>
 560 |         <P Name="RTWBuildHooks" Class="double">[]</P>
 561 |         <P Name="ProfileTLC">off</P>
 562 |         <P Name="TLCDebug">off</P>
 563 |         <P Name="TLCCoverage">off</P>
 564 |         <P Name="TLCAssert">off</P>
 565 |         <P Name="RTWUseLocalCustomCode">on</P>
 566 |         <P Name="RTWUseSimCustomCode">off</P>
 567 |         <P Name="CustomSourceCode"/>
 568 |         <P Name="CustomHeaderCode"/>
 569 |         <P Name="CustomInclude"/>
 570 |         <P Name="CustomSource"/>
 571 |         <P Name="CustomLibrary"/>
 572 |         <P Name="CustomDefine"/>
 573 |         <P Name="CustomBLASCallback"/>
 574 |         <P Name="CustomLAPACKCallback"/>
 575 |         <P Name="CustomFFTCallback"/>
 576 |         <P Name="CustomInitializer"/>
 577 |         <P Name="CustomTerminator"/>
 578 |         <P Name="Toolchain">Automatically locate an installed toolchain</P>
 579 |         <P Name="BuildConfiguration">Faster Builds</P>
 580 |         <P Name="CustomToolchainOptions" Class="double">[]</P>
 581 |         <P Name="IncludeHyperlinkInReport">off</P>
 582 |         <P Name="LaunchReport">off</P>
 583 |         <P Name="PortableWordSizes">off</P>
 584 |         <P Name="CreateSILPILBlock">None</P>
 585 |         <P Name="CodeExecutionProfiling">off</P>
 586 |         <P Name="CodeExecutionProfileVariable">executionProfile</P>
 587 |         <P Name="CodeProfilingSaveOptions">SummaryOnly</P>
 588 |         <P Name="CodeProfilingInstrumentation">off</P>
 589 |         <P Name="CodeStackProfiling">off</P>
 590 |         <P Name="CodeStackProfileVariable">stackProfile</P>
 591 |         <P Name="SILDebugging">off</P>
 592 |         <P Name="TargetLang">C</P>
 593 |         <P Name="GenerateGPUCode">None</P>
 594 |         <P Name="IncludeBusHierarchyInRTWFileBlockHierarchyMap">off</P>
 595 |         <P Name="GenerateTraceInfo">off</P>
 596 |         <P Name="GenerateTraceReport">off</P>
 597 |         <P Name="GenerateTraceReportSl">off</P>
 598 |         <P Name="GenerateTraceReportSf">off</P>
 599 |         <P Name="GenerateTraceReportEml">off</P>
 600 |         <P Name="GenerateWebview">off</P>
 601 |         <P Name="GenerateCodeMetricsReport">off</P>
 602 |         <P Name="GenerateCodeReplacementReport">off</P>
 603 |         <P Name="GenerateMissedCodeReplacementReport">off</P>
 604 |         <P Name="RTWCompilerOptimization">off</P>
 605 |         <P Name="ObjectivePriorities" Class="double">[]</P>
 606 |         <P Name="RTWCustomCompilerOptimizations"/>
 607 |         <P Name="CheckMdlBeforeBuild">Off</P>
 608 |         <P Name="SharedConstantsCachingThreshold">1024</P>
 609 |         <P Name="GPUKernelNamePrefix"/>
 610 |         <P Name="GPUDeviceID">-1</P>
 611 |         <P Name="GPUMallocMode">discrete</P>
 612 |         <P Name="GPUMallocThreshold">200</P>
 613 |         <P Name="GPUEnableMemoryManager">off</P>
 614 |         <P Name="GPUStackLimitPerThread">1024</P>
 615 |         <P Name="GPUcuBLAS">on</P>
 616 |         <P Name="GPUcuSOLVER">on</P>
 617 |         <P Name="GPUcuFFT">on</P>
 618 |         <P Name="GPUErrorChecks">off</P>
 619 |         <P Name="GPUComputeCapability">3.5</P>
 620 |         <P Name="GPUCustomComputeCapability"/>
 621 |         <P Name="GPUCompilerFlags"/>
 622 |         <P Name="GPUMaximumBlocksPerKernel">0</P>
 623 |         <P Name="DLTargetLibrary">none</P>
 624 |         <P Name="DLAutoTuning">on</P>
 625 |         <P Name="DLArmComputeVersion">19.05</P>
 626 |         <P Name="DLArmComputeArch">unspecified</P>
 627 |         <Array PropName="Components" Type="Handle" Dimension="1*2">
 628 |           <Object ObjectID="10" Version="22.0.0" ClassName="Simulink.CodeAppCC">
 629 |             <Array PropName="DisabledProps" Type="Cell" Dimension="1*28">
 630 |               <Cell Class="char">IgnoreCustomStorageClasses</Cell>
 631 |               <Cell Class="char">IgnoreTestpoints</Cell>
 632 |               <Cell Class="char">BlockCommentType</Cell>
 633 |               <Cell Class="char">InsertBlockDesc</Cell>
 634 |               <Cell Class="char">InsertPolySpaceComments</Cell>
 635 |               <Cell Class="char">SFDataObjDesc</Cell>
 636 |               <Cell Class="char">MATLABFcnDesc</Cell>
 637 |               <Cell Class="char">SimulinkDataObjDesc</Cell>
 638 |               <Cell Class="char">DefineNamingRule</Cell>
 639 |               <Cell Class="char">SignalNamingRule</Cell>
 640 |               <Cell Class="char">ParamNamingRule</Cell>
 641 |               <Cell Class="char">InternalIdentifier</Cell>
 642 |               <Cell Class="char">InlinedPrmAccess</Cell>
 643 |               <Cell Class="char">CustomSymbolStr</Cell>
 644 |               <Cell Class="char">CustomSymbolStrGlobalVar</Cell>
 645 |               <Cell Class="char">CustomSymbolStrType</Cell>
 646 |               <Cell Class="char">CustomSymbolStrField</Cell>
 647 |               <Cell Class="char">CustomSymbolStrFcn</Cell>
 648 |               <Cell Class="char">CustomSymbolStrModelFcn</Cell>
 649 |               <Cell Class="char">CustomSymbolStrFcnArg</Cell>
 650 |               <Cell Class="char">CustomSymbolStrBlkIO</Cell>
 651 |               <Cell Class="char">CustomSymbolStrTmpVar</Cell>
 652 |               <Cell Class="char">CustomSymbolStrMacro</Cell>
 653 |               <Cell Class="char">CustomSymbolStrUtil</Cell>
 654 |               <Cell Class="char">CustomSymbolStrEmxType</Cell>
 655 |               <Cell Class="char">CustomSymbolStrEmxFcn</Cell>
 656 |               <Cell Class="char">CustomUserTokenString</Cell>
 657 |               <Cell Class="char">ReqsInCode</Cell>
 658 |             </Array>
 659 |             <P Name="Description"/>
 660 |             <P Name="Components" Class="double">[]</P>
 661 |             <P Name="Comment"/>
 662 |             <P Name="ForceParamTrailComments">off</P>
 663 |             <P Name="GenerateComments">on</P>
 664 |             <P Name="CommentStyle">Auto</P>
 665 |             <P Name="IgnoreCustomStorageClasses">on</P>
 666 |             <P Name="IgnoreTestpoints">off</P>
 667 |             <P Name="MaxIdLength">31</P>
 668 |             <P Name="PreserveName">off</P>
 669 |             <P Name="PreserveNameWithParent">off</P>
 670 |             <P Name="ShowEliminatedStatement">off</P>
 671 |             <P Name="OperatorAnnotations">off</P>
 672 |             <P Name="SimulinkDataObjDesc">off</P>
 673 |             <P Name="SFDataObjDesc">off</P>
 674 |             <P Name="MATLABFcnDesc">off</P>
 675 |             <P Name="MangleLength">1</P>
 676 |             <P Name="SharedChecksumLength">8</P>
 677 |             <P Name="CustomSymbolStrGlobalVar">$R$N$M</P>
 678 |             <P Name="CustomSymbolStrType">$N$R$M_T</P>
 679 |             <P Name="CustomSymbolStrField">$N$M</P>
 680 |             <P Name="CustomSymbolStrFcn">$R$N$M$F</P>
 681 |             <P Name="CustomSymbolStrModelFcn">$R$N</P>
 682 |             <P Name="CustomSymbolStrFcnArg">rt$I$N$M</P>
 683 |             <P Name="CustomSymbolStrBlkIO">rtb_$N$M</P>
 684 |             <P Name="CustomSymbolStrTmpVar">$N$M</P>
 685 |             <P Name="CustomSymbolStrMacro">$R$N$M</P>
 686 |             <P Name="CustomSymbolStrUtil">$N$C</P>
 687 |             <P Name="CustomSymbolStrEmxType">emxArray_$M$N</P>
 688 |             <P Name="CustomSymbolStrEmxFcn">emx$M$N</P>
 689 |             <P Name="CustomUserTokenString"/>
 690 |             <P Name="CustomCommentsFcn"/>
 691 |             <P Name="DefineNamingRule">None</P>
 692 |             <P Name="DefineNamingFcn"/>
 693 |             <P Name="ParamNamingRule">None</P>
 694 |             <P Name="ParamNamingFcn"/>
 695 |             <P Name="SignalNamingRule">None</P>
 696 |             <P Name="SignalNamingFcn"/>
 697 |             <P Name="InsertBlockDesc">off</P>
 698 |             <P Name="InsertPolySpaceComments">off</P>
 699 |             <P Name="SimulinkBlockComments">on</P>
 700 |             <P Name="BlockCommentType">BlockPathComment</P>
 701 |             <P Name="StateflowObjectComments">off</P>
 702 |             <P Name="MATLABSourceComments">off</P>
 703 |             <P Name="EnableCustomComments">off</P>
 704 |             <P Name="InternalIdentifierFile"/>
 705 |             <P Name="InternalIdentifier">Shortened</P>
 706 |             <P Name="InlinedPrmAccess">Literals</P>
 707 |             <P Name="ReqsInCode">off</P>
 708 |             <P Name="UseSimReservedNames">off</P>
 709 |             <P Name="ReservedNameArray" Class="double">[]</P>
 710 |             <P Name="EnumMemberNameClash">error</P>
 711 |           </Object>
 712 |           <Object BackupClass="Simulink.TargetCC" ObjectID="11" Version="22.0.0" ClassName="Simulink.GRTTargetCC">
 713 |             <Array PropName="DisabledProps" Type="Cell" Dimension="1*19">
 714 |               <Cell Class="char">IncludeMdlTerminateFcn</Cell>
 715 |               <Cell Class="char">SuppressErrorStatus</Cell>
 716 |               <Cell Class="char">ERTCustomFileBanners</Cell>
 717 |               <Cell Class="char">GenerateSampleERTMain</Cell>
 718 |               <Cell Class="char">ExistingSharedCode</Cell>
 719 |               <Cell Class="char">GenerateTestInterfaces</Cell>
 720 |               <Cell Class="char">ModelStepFunctionPrototypeControlCompliant</Cell>
 721 |               <Cell Class="char">GenerateAllocFcn</Cell>
 722 |               <Cell Class="char">PurelyIntegerCode</Cell>
 723 |               <Cell Class="char">SupportComplex</Cell>
 724 |               <Cell Class="char">SupportAbsoluteTime</Cell>
 725 |               <Cell Class="char">SupportContinuousTime</Cell>
 726 |               <Cell Class="char">SupportNonInlinedSFcns</Cell>
 727 |               <Cell Class="char">RemoveDisableFunc</Cell>
 728 |               <Cell Class="char">RemoveResetFunc</Cell>
 729 |               <Cell Class="char">PreserveStateflowLocalDataDimensions</Cell>
 730 |               <Cell Class="char">ParenthesesLevel</Cell>
 731 |               <Cell Class="char">ERTMultiwordTypeDef</Cell>
 732 |               <Cell Class="char">MultiwordTypeDef</Cell>
 733 |             </Array>
 734 |             <P Name="Description"/>
 735 |             <P Name="Components" Class="double">[]</P>
 736 |             <P Name="TargetFcnLib">ansi_tfl_table_tmw.mat</P>
 737 |             <P Name="TargetLibSuffix"/>
 738 |             <P Name="TargetPreCompLibLocation"/>
 739 |             <P Name="GenFloatMathFcnCalls">NOT IN USE</P>
 740 |             <P Name="TargetLangStandard">C99 (ISO)</P>
 741 |             <P Name="CodeReplacementLibrary">None</P>
 742 |             <P Name="UtilityFuncGeneration">Auto</P>
 743 |             <P Name="MultiwordTypeDef">System defined</P>
 744 |             <P Name="MultiwordLength">2048</P>
 745 |             <P Name="DynamicStringBufferSize">256</P>
 746 |             <P Name="GenerateFullHeader">on</P>
 747 |             <P Name="InferredTypesCompatibility">off</P>
 748 |             <P Name="ExistingSharedCode"/>
 749 |             <P Name="GenerateSampleERTMain">off</P>
 750 |             <P Name="GenerateTestInterfaces">off</P>
 751 |             <P Name="ModelReferenceCompliant">on</P>
 752 |             <P Name="ParMdlRefBuildCompliant">on</P>
 753 |             <P Name="CompOptLevelCompliant">on</P>
 754 |             <P Name="ConcurrentExecutionCompliant">on</P>
 755 |             <P Name="IncludeMdlTerminateFcn">on</P>
 756 |             <P Name="CombineOutputUpdateFcns">on</P>
 757 |             <P Name="CombineSignalStateStructs">off</P>
 758 |             <P Name="GroupInternalDataByFunction">off</P>
 759 |             <P Name="SuppressErrorStatus">off</P>
 760 |             <P Name="IncludeFileDelimiter">Auto</P>
 761 |             <P Name="ERTCustomFileBanners">off</P>
 762 |             <P Name="SupportAbsoluteTime">on</P>
 763 |             <P Name="LogVarNameModifier">rt_</P>
 764 |             <P Name="MatFileLogging">on</P>
 765 |             <P Name="CodeInterfacePackaging">Nonreusable function</P>
 766 |             <P Name="PurelyIntegerCode">off</P>
 767 |             <P Name="SupportNonFinite">on</P>
 768 |             <P Name="SupportComplex">on</P>
 769 |             <P Name="SupportContinuousTime">on</P>
 770 |             <P Name="SupportNonInlinedSFcns">on</P>
 771 |             <P Name="RemoveDisableFunc">off</P>
 772 |             <P Name="RemoveResetFunc">off</P>
 773 |             <P Name="SupportVariableSizeSignals">off</P>
 774 |             <P Name="ParenthesesLevel">Nominal</P>
 775 |             <P Name="CastingMode">Nominal</P>
 776 |             <P Name="MATLABClassNameForMDSCustomization">Simulink.SoftwareTarget.GRTCustomization</P>
 777 |             <P Name="ModelStepFunctionPrototypeControlCompliant">off</P>
 778 |             <P Name="CPPClassGenCompliant">on</P>
 779 |             <P Name="AutosarCompliant">off</P>
 780 |             <P Name="MDXCompliant">off</P>
 781 |             <P Name="GRTInterface">off</P>
 782 |             <P Name="GenerateAllocFcn">off</P>
 783 |             <P Name="UseToolchainInfoCompliant">on</P>
 784 |             <P Name="GenerateSharedConstants">on</P>
 785 |             <P Name="CoderGroups" Class="double">[]</P>
 786 |             <P Name="AccessMethods" Class="double">[]</P>
 787 |             <P Name="LookupTableObjectStructAxisOrder">1,2,3,4,...</P>
 788 |             <P Name="LUTObjectStructOrderExplicitValues">Size,Breakpoints,Table</P>
 789 |             <P Name="LUTObjectStructOrderEvenSpacing">Size,Breakpoints,Table</P>
 790 |             <P Name="ArrayLayout">Column-major</P>
 791 |             <P Name="UnsupportedSFcnMsg">error</P>
 792 |             <P Name="ERTHeaderFileRootName">$R$E</P>
 793 |             <P Name="ERTSourceFileRootName">$R$E</P>
 794 |             <P Name="ERTDataFileRootName">$R_data</P>
 795 |             <Array PropName="InstructionSetExtensions" Type="Cell" Dimension="1*1">
 796 |               <Cell Class="char">None</Cell>
 797 |             </Array>
 798 |             <P Name="OptimizeReductions">off</P>
 799 |             <P Name="UseMalloc">off</P>
 800 |             <P Name="ExtMode">off</P>
 801 |             <P Name="ExtModeStaticAlloc">off</P>
 802 |             <P Name="ExtModeTesting">off</P>
 803 |             <P Name="ExtModeStaticAllocSize">1000000</P>
 804 |             <P Name="ExtModeTransport">0</P>
 805 |             <P Name="ExtModeMexFile">ext_comm</P>
 806 |             <P Name="ExtModeMexArgs"/>
 807 |             <P Name="ExtModeIntrfLevel">Level1</P>
 808 |             <P Name="RTWCAPISignals">off</P>
 809 |             <P Name="RTWCAPIParams">off</P>
 810 |             <P Name="RTWCAPIStates">off</P>
 811 |             <P Name="RTWCAPIRootIO">off</P>
 812 |             <P Name="GenerateASAP2">off</P>
 813 |             <P Name="MultiInstanceErrorCode">Error</P>
 814 |           </Object>
 815 |         </Array>
 816 |       </Object>
 817 |       <Object ObjectID="12" Version="22.0.0" ClassName="SlCovCC.ConfigComp">
 818 |         <P Name="DisabledProps" Class="double">[]</P>
 819 |         <P Name="Description">Simulink Coverage Configuration Component</P>
 820 |         <P Name="Components" Class="double">[]</P>
 821 |         <P Name="Name">Simulink Coverage</P>
 822 |         <P Name="CovEnable">off</P>
 823 |         <P Name="CovScope">EntireSystem</P>
 824 |         <P Name="CovIncludeTopModel">on</P>
 825 |         <P Name="RecordCoverage">off</P>
 826 |         <P Name="CovPath">/</P>
 827 |         <P Name="CovSaveName">covdata</P>
 828 |         <P Name="CovCompData"/>
 829 |         <P Name="CovMetricSettings">dwe</P>
 830 |         <P Name="CovFilter"/>
 831 |         <P Name="CovHTMLOptions"/>
 832 |         <P Name="CovNameIncrementing">off</P>
 833 |         <P Name="CovForceBlockReductionOff">on</P>
 834 |         <P Name="CovEnableCumulative">on</P>
 835 |         <P Name="CovSaveCumulativeToWorkspaceVar">off</P>
 836 |         <P Name="CovSaveSingleToWorkspaceVar">off</P>
 837 |         <P Name="CovCumulativeVarName">covCumulativeData</P>
 838 |         <P Name="CovCumulativeReport">off</P>
 839 |         <P Name="CovSaveOutputData">on</P>
 840 |         <P Name="CovOutputDir">slcov_output/$ModelName$</P>
 841 |         <P Name="CovDataFileName">$ModelName$_cvdata</P>
 842 |         <P Name="CovReportOnPause">on</P>
 843 |         <P Name="CovModelRefEnable">off</P>
 844 |         <P Name="CovModelRefExcluded"/>
 845 |         <P Name="CovExternalEMLEnable">on</P>
 846 |         <P Name="CovSFcnEnable">on</P>
 847 |         <P Name="CovBoundaryAbsTol">1e-05</P>
 848 |         <P Name="CovBoundaryRelTol">0.01</P>
 849 |         <P Name="CovUseTimeInterval">off</P>
 850 |         <P Name="CovStartTime">0</P>
 851 |         <P Name="CovStopTime">0</P>
 852 |         <P Name="CovMcdcMode">Masking</P>
 853 |         <P Name="CovExcludeInactiveVariants">off</P>
 854 |       </Object>
 855 |     </Array>
 856 |     <P Name="Name">Configuration</P>
 857 |     <P Name="CurrentDlgPage">Data Import//Export</P>
 858 |     <P Name="ConfigPrmDlgPosition">[ 625, 229, 971, 781 ]</P>
 859 |     <P Name="ExtraOptions"/>
 860 |   </Object>
 861 | </ConfigSet>
 862 | 
 863 | __MWOPC_PART_BEGIN__ /simulink/configSetInfo.xml
 864 | <?xml version="1.0" encoding="utf-8"?>
 865 | <ConfigSetInfo>
 866 |   <ConfigSet PartName="/simulink/configSet0.xml" Active="true">Configuration</ConfigSet>
 867 | </ConfigSetInfo>
 868 | 
 869 | __MWOPC_PART_BEGIN__ /simulink/graphicalInterface.xml
 870 | <?xml version="1.0" encoding="utf-8"?>
 871 | <GraphicalInterface>
 872 |   <P Name="NumRootInports">5</P>
 873 |   <Inport Name="Thrust">
 874 |     <P Name="BusObject"/>
 875 |     <P Name="OutputFunctionCall">off</P>
 876 |     <P Name="InportServerType">off</P>
 877 |     <P Name="SampleTime">-1</P>
 878 |     <P Name="UnitExpr">inherit</P>
 879 |   </Inport>
 880 |   <Inport Name="ele">
 881 |     <P Name="BusObject"/>
 882 |     <P Name="OutputFunctionCall">off</P>
 883 |     <P Name="InportServerType">off</P>
 884 |     <P Name="SampleTime">-1</P>
 885 |     <P Name="UnitExpr">inherit</P>
 886 |   </Inport>
 887 |   <Inport Name="ail">
 888 |     <P Name="BusObject"/>
 889 |     <P Name="OutputFunctionCall">off</P>
 890 |     <P Name="InportServerType">off</P>
 891 |     <P Name="SampleTime">-1</P>
 892 |     <P Name="UnitExpr">inherit</P>
 893 |   </Inport>
 894 |   <Inport Name="rud">
 895 |     <P Name="BusObject"/>
 896 |     <P Name="OutputFunctionCall">off</P>
 897 |     <P Name="InportServerType">off</P>
 898 |     <P Name="SampleTime">-1</P>
 899 |     <P Name="UnitExpr">inherit</P>
 900 |   </Inport>
 901 |   <Inport Name="gust">
 902 |     <P Name="BusObject"/>
 903 |     <P Name="OutputFunctionCall">off</P>
 904 |     <P Name="InportServerType">off</P>
 905 |     <P Name="SampleTime">-1</P>
 906 |     <P Name="UnitExpr">inherit</P>
 907 |   </Inport>
 908 |   <P Name="NumRootOutports">11</P>
 909 |   <Outport Name="X,Y, Z in inertial">
 910 |     <P Name="BusObject"/>
 911 |     <P Name="BusOutputAsStruct">off</P>
 912 |     <P Name="SignalName">Xe</P>
 913 |     <P Name="UnitExpr">inherit</P>
 914 |     <P Name="OutportClientType">off</P>
 915 |   </Outport>
 916 |   <Outport Name="Xd,Yd, Zd in inertial">
 917 |     <P Name="BusObject"/>
 918 |     <P Name="BusOutputAsStruct">off</P>
 919 |     <P Name="SignalName">Ve</P>
 920 |     <P Name="UnitExpr">inherit</P>
 921 |     <P Name="OutportClientType">off</P>
 922 |   </Outport>
 923 |   <Outport Name="total velocity">
 924 |     <P Name="BusObject"/>
 925 |     <P Name="BusOutputAsStruct">off</P>
 926 |     <P Name="SignalName">Vt</P>
 927 |     <P Name="UnitExpr">inherit</P>
 928 |     <P Name="OutportClientType">off</P>
 929 |   </Outport>
 930 |   <Outport Name="angle of attack">
 931 |     <P Name="BusObject"/>
 932 |     <P Name="BusOutputAsStruct">off</P>
 933 |     <P Name="SignalName">alpha</P>
 934 |     <P Name="UnitExpr">inherit</P>
 935 |     <P Name="OutportClientType">off</P>
 936 |   </Outport>
 937 |   <Outport Name="side slip angle">
 938 |     <P Name="BusObject"/>
 939 |     <P Name="BusOutputAsStruct">off</P>
 940 |     <P Name="SignalName">beta</P>
 941 |     <P Name="UnitExpr">inherit</P>
 942 |     <P Name="OutportClientType">off</P>
 943 |   </Outport>
 944 |   <Outport Name="euler angles">
 945 |     <P Name="BusObject"/>
 946 |     <P Name="BusOutputAsStruct">off</P>
 947 |     <P Name="SignalName">EA</P>
 948 |     <P Name="UnitExpr">inherit</P>
 949 |     <P Name="OutportClientType">off</P>
 950 |   </Outport>
 951 |   <Outport Name="flight path angle">
 952 |     <P Name="BusObject"/>
 953 |     <P Name="BusOutputAsStruct">off</P>
 954 |     <P Name="SignalName">gamma</P>
 955 |     <P Name="UnitExpr">inherit</P>
 956 |     <P Name="OutportClientType">off</P>
 957 |   </Outport>
 958 |   <Outport Name="angular velocity vector  (expressed in body)">
 959 |     <P Name="BusObject"/>
 960 |     <P Name="BusOutputAsStruct">off</P>
 961 |     <P Name="SignalName">om</P>
 962 |     <P Name="UnitExpr">inherit</P>
 963 |     <P Name="OutportClientType">off</P>
 964 |   </Outport>
 965 |   <Outport Name="linear acceleration vector  (expressed in body)">
 966 |     <P Name="BusObject"/>
 967 |     <P Name="BusOutputAsStruct">off</P>
 968 |     <P Name="SignalName">accl</P>
 969 |     <P Name="UnitExpr">inherit</P>
 970 |     <P Name="OutportClientType">off</P>
 971 |   </Outport>
 972 |   <Outport Name="angular acceleration vector">
 973 |     <P Name="BusObject"/>
 974 |     <P Name="BusOutputAsStruct">off</P>
 975 |     <P Name="SignalName">ang accl</P>
 976 |     <P Name="UnitExpr">inherit</P>
 977 |     <P Name="OutportClientType">off</P>
 978 |   </Outport>
 979 |   <Outport Name="Mach">
 980 |     <P Name="BusObject"/>
 981 |     <P Name="BusOutputAsStruct">off</P>
 982 |     <P Name="UnitExpr">inherit</P>
 983 |     <P Name="OutportClientType">off</P>
 984 |   </Outport>
 985 |   <P Name="ParameterArgumentNames"/>
 986 |   <P Name="NumModelReferences">0</P>
 987 |   <P Name="NumTestPointedSignals">0</P>
 988 |   <P Name="NumProvidedFunctions">0</P>
 989 |   <P Name="NumRequiredFunctions">0</P>
 990 |   <P Name="NumResetEvents">0</P>
 991 |   <P Name="HasInitializeEvent">0</P>
 992 |   <P Name="HasTerminateEvent">0</P>
 993 |   <P Name="PreCompExecutionDomainType">Unset</P>
 994 |   <P Name="UseModelRefSolver">0</P>
 995 |   <P Name="SolverName">VariableStepAuto</P>
 996 |   <P Name="IsExportFunctionModel">0</P>
 997 |   <P Name="SimulinkSubDomainType">Simulink</P>
 998 |   <P Name="NumParameterArguments">0</P>
 999 |   <P Name="NumExternalFileReferences">5</P>
1000 |   <ExternalFileReference>
1001 |     <P Name="Reference">shared6dof/6DOF (Euler Angles)</P>
1002 |     <P Name="Path">$bdroot/Nonlinear F16 Model/6DOF (Quaternion)</P>
1003 |     <P Name="SID">192</P>
1004 |     <P Name="Type">LIBRARY_BLOCK</P>
1005 |   </ExternalFileReference>
1006 |   <ExternalFileReference>
1007 |     <P Name="Reference">aerolibasang/Dynamic Pressure</P>
1008 |     <P Name="Path">$bdroot/Nonlinear F16 Model/Dynamic Pressure</P>
1009 |     <P Name="SID">26</P>
1010 |     <P Name="Type">LIBRARY_BLOCK</P>
1011 |   </ExternalFileReference>
1012 |   <ExternalFileReference>
1013 |     <P Name="Reference">aerolibatmos2/ISA Atmosphere Model</P>
1014 |     <P Name="Path">$bdroot/Nonlinear F16 Model/ISA Atmosphere Model</P>
1015 |     <P Name="SID">5</P>
1016 |     <P Name="Type">LIBRARY_BLOCK</P>
1017 |   </ExternalFileReference>
1018 |   <ExternalFileReference>
1019 |     <P Name="Reference">aerolibasang/Incidence, Sideslip,
1020 | &amp; Airspeed</P>
1021 |     <P Name="Path">$bdroot/Nonlinear F16 Model/Incidence, Sideslip, &amp; Airspeed</P>
1022 |     <P Name="SID">7</P>
1023 |     <P Name="Type">LIBRARY_BLOCK</P>
1024 |   </ExternalFileReference>
1025 |   <ExternalFileReference>
1026 |     <P Name="Reference">aerolibasang/Mach Number</P>
1027 |     <P Name="Path">$bdroot/Nonlinear F16 Model/Mach Number</P>
1028 |     <P Name="SID">200</P>
1029 |     <P Name="Type">LIBRARY_BLOCK</P>
1030 |   </ExternalFileReference>
1031 |   <P Name="OrderedModelArguments">1</P>
1032 | </GraphicalInterface>
1033 | 
1034 | __MWOPC_PART_BEGIN__ /simulink/modelDictionary.xml
1035 | <?xml version="1.0" encoding="utf-8"?>
1036 | <MF0 version="1.1" defaultPackage="slid" packageUris="http://schema.mathworks.com/mf0/slid/R2020b_20191110">
1037 |   <System type="System" uuid="67438a45-99d7-4be3-aba2-c94786725811">
1038 |     <Interface type="Interface" uuid="196f50c6-9464-4b92-a235-eabafce5067b"/>
1039 |   </System>
1040 | </MF0>
1041 | 
1042 | __MWOPC_PART_BEGIN__ /simulink/plugins/SimscapeModelParametersPlugin.xml
1043 | <?xml version="1.0" encoding="utf-8"?>
1044 | <SimscapeModelParametersPlugin>
1045 |   <P Name="SimscapeDaeAutoSolver">ode23t</P>
1046 | </SimscapeModelParametersPlugin>
1047 | 
1048 | __MWOPC_PART_BEGIN__ /simulink/ScheduleCore.xml
1049 | <?xml version="1.0" encoding="utf-8"?>
1050 | <sltp_graph version="1.1" packageUris="http://schema.mathworks.com/mf0/sltp_mm/R2021b_202106150630">
1051 |   <sltp.mm.core.Context type="sltp.mm.core.Context" uuid="45e21ddb-6d6d-4a1c-871a-d1fd4caa2472">
1052 |     <globalData type="sltp.mm.core.GlobalData" uuid="afe59748-3b20-49d6-8f8d-6230326b3b76">
1053 |       <dataName>portFu</dataName>
1054 |       <type>RootInport</type>
1055 |     </globalData>
1056 |     <globalData type="sltp.mm.core.GlobalData" uuid="eb97d1d8-5111-4394-ae0e-26ea3cb53bfb">
1057 |       <dataName>portIn1</dataName>
1058 |       <type>RootInport</type>
1059 |     </globalData>
1060 |     <globalData type="sltp.mm.core.GlobalData" uuid="5ad2fdeb-6fa3-4fd2-b7bd-1d6ba78f64d6">
1061 |       <dataName>portMach</dataName>
1062 |       <type>RootOutport</type>
1063 |     </globalData>
1064 |     <globalData type="sltp.mm.core.GlobalData" uuid="3df04ec5-0d4a-4878-9d06-ca4b03d11383">
1065 |       <dataName>portMu</dataName>
1066 |       <type>RootInport</type>
1067 |     </globalData>
1068 |     <globalData type="sltp.mm.core.GlobalData" uuid="05bb8b54-5ef8-4240-aa4c-bc7e10dae692">
1069 |       <dataName>portT</dataName>
1070 |       <type>RootInport</type>
1071 |     </globalData>
1072 |     <globalData type="sltp.mm.core.GlobalData" uuid="e795d77a-4828-492b-b8cd-e78d8c9efa46">
1073 |       <dataName>portThrust</dataName>
1074 |       <type>RootInport</type>
1075 |     </globalData>
1076 |     <globalData type="sltp.mm.core.GlobalData" uuid="2214078b-993d-480a-b1a4-f146b9f24d11">
1077 |       <dataName>portVt</dataName>
1078 |       <type>RootOutport</type>
1079 |     </globalData>
1080 |     <globalData type="sltp.mm.core.GlobalData" uuid="b660d21d-4401-432c-bd2e-2a3b73b91c4f">
1081 |       <dataName>portX,Y, Z in inertial</dataName>
1082 |       <type>RootOutport</type>
1083 |     </globalData>
1084 |     <globalData type="sltp.mm.core.GlobalData" uuid="4b8fcdaa-1236-470d-94e0-f345300c33ed">
1085 |       <dataName>portXd,Yd, Zd in inertial</dataName>
1086 |       <type>RootOutport</type>
1087 |     </globalData>
1088 |     <globalData type="sltp.mm.core.GlobalData" uuid="0efeb6e7-042d-423d-a2e3-8f1fd2a5a0f8">
1089 |       <dataName>portXe</dataName>
1090 |       <type>RootOutport</type>
1091 |     </globalData>
1092 |     <globalData type="sltp.mm.core.GlobalData" uuid="d5f91eaf-dae3-487f-88c6-a878e59b1f58">
1093 |       <dataName>portail</dataName>
1094 |       <type>RootInport</type>
1095 |     </globalData>
1096 |     <globalData type="sltp.mm.core.GlobalData" uuid="29831591-39e1-4a79-82fa-e0ee52080dc5">
1097 |       <dataName>portalpha</dataName>
1098 |       <type>RootOutport</type>
1099 |     </globalData>
1100 |     <globalData type="sltp.mm.core.GlobalData" uuid="5b738823-a177-4842-8ffc-a515f9425350">
1101 |       <dataName>portangle of attack</dataName>
1102 |       <type>RootOutport</type>
1103 |     </globalData>
1104 |     <globalData type="sltp.mm.core.GlobalData" uuid="4fda9a19-0baa-4c57-a97c-a79175d36480">
1105 |       <dataName>portangular acceleration vector</dataName>
1106 |       <type>RootOutport</type>
1107 |     </globalData>
1108 |     <globalData type="sltp.mm.core.GlobalData" uuid="7ee7fcb9-cc17-4723-bdea-cb9f5a9e9c13">
1109 |       <dataName>portangular velocity vector</dataName>
1110 |       <type>RootOutport</type>
1111 |     </globalData>
1112 |     <globalData type="sltp.mm.core.GlobalData" uuid="5b49bcb0-82d6-45a8-9e14-f3701f468fe8">
1113 |       <dataName>portangular velocity vector 
1114 | (expressed in body)</dataName>
1115 |       <type>RootOutport</type>
1116 |     </globalData>
1117 |     <globalData type="sltp.mm.core.GlobalData" uuid="954d6658-294f-4845-9893-c4ced0bec9ae">
1118 |       <dataName>portbeta</dataName>
1119 |       <type>RootOutport</type>
1120 |     </globalData>
1121 |     <globalData type="sltp.mm.core.GlobalData" uuid="8460d40b-1c90-4ae4-b0d0-647ee373c7e3">
1122 |       <dataName>portda</dataName>
1123 |       <type>RootInport</type>
1124 |     </globalData>
1125 |     <globalData type="sltp.mm.core.GlobalData" uuid="cf9a1309-f16a-4560-baf5-92e2386f3824">
1126 |       <dataName>portde</dataName>
1127 |       <type>RootInport</type>
1128 |     </globalData>
1129 |     <globalData type="sltp.mm.core.GlobalData" uuid="b525f01a-fdf0-4cb8-9f10-21d8080e5eb6">
1130 |       <dataName>portdr</dataName>
1131 |       <type>RootInport</type>
1132 |     </globalData>
1133 |     <globalData type="sltp.mm.core.GlobalData" uuid="ee14b27d-412c-486b-a8bd-dc8662501975">
1134 |       <dataName>portele</dataName>
1135 |       <type>RootInport</type>
1136 |     </globalData>
1137 |     <globalData type="sltp.mm.core.GlobalData" uuid="c2121000-4bb1-4bc7-a136-960629c67722">
1138 |       <dataName>porteuler angles</dataName>
1139 |       <type>RootOutport</type>
1140 |     </globalData>
1141 |     <globalData type="sltp.mm.core.GlobalData" uuid="2723431a-05d9-4ee6-b6c9-e4793977742d">
1142 |       <dataName>portflight path angle</dataName>
1143 |       <type>RootOutport</type>
1144 |     </globalData>
1145 |     <globalData type="sltp.mm.core.GlobalData" uuid="58430c3f-bc69-4cc1-91af-4ba4f8d7f2f6">
1146 |       <dataName>portgamma</dataName>
1147 |       <type>RootOutport</type>
1148 |     </globalData>
1149 |     <globalData type="sltp.mm.core.GlobalData" uuid="8660e355-33e2-4203-a864-3f05b783f4b3">
1150 |       <dataName>portgust</dataName>
1151 |       <type>RootInport</type>
1152 |     </globalData>
1153 |     <globalData type="sltp.mm.core.GlobalData" uuid="c2554b79-7f0b-422e-8522-4b1fe50ebb08">
1154 |       <dataName>portlef</dataName>
1155 |       <type>RootInport</type>
1156 |     </globalData>
1157 |     <globalData type="sltp.mm.core.GlobalData" uuid="13f7298a-76f4-400d-aa34-856f522fe974">
1158 |       <dataName>portlinear acceleration vector</dataName>
1159 |       <type>RootOutport</type>
1160 |     </globalData>
1161 |     <globalData type="sltp.mm.core.GlobalData" uuid="da57af39-46fe-4ada-ac10-e57efb85e14a">
1162 |       <dataName>portlinear acceleration vector 
1163 | (expressed in body)</dataName>
1164 |       <type>RootOutport</type>
1165 |     </globalData>
1166 |     <globalData type="sltp.mm.core.GlobalData" uuid="ed2c8cad-55e7-47f1-b382-2ffcfa61b1df">
1167 |       <dataName>portlinear accl</dataName>
1168 |       <type>RootOutport</type>
1169 |     </globalData>
1170 |     <globalData type="sltp.mm.core.GlobalData" uuid="3f61d0b0-c82a-4195-b962-a8a7afd30ac5">
1171 |       <dataName>portomega</dataName>
1172 |       <type>RootOutport</type>
1173 |     </globalData>
1174 |     <globalData type="sltp.mm.core.GlobalData" uuid="2a8d8f33-2883-4709-b320-4f32a094abfc">
1175 |       <dataName>portrud</dataName>
1176 |       <type>RootInport</type>
1177 |     </globalData>
1178 |     <globalData type="sltp.mm.core.GlobalData" uuid="c5f89efa-70bc-44e4-9ef3-c5ffd52a075d">
1179 |       <dataName>portside slip angle</dataName>
1180 |       <type>RootOutport</type>
1181 |     </globalData>
1182 |     <globalData type="sltp.mm.core.GlobalData" uuid="eb8c9607-4f9f-4108-bd6f-6b35d9fcffc7">
1183 |       <dataName>porttotal velocity</dataName>
1184 |       <type>RootOutport</type>
1185 |     </globalData>
1186 |     <priorityDirection>HighNumberLast</priorityDirection>
1187 |     <editorState type="sltp.mm.core.EditorState" uuid="3429ef35-ff8f-40e9-9e53-88ef0319603d">
1188 |       <isSynchronized>true</isSynchronized>
1189 |       <panelState type="sltp.mm.core.EditorPanelState" uuid="18fcb540-f04f-4f52-9d7b-c6d64acb0211"/>
1190 |     </editorState>
1191 |     <rootTask type="sltp.mm.core.Task" uuid="d3581760-6990-4b3b-8a4b-b07be9bb6438">
1192 |       <context type="sltp.mm.core.Context" uuid="45e21ddb-6d6d-4a1c-871a-d1fd4caa2472"/>
1193 |       <explicit>false</explicit>
1194 |       <name>Default</name>
1195 |       <priority>-2147483648</priority>
1196 |       <subgraph type="sltp.mm.core.Graph" uuid="891654e7-c0e4-45f8-af7a-88ae7728b86c">
1197 |         <tasks type="sltp.mm.core.Task" uuid="792fca8b-e576-4ab2-a3c5-90df13356f89">
1198 |           <baseTask>true</baseTask>
1199 |           <context type="sltp.mm.core.Context" uuid="45e21ddb-6d6d-4a1c-871a-d1fd4caa2472"/>
1200 |           <explicit>false</explicit>
1201 |           <id>1</id>
1202 |           <isTimed>true</isTimed>
1203 |           <name>Cont</name>
1204 |           <priority>40</priority>
1205 |           <rates type="sltp.mm.core.Rate" uuid="07aa6e15-f2f6-4114-945b-d77b3cc38004">
1206 |             <annotation>Cont</annotation>
1207 |             <color>255</color>
1208 |             <hasBlocks>true</hasBlocks>
1209 |             <rateSpec type="sltp.mm.core.RateSpec">
1210 |               <period>0.0</period>
1211 |             </rateSpec>
1212 |             <sti>0</sti>
1213 |           </rates>
1214 |         </tasks>
1215 |       </subgraph>
1216 |     </rootTask>
1217 |   </sltp.mm.core.Context>
1218 | </sltp_graph>
1219 | 
1220 | __MWOPC_PART_BEGIN__ /simulink/ScheduleEditor.xml
1221 | <?xml version="1.0" encoding="utf-8"?>
1222 | <sltp_editor version="1.1" packageUris="http://schema.mathworks.com/mf0/DiagramEditor/R2019a_20181107 http://schema.mathworks.com/mf0/SltpSyntax/R2022a_202109161050">
1223 |   <diagram.editor.model.Diagram type="diagram.editor.model.Diagram" uuid="7046de32-678c-445f-8b12-bc9814811d25">
1224 |     <entities type="diagram.editor.model.Entity" uuid="586306f9-0028-4488-9a02-19d73eb24231">
1225 |       <position>0,0</position>
1226 |       <size>0,0,0,0</size>
1227 |       <syntaxElement type="sltp.mm.syntax.Node" uuid="8864784a-a2a5-4c63-b797-55bb4891c5a3"/>
1228 |       <title>Cont</title>
1229 |       <type>base</type>
1230 |       <subDiagram type="diagram.editor.model.Diagram" uuid="090b462f-a4cb-4d7f-ba93-1109bb61fd6d">
1231 |         <position>0,0</position>
1232 |         <syntaxElement type="sltp.mm.syntax.Graph" uuid="3a6aa31e-70ae-4108-8fda-359fadd66040"/>
1233 |         <title>Cont</title>
1234 |         <type>graph.Graph</type>
1235 |       </subDiagram>
1236 |     </entities>
1237 |     <syntaxElement type="sltp.mm.syntax.Graph" uuid="9d6ad5d9-9358-465d-9436-18edc3385aee"/>
1238 |     <title>Default</title>
1239 |     <type>graph.Graph</type>
1240 |   </diagram.editor.model.Diagram>
1241 |   <sltp.mm.syntax.Context type="sltp.mm.syntax.Context" uuid="ca75a3b9-166a-4c06-96c0-b1ca29747c73">
1242 |     <globalData type="sltp.mm.syntax.GlobalData" uuid="9f6f1a6b-8738-47af-a2ab-e275247df3f7">
1243 |       <dataName>portFu</dataName>
1244 |       <type>RootInport</type>
1245 |     </globalData>
1246 |     <globalData type="sltp.mm.syntax.GlobalData" uuid="c9cba283-dbd3-4ee8-8cfc-43ad20749609">
1247 |       <dataName>portIn1</dataName>
1248 |       <type>RootInport</type>
1249 |     </globalData>
1250 |     <globalData type="sltp.mm.syntax.GlobalData" uuid="9bc8e176-4f5a-4a23-9d58-49b14aac8bb0">
1251 |       <dataName>portMach</dataName>
1252 |       <type>RootOutport</type>
1253 |     </globalData>
1254 |     <globalData type="sltp.mm.syntax.GlobalData" uuid="d3078617-935e-4a49-9569-fcdb24751297">
1255 |       <dataName>portMu</dataName>
1256 |       <type>RootInport</type>
1257 |     </globalData>
1258 |     <globalData type="sltp.mm.syntax.GlobalData" uuid="27a508c9-f8ed-4388-a6af-ca1a6cd9d067">
1259 |       <dataName>portT</dataName>
1260 |       <type>RootInport</type>
1261 |     </globalData>
1262 |     <globalData type="sltp.mm.syntax.GlobalData" uuid="de645e31-aaba-44f6-acd0-5b136550e783">
1263 |       <dataName>portThrust</dataName>
1264 |       <type>RootInport</type>
1265 |     </globalData>
1266 |     <globalData type="sltp.mm.syntax.GlobalData" uuid="f30e9483-9f9b-4049-92c0-3ca06bdfbaef">
1267 |       <dataName>portVt</dataName>
1268 |       <type>RootOutport</type>
1269 |     </globalData>
1270 |     <globalData type="sltp.mm.syntax.GlobalData" uuid="acfd03c4-dd19-437c-b770-b6fffcd8bc56">
1271 |       <dataName>portX,Y, Z in inertial</dataName>
1272 |       <type>RootOutport</type>
1273 |     </globalData>
1274 |     <globalData type="sltp.mm.syntax.GlobalData" uuid="3aeffac4-2524-45ca-9c5d-eb094b047546">
1275 |       <dataName>portXd,Yd, Zd in inertial</dataName>
1276 |       <type>RootOutport</type>
1277 |     </globalData>
1278 |     <globalData type="sltp.mm.syntax.GlobalData" uuid="95cc4e67-0aa4-4070-8454-2c2efd1fdc7f">
1279 |       <dataName>portXe</dataName>
1280 |       <type>RootOutport</type>
1281 |     </globalData>
1282 |     <globalData type="sltp.mm.syntax.GlobalData" uuid="a5e854fb-e91d-404b-849a-e1a38909c6d3">
1283 |       <dataName>portail</dataName>
1284 |       <type>RootInport</type>
1285 |     </globalData>
1286 |     <globalData type="sltp.mm.syntax.GlobalData" uuid="06f2d274-4112-4baa-a961-4f8a9d5a4600">
1287 |       <dataName>portalpha</dataName>
1288 |       <type>RootOutport</type>
1289 |     </globalData>
1290 |     <globalData type="sltp.mm.syntax.GlobalData" uuid="e9c9e0f9-94a4-4a24-8464-c81100508af7">
1291 |       <dataName>portangle of attack</dataName>
1292 |       <type>RootOutport</type>
1293 |     </globalData>
1294 |     <globalData type="sltp.mm.syntax.GlobalData" uuid="46dfe951-c7dd-43eb-a9bc-40d916eeb1ff">
1295 |       <dataName>portangular acceleration vector</dataName>
1296 |       <type>RootOutport</type>
1297 |     </globalData>
1298 |     <globalData type="sltp.mm.syntax.GlobalData" uuid="e99cd9f4-8590-4117-abdd-8e3d2789d41e">
1299 |       <dataName>portangular velocity vector</dataName>
1300 |       <type>RootOutport</type>
1301 |     </globalData>
1302 |     <globalData type="sltp.mm.syntax.GlobalData" uuid="f74faf33-2042-4d8d-87be-e8103172b9d6">
1303 |       <dataName>portangular velocity vector 
1304 | (expressed in body)</dataName>
1305 |       <type>RootOutport</type>
1306 |     </globalData>
1307 |     <globalData type="sltp.mm.syntax.GlobalData" uuid="fef6068a-fbdc-4c34-a87b-fdf3b02ee7b6">
1308 |       <dataName>portbeta</dataName>
1309 |       <type>RootOutport</type>
1310 |     </globalData>
1311 |     <globalData type="sltp.mm.syntax.GlobalData" uuid="835ee2c2-e7ed-4571-8bc6-523adf9f52d5">
1312 |       <dataName>portda</dataName>
1313 |       <type>RootInport</type>
1314 |     </globalData>
1315 |     <globalData type="sltp.mm.syntax.GlobalData" uuid="888ee4d8-f9e1-4ae8-ae38-cd8811b33c30">
1316 |       <dataName>portde</dataName>
1317 |       <type>RootInport</type>
1318 |     </globalData>
1319 |     <globalData type="sltp.mm.syntax.GlobalData" uuid="80fd1701-abd3-4d06-946b-3d05ab6bdcf4">
1320 |       <dataName>portdr</dataName>
1321 |       <type>RootInport</type>
1322 |     </globalData>
1323 |     <globalData type="sltp.mm.syntax.GlobalData" uuid="cd82bf1a-907e-4ba5-85a2-99bce6c1e196">
1324 |       <dataName>portele</dataName>
1325 |       <type>RootInport</type>
1326 |     </globalData>
1327 |     <globalData type="sltp.mm.syntax.GlobalData" uuid="8da1025c-e86f-4104-8366-7e7d6fb57571">
1328 |       <dataName>porteuler angles</dataName>
1329 |       <type>RootOutport</type>
1330 |     </globalData>
1331 |     <globalData type="sltp.mm.syntax.GlobalData" uuid="22f4905a-61e0-45da-8663-824f644f4b58">
1332 |       <dataName>portflight path angle</dataName>
1333 |       <type>RootOutport</type>
1334 |     </globalData>
1335 |     <globalData type="sltp.mm.syntax.GlobalData" uuid="cb39b0a8-2682-4d8d-90f0-b06392a8de13">
1336 |       <dataName>portgamma</dataName>
1337 |       <type>RootOutport</type>
1338 |     </globalData>
1339 |     <globalData type="sltp.mm.syntax.GlobalData" uuid="83de18e4-405d-4b19-9b4a-6ecb8c085c59">
1340 |       <dataName>portgust</dataName>
1341 |       <type>RootInport</type>
1342 |     </globalData>
1343 |     <globalData type="sltp.mm.syntax.GlobalData" uuid="60c75d0c-ef8a-4e16-bfaa-19681d640895">
1344 |       <dataName>portlef</dataName>
1345 |       <type>RootInport</type>
1346 |     </globalData>
1347 |     <globalData type="sltp.mm.syntax.GlobalData" uuid="4b67a139-3bdb-4bf4-9bc8-331b4c1e3c61">
1348 |       <dataName>portlinear acceleration vector</dataName>
1349 |       <type>RootOutport</type>
1350 |     </globalData>
1351 |     <globalData type="sltp.mm.syntax.GlobalData" uuid="d3c20669-7c3d-45ac-b877-8187ef917bf9">
1352 |       <dataName>portlinear acceleration vector 
1353 | (expressed in body)</dataName>
1354 |       <type>RootOutport</type>
1355 |     </globalData>
1356 |     <globalData type="sltp.mm.syntax.GlobalData" uuid="8e09652c-99b9-4a22-aafe-9d319bd056af">
1357 |       <dataName>portlinear accl</dataName>
1358 |       <type>RootOutport</type>
1359 |     </globalData>
1360 |     <globalData type="sltp.mm.syntax.GlobalData" uuid="90d44879-7d69-40c5-8cf0-8f5b9b1b7393">
1361 |       <dataName>portomega</dataName>
1362 |       <type>RootOutport</type>
1363 |     </globalData>
1364 |     <globalData type="sltp.mm.syntax.GlobalData" uuid="503f45fd-0fc7-4ac6-ba90-f5219980c3d5">
1365 |       <dataName>portrud</dataName>
1366 |       <type>RootInport</type>
1367 |     </globalData>
1368 |     <globalData type="sltp.mm.syntax.GlobalData" uuid="3268dbe0-1467-48bd-9e6c-24599fc08a95">
1369 |       <dataName>portside slip angle</dataName>
1370 |       <type>RootOutport</type>
1371 |     </globalData>
1372 |     <globalData type="sltp.mm.syntax.GlobalData" uuid="f9313b96-b690-451c-9995-529ba317b333">
1373 |       <dataName>porttotal velocity</dataName>
1374 |       <type>RootOutport</type>
1375 |     </globalData>
1376 |     <rootGraph type="sltp.mm.syntax.Graph" uuid="9d6ad5d9-9358-465d-9436-18edc3385aee">
1377 |       <children type="sltp.mm.syntax.Node" uuid="8864784a-a2a5-4c63-b797-55bb4891c5a3">
1378 |         <priority>40</priority>
1379 |         <rates type="sltp.mm.syntax.RateData">
1380 |           <color>#000000</color>
1381 |           <hasBlocks>true</hasBlocks>
1382 |           <rate>0</rate>
1383 |           <title>Cont</title>
1384 |         </rates>
1385 |         <title>Cont</title>
1386 |         <type>base</type>
1387 |         <diagramElement type="diagram.editor.model.Entity" uuid="586306f9-0028-4488-9a02-19d73eb24231"/>
1388 |         <subgraph type="sltp.mm.syntax.Graph" uuid="3a6aa31e-70ae-4108-8fda-359fadd66040">
1389 |           <title>Cont</title>
1390 |           <diagramElement type="diagram.editor.model.Diagram" uuid="090b462f-a4cb-4d7f-ba93-1109bb61fd6d"/>
1391 |         </subgraph>
1392 |       </children>
1393 |       <title>Default</title>
1394 |       <diagramElement type="diagram.editor.model.Diagram" uuid="7046de32-678c-445f-8b12-bc9814811d25"/>
1395 |     </rootGraph>
1396 |   </sltp.mm.syntax.Context>
1397 | </sltp_editor>
1398 | 
1399 | __MWOPC_PART_BEGIN__ /simulink/stateflow/_rels/machine.xml.rels
1400 | <?xml version="1.0" encoding="UTF-8" standalone="yes" ?>
1401 | <Relationships xmlns="http://schemas.openxmlformats.org/package/2006/relationships">
1402 |   <Relationship Id="chart_8" Target="chart_8.xml" Type="http://schemas.mathworks.com/simulinkModel/2018/relationships/stateflowMachine"/>
1403 | </Relationships>
1404 | 
1405 | __MWOPC_PART_BEGIN__ /simulink/stateflow/chart_8.xml
1406 | <?xml version="1.0" encoding="utf-8"?>
1407 | <chart id="8">
1408 |   <P Name="name">Nonlinear F16 Model/Transform weight vector to body axis</P>
1409 |   <P Name="windowPosition">[422 539.941 189 413]</P>
1410 |   <P Name="viewLimits">[0 156.75 0 153.75]</P>
1411 |   <P Name="screen">[1 1 3600 1200 1.180555555555556]</P>
1412 |   <P Name="viewObj">8</P>
1413 |   <P Name="ssIdHighWaterMark">6</P>
1414 |   <P Name="decomposition">CLUSTER_CHART</P>
1415 |   <P Name="type">EML_CHART</P>
1416 |   <P Name="chartFileNumber">1</P>
1417 |   <P Name="disableImplicitCasting">1</P>
1418 |   <eml>
1419 |     <P Name="name">fcn</P>
1420 |   </eml>
1421 |   <Children>
1422 |     <state SSID="1">
1423 |       <P Name="labelString">eML_blk_kernel()</P>
1424 |       <P Name="position">[18 64.5 118 66]</P>
1425 |       <P Name="fontSize">12</P>
1426 |       <P Name="superState">SUBCHART</P>
1427 |       <P Name="subviewer">8</P>
1428 |       <P Name="type">FUNC_STATE</P>
1429 |       <P Name="decomposition">CLUSTER_STATE</P>
1430 |       <eml>
1431 |         <P Name="isEML">1</P>
1432 |         <P Name="script">function Wb = fcn(We,DCM_be)
1433 | Wb = DCM_be*We; % Weight in body coordinate system. DCM_be is correct, no need for transpose. They must have fixed it in this version.
1434 | </P>
1435 |         <P Name="vectorOutputs1D">1</P>
1436 |       </eml>
1437 |     </state>
1438 |     <data SSID="4" name="We">
1439 |       <P Name="scope">INPUT_DATA</P>
1440 |       <props>
1441 |         <array>
1442 |           <P Name="size">-1</P>
1443 |         </array>
1444 |         <type>
1445 |           <P Name="method">SF_INHERITED_TYPE</P>
1446 |           <P Name="primitive">SF_DOUBLE_TYPE</P>
1447 |         </type>
1448 |         <P Name="complexity">SF_COMPLEX_INHERITED</P>
1449 |         <unit>
1450 |           <P Name="name">inherit</P>
1451 |         </unit>
1452 |       </props>
1453 |       <P Name="dataType">Inherit: Same as Simulink</P>
1454 |     </data>
1455 |     <data SSID="5" name="Wb">
1456 |       <P Name="scope">OUTPUT_DATA</P>
1457 |       <props>
1458 |         <array>
1459 |           <P Name="size">-1</P>
1460 |         </array>
1461 |         <type>
1462 |           <P Name="method">SF_INHERITED_TYPE</P>
1463 |           <P Name="primitive">SF_DOUBLE_TYPE</P>
1464 |         </type>
1465 |         <P Name="complexity">SF_COMPLEX_INHERITED</P>
1466 |         <P Name="frame">SF_FRAME_NO</P>
1467 |         <unit>
1468 |           <P Name="name">inherit</P>
1469 |         </unit>
1470 |       </props>
1471 |       <P Name="dataType">Inherit: Same as Simulink</P>
1472 |     </data>
1473 |     <data SSID="6" name="DCM_be">
1474 |       <P Name="scope">INPUT_DATA</P>
1475 |       <props>
1476 |         <array>
1477 |           <P Name="size">-1</P>
1478 |         </array>
1479 |         <type>
1480 |           <P Name="method">SF_INHERITED_TYPE</P>
1481 |           <P Name="primitive">SF_DOUBLE_TYPE</P>
1482 |           <P Name="isSigned">1</P>
1483 |           <P Name="wordLength">16</P>
1484 |         </type>
1485 |         <P Name="complexity">SF_COMPLEX_INHERITED</P>
1486 |         <P Name="frame">SF_FRAME_INHERITED</P>
1487 |         <unit>
1488 |           <P Name="name">inherit</P>
1489 |         </unit>
1490 |       </props>
1491 |       <P Name="dataType">Inherit: Same as Simulink</P>
1492 |     </data>
1493 |     <transition SSID="2">
1494 |       <P Name="labelString">{eML_blk_kernel();}</P>
1495 |       <P Name="labelPosition">[28.125 13.875 102.544 14.964]</P>
1496 |       <P Name="fontSize">12</P>
1497 |       <src>
1498 |         <P Name="intersection">[0 0 1 0 23.5747 14.625 0 0]</P>
1499 |       </src>
1500 |       <dst>
1501 |         <P Name="SSID">3</P>
1502 |         <P Name="intersection">[1 0 -1 0 23.5747 42.5747 0 0]</P>
1503 |       </dst>
1504 |       <P Name="midPoint">[23.5747 24.9468]</P>
1505 |       <P Name="dataLimits">[21.175 25.975 14.625 42.575]</P>
1506 |       <P Name="subviewer">8</P>
1507 |       <P Name="drawStyle">SMART</P>
1508 |       <slide>
1509 |         <P Name="sticky">BOTH_STICK</P>
1510 |       </slide>
1511 |       <P Name="executionOrder">1</P>
1512 |     </transition>
1513 |     <junction SSID="3">
1514 |       <P Name="position">[23.5747 49.5747 7]</P>
1515 |       <P Name="subviewer">8</P>
1516 |       <P Name="type">CONNECTIVE_JUNCTION</P>
1517 |     </junction>
1518 |   </Children>
1519 | </chart>
1520 | 
1521 | __MWOPC_PART_BEGIN__ /simulink/stateflow/machine.xml
1522 | <?xml version="1.0" encoding="utf-8"?>
1523 | <Stateflow>
1524 |   <machine id="7">
1525 |     <P Name="sfVersion">80000049</P>
1526 |     <Children>
1527 |       <target id="16" name="sfun">
1528 |         <P Name="description">Default Simulink S-Function Target.</P>
1529 |       </target>
1530 |       <chart Ref="chart_8"/>
1531 |     </Children>
1532 |   </machine>
1533 |   <instance id="15">
1534 |     <P Name="machine">7</P>
1535 |     <P Name="name">Nonlinear F16 Model/Transform weight vector to body axis</P>
1536 |     <P Name="chart">8</P>
1537 |   </instance>
1538 | </Stateflow>
1539 | 
1540 | __MWOPC_PART_BEGIN__ /simulink/systems/_rels/system_84.xml.rels
1541 | <?xml version="1.0" encoding="UTF-8" standalone="yes" ?>
1542 | <Relationships xmlns="http://schemas.openxmlformats.org/package/2006/relationships">
1543 |   <Relationship Id="system_122" Target="system_122.xml" Type="http://schemas.mathworks.com/simulink/2010/relationships/system"/>
1544 |   <Relationship Id="system_259" Target="system_259.xml" Type="http://schemas.mathworks.com/simulink/2010/relationships/system"/>
1545 | </Relationships>
1546 | 
1547 | __MWOPC_PART_BEGIN__ /simulink/systems/_rels/system_root.xml.rels
1548 | <?xml version="1.0" encoding="UTF-8" standalone="yes" ?>
1549 | <Relationships xmlns="http://schemas.openxmlformats.org/package/2006/relationships">
1550 |   <Relationship Id="system_84" Target="system_84.xml" Type="http://schemas.mathworks.com/simulink/2010/relationships/system"/>
1551 | </Relationships>
1552 | 
1553 | __MWOPC_PART_BEGIN__ /simulink/systems/system_122.xml
1554 | <?xml version="1.0" encoding="utf-8"?>
1555 | <System>
1556 |   <P Name="Location">[223, 338, 826, 833]</P>
1557 |   <P Name="SIDHighWatermark">40</P>
1558 |   <Block BlockType="Inport" Name="We" SID="122::1">
1559 |     <P Name="Position">[20, 101, 40, 119]</P>
1560 |     <P Name="ZOrder">-1</P>
1561 |   </Block>
1562 |   <Block BlockType="Inport" Name="DCM_be" SID="122::22">
1563 |     <P Name="Position">[20, 136, 40, 154]</P>
1564 |     <P Name="ZOrder">13</P>
1565 |     <P Name="Port">2</P>
1566 |   </Block>
1567 |   <Block BlockType="Demux" Name=" Demux " SID="122::39">
1568 |     <P Name="Ports">[1, 1]</P>
1569 |     <P Name="Position">[270, 230, 320, 270]</P>
1570 |     <P Name="ZOrder">30</P>
1571 |     <P Name="Outputs">1</P>
1572 |   </Block>
1573 |   <Block BlockType="S-Function" Name=" SFunction " SID="122::38">
1574 |     <P Name="Tag">Stateflow S-Function 1</P>
1575 |     <P Name="Ports">[2, 2]</P>
1576 |     <P Name="Position">[180, 100, 230, 160]</P>
1577 |     <P Name="ZOrder">29</P>
1578 |     <P Name="FunctionName">sf_sfun</P>
1579 |     <P Name="PortCounts">[2 2]</P>
1580 |     <P Name="SFunctionDeploymentMode">off</P>
1581 |     <P Name="EnableBusSupport">on</P>
1582 |     <P Name="SFcnIsStateOwnerBlock">off</P>
1583 |     <Port>
1584 |       <P Name="PortNumber">2</P>
1585 |       <P Name="Name">Wb</P>
1586 |     </Port>
1587 |   </Block>
1588 |   <Block BlockType="Terminator" Name=" Terminator " SID="122::40">
1589 |     <P Name="Position">[460, 241, 480, 259]</P>
1590 |     <P Name="ZOrder">31</P>
1591 |   </Block>
1592 |   <Block BlockType="Outport" Name="Wb" SID="122::5">
1593 |     <P Name="Position">[460, 101, 480, 119]</P>
1594 |     <P Name="ZOrder">-5</P>
1595 |   </Block>
1596 |   <Line>
1597 |     <P Name="ZOrder">39</P>
1598 |     <P Name="Src">122::1#out:1</P>
1599 |     <P Name="Points">[120, 0]</P>
1600 |     <P Name="Dst">122::38#in:1</P>
1601 |   </Line>
1602 |   <Line>
1603 |     <P Name="ZOrder">40</P>
1604 |     <P Name="Src">122::22#out:1</P>
1605 |     <P Name="Dst">122::38#in:2</P>
1606 |   </Line>
1607 |   <Line>
1608 |     <P Name="Name">Wb</P>
1609 |     <P Name="ZOrder">41</P>
1610 |     <P Name="Labels">[0, 0]</P>
1611 |     <P Name="Src">122::38#out:2</P>
1612 |     <P Name="Dst">122::5#in:1</P>
1613 |   </Line>
1614 |   <Line>
1615 |     <P Name="ZOrder">42</P>
1616 |     <P Name="Src">122::39#out:1</P>
1617 |     <P Name="Dst">122::40#in:1</P>
1618 |   </Line>
1619 |   <Line>
1620 |     <P Name="ZOrder">43</P>
1621 |     <P Name="Src">122::38#out:1</P>
1622 |     <P Name="Dst">122::39#in:1</P>
1623 |   </Line>
1624 | </System>
1625 | 
1626 | __MWOPC_PART_BEGIN__ /simulink/systems/system_259.xml
1627 | <?xml version="1.0" encoding="utf-8"?>
1628 | <System>
1629 |   <P Name="Location">[887, 25, 2144, 1030]</P>
1630 |   <P Name="ZoomFactor">189</P>
1631 |   <Block BlockType="Inport" Name="Vt" SID="260">
1632 |     <P Name="Position">[-235, -222, -205, -208]</P>
1633 |     <P Name="ZOrder">-1</P>
1634 |   </Block>
1635 |   <Block BlockType="Inport" Name="alpha" SID="262">
1636 |     <P Name="Position">[-235, -192, -205, -178]</P>
1637 |     <P Name="ZOrder">1</P>
1638 |     <P Name="Port">2</P>
1639 |   </Block>
1640 |   <Block BlockType="Inport" Name="beta" SID="263">
1641 |     <P Name="Position">[-235, -162, -205, -148]</P>
1642 |     <P Name="ZOrder">2</P>
1643 |     <P Name="Port">3</P>
1644 |   </Block>
1645 |   <Block BlockType="Inport" Name="om" SID="264">
1646 |     <P Name="Position">[-235, -132, -205, -118]</P>
1647 |     <P Name="ZOrder">3</P>
1648 |     <P Name="Port">4</P>
1649 |   </Block>
1650 |   <Block BlockType="Inport" Name="qbar" SID="265">
1651 |     <P Name="Position">[-235, -102, -205, -88]</P>
1652 |     <P Name="ZOrder">4</P>
1653 |     <P Name="Port">5</P>
1654 |   </Block>
1655 |   <Block BlockType="Inport" Name="ele" SID="266">
1656 |     <P Name="Position">[-235, -72, -205, -58]</P>
1657 |     <P Name="ZOrder">5</P>
1658 |     <P Name="Port">6</P>
1659 |   </Block>
1660 |   <Block BlockType="Inport" Name="ail" SID="267">
1661 |     <P Name="Position">[-235, -42, -205, -28]</P>
1662 |     <P Name="ZOrder">6</P>
1663 |     <P Name="Port">7</P>
1664 |   </Block>
1665 |   <Block BlockType="Inport" Name="rud" SID="269">
1666 |     <P Name="Position">[-235, -12, -205, 2]</P>
1667 |     <P Name="ZOrder">8</P>
1668 |     <P Name="Port">8</P>
1669 |   </Block>
1670 |   <Block BlockType="Inport" Name="lef" SID="270">
1671 |     <P Name="Position">[-235, 18, -205, 32]</P>
1672 |     <P Name="ZOrder">9</P>
1673 |     <P Name="Port">9</P>
1674 |   </Block>
1675 |   <Block BlockType="Demux" Name="Demux" SID="273">
1676 |     <P Name="Ports">[1, 2]</P>
1677 |     <P Name="Position">[260, -94, 265, -56]</P>
1678 |     <P Name="ZOrder">12</P>
1679 |     <P Name="Outputs">2</P>
1680 |   </Block>
1681 |   <Block BlockType="MATLABFcn" Name="Interpreted MATLAB&#xA;Function" SID="272">
1682 |     <P Name="Ports">[1, 1]</P>
1683 |     <P Name="Position">[75, -95, 145, -65]</P>
1684 |     <P Name="ZOrder">11</P>
1685 |     <P Name="MATLABFcn">F16AeroFM</P>
1686 |     <P Name="OutputDimensions">6</P>
1687 |   </Block>
1688 |   <Block BlockType="Mux" Name="Mux" SID="271">
1689 |     <P Name="Ports">[9, 1]</P>
1690 |     <P Name="Position">[-85, -277, -75, 117]</P>
1691 |     <P Name="ZOrder">10</P>
1692 |     <P Name="Inputs">9</P>
1693 |     <P Name="DisplayOption">bar</P>
1694 |   </Block>
1695 |   <Block BlockType="Outport" Name="Fb" SID="261">
1696 |     <P Name="Position">[350, -172, 380, -158]</P>
1697 |     <P Name="ZOrder">-2</P>
1698 |     <P Name="PortDimensions">3</P>
1699 |   </Block>
1700 |   <Block BlockType="Outport" Name="Mb" SID="268">
1701 |     <P Name="Position">[350, -12, 380, 2]</P>
1702 |     <P Name="ZOrder">7</P>
1703 |     <P Name="Port">2</P>
1704 |     <P Name="PortDimensions">3</P>
1705 |   </Block>
1706 |   <Line>
1707 |     <P Name="ZOrder">2</P>
1708 |     <P Name="Src">264#out:1</P>
1709 |     <P Name="Dst">271#in:4</P>
1710 |   </Line>
1711 |   <Line>
1712 |     <P Name="ZOrder">3</P>
1713 |     <P Name="Src">263#out:1</P>
1714 |     <P Name="Points">[59, 0; 0, -15]</P>
1715 |     <P Name="Dst">271#in:3</P>
1716 |   </Line>
1717 |   <Line>
1718 |     <P Name="ZOrder">4</P>
1719 |     <P Name="Src">265#out:1</P>
1720 |     <P Name="Points">[71, 0; 0, 15]</P>
1721 |     <P Name="Dst">271#in:5</P>
1722 |   </Line>
1723 |   <Line>
1724 |     <P Name="ZOrder">5</P>
1725 |     <P Name="Src">262#out:1</P>
1726 |     <P Name="Points">[49, 0; 0, -30]</P>
1727 |     <P Name="Dst">271#in:2</P>
1728 |   </Line>
1729 |   <Line>
1730 |     <P Name="ZOrder">6</P>
1731 |     <P Name="Src">266#out:1</P>
1732 |     <P Name="Points">[60, 0; 0, 30]</P>
1733 |     <P Name="Dst">271#in:6</P>
1734 |   </Line>
1735 |   <Line>
1736 |     <P Name="ZOrder">7</P>
1737 |     <P Name="Src">260#out:1</P>
1738 |     <P Name="Points">[40, 0; 0, -45]</P>
1739 |     <P Name="Dst">271#in:1</P>
1740 |   </Line>
1741 |   <Line>
1742 |     <P Name="ZOrder">8</P>
1743 |     <P Name="Src">267#out:1</P>
1744 |     <P Name="Points">[49, 0; 0, 45]</P>
1745 |     <P Name="Dst">271#in:7</P>
1746 |   </Line>
1747 |   <Line>
1748 |     <P Name="ZOrder">9</P>
1749 |     <P Name="Src">269#out:1</P>
1750 |     <P Name="Points">[39, 0; 0, 60]</P>
1751 |     <P Name="Dst">271#in:8</P>
1752 |   </Line>
1753 |   <Line>
1754 |     <P Name="ZOrder">10</P>
1755 |     <P Name="Src">270#out:1</P>
1756 |     <P Name="Points">[28, 0; 0, 75]</P>
1757 |     <P Name="Dst">271#in:9</P>
1758 |   </Line>
1759 |   <Line>
1760 |     <P Name="ZOrder">12</P>
1761 |     <P Name="Src">271#out:1</P>
1762 |     <P Name="Dst">272#in:1</P>
1763 |   </Line>
1764 |   <Line>
1765 |     <P Name="ZOrder">13</P>
1766 |     <P Name="Src">273#out:1</P>
1767 |     <P Name="Points">[38, 0; 0, -80]</P>
1768 |     <P Name="Dst">261#in:1</P>
1769 |   </Line>
1770 |   <Line>
1771 |     <P Name="ZOrder">14</P>
1772 |     <P Name="Src">273#out:2</P>
1773 |     <P Name="Points">[38, 0; 0, 60]</P>
1774 |     <P Name="Dst">268#in:1</P>
1775 |   </Line>
1776 |   <Line>
1777 |     <P Name="ZOrder">15</P>
1778 |     <P Name="Src">272#out:1</P>
1779 |     <P Name="Points">[48, 0; 0, 5]</P>
1780 |     <P Name="Dst">273#in:1</P>
1781 |   </Line>
1782 | </System>
1783 | 
1784 | __MWOPC_PART_BEGIN__ /simulink/systems/system_84.xml
1785 | <?xml version="1.0" encoding="utf-8"?>
1786 | <System>
1787 |   <P Name="Location">[1972, 87, 3456, 1090]</P>
1788 |   <P Name="ZoomFactor">73</P>
1789 |   <Block BlockType="Inport" Name="gust" SID="183">
1790 |     <P Name="Position">[715, 618, 745, 632]</P>
1791 |     <P Name="ZOrder">165</P>
1792 |     <P Name="PortDimensions">3</P>
1793 |   </Block>
1794 |   <Block BlockType="Inport" Name="Fu" SID="187">
1795 |     <P Name="Position">[105, 68, 135, 82]</P>
1796 |     <P Name="ZOrder">168</P>
1797 |     <P Name="Port">2</P>
1798 |     <P Name="PortDimensions">3</P>
1799 |   </Block>
1800 |   <Block BlockType="Inport" Name="Mu" SID="186">
1801 |     <P Name="Position">[105, 243, 135, 257]</P>
1802 |     <P Name="ZOrder">167</P>
1803 |     <P Name="Port">3</P>
1804 |     <P Name="PortDimensions">3</P>
1805 |   </Block>
1806 |   <Block BlockType="Inport" Name="ele (rad)" SID="212">
1807 |     <P Name="Position">[780, 163, 810, 177]</P>
1808 |     <P Name="ZOrder">182</P>
1809 |     <P Name="Port">4</P>
1810 |   </Block>
1811 |   <Block BlockType="Inport" Name="ail (rad)" SID="213">
1812 |     <P Name="Position">[780, 198, 810, 212]</P>
1813 |     <P Name="ZOrder">183</P>
1814 |     <P Name="Port">5</P>
1815 |   </Block>
1816 |   <Block BlockType="Inport" Name="rud (rad)" SID="214">
1817 |     <P Name="Position">[780, 233, 810, 247]</P>
1818 |     <P Name="ZOrder">184</P>
1819 |     <P Name="Port">6</P>
1820 |   </Block>
1821 |   <Block BlockType="Inport" Name="lef (rad)" SID="242">
1822 |     <P Name="Position">[780, 268, 810, 282]</P>
1823 |     <P Name="ZOrder">197</P>
1824 |     <P Name="Port">7</P>
1825 |   </Block>
1826 |   <Block BlockType="Reference" Name="6DOF (Quaternion)" SID="192">
1827 |     <P Name="Ports">[2, 8]</P>
1828 |     <P Name="Position">[295, 6, 490, 279]</P>
1829 |     <P Name="ZOrder">169</P>
1830 |     <P Name="LibraryVersion">6.0</P>
1831 |     <P Name="SourceBlock">shared6dof/6DOF (Euler Angles)</P>
1832 |     <P Name="SourceType">6DOF EoM (Body Axis)</P>
1833 |     <InstanceData>
1834 |       <P Name="RTWMemSecFuncInitTerm">Inherit from model</P>
1835 |       <P Name="RTWMemSecFuncExecute">Inherit from model</P>
1836 |       <P Name="RTWMemSecDataConstants">Inherit from model</P>
1837 |       <P Name="RTWMemSecDataInternal">Inherit from model</P>
1838 |       <P Name="RTWMemSecDataParameters">Inherit from model</P>
1839 |       <P Name="ContentPreviewEnabled">on</P>
1840 |       <P Name="units">Metric (MKS)</P>
1841 |       <P Name="mtype">Fixed</P>
1842 |       <P Name="rep">Euler Angles</P>
1843 |       <P Name="xme_0">IC.inertial_position</P>
1844 |       <P Name="Vm_0">IC.body_velocity</P>
1845 |       <P Name="eul_0">IC.euler_angles</P>
1846 |       <P Name="pm_0">IC.omega</P>
1847 |       <P Name="mass_0">Param.mass</P>
1848 |       <P Name="mass_e">0.5</P>
1849 |       <P Name="mass_f">2.0</P>
1850 |       <P Name="inertia">Param.moi</P>
1851 |       <P Name="inertia_e">eye(3)</P>
1852 |       <P Name="inertia_f">2*eye(3)</P>
1853 |       <P Name="k_quat">1.0</P>
1854 |       <P Name="vre_flag">on</P>
1855 |       <P Name="abi_flag">off</P>
1856 |       <P Name="aMode">0</P>
1857 |       <P Name="xme_statename"> {&apos;Xe&apos;, &apos;Ye&apos;, &apos;Ze&apos;}</P>
1858 |       <P Name="Vm_statename"> {&apos;U&apos;, &apos;v&apos;, &apos;w&apos;}</P>
1859 |       <P Name="eul_statename">&apos;&apos;</P>
1860 |       <P Name="quat_statename">{&apos;qr&apos;, &apos;qi&apos;, &apos;qj&apos;, &apos;qk&apos;}</P>
1861 |       <P Name="pm_statename">{&apos;p&apos;, &apos;q&apos;, &apos;r&apos;}</P>
1862 |       <P Name="mass_statename">&apos;&apos;</P>
1863 |     </InstanceData>
1864 |   </Block>
1865 |   <Block BlockType="Abs" Name="Abs" SID="274">
1866 |     <P Name="Position">[1235, 475, 1265, 505]</P>
1867 |     <P Name="ZOrder">204</P>
1868 |     <P Name="SaturateOnIntegerOverflow">off</P>
1869 |   </Block>
1870 |   <Block BlockType="Sum" Name="Add" SID="77">
1871 |     <P Name="Ports">[2, 1]</P>
1872 |     <P Name="Position">[1290, 212, 1315, 288]</P>
1873 |     <P Name="ZOrder">98</P>
1874 |     <P Name="IconShape">rectangular</P>
1875 |     <P Name="Inputs">+-</P>
1876 |   </Block>
1877 |   <Block BlockType="Sum" Name="Add1" SID="126">
1878 |     <P Name="Ports">[3, 1]</P>
1879 |     <P Name="Position">[230, 28, 265, 122]</P>
1880 |     <P Name="ZOrder">144</P>
1881 |     <P Name="IconShape">rectangular</P>
1882 |     <P Name="Inputs">+++</P>
1883 |   </Block>
1884 |   <Block BlockType="Constant" Name="Constant1" SID="111">
1885 |     <P Name="Position">[105, 495, 160, 525]</P>
1886 |     <P Name="ZOrder">130</P>
1887 |     <P Name="Value">Param.g</P>
1888 |   </Block>
1889 |   <Block BlockType="Constant" Name="Constant2" SID="124">
1890 |     <P Name="Position">[105, 445, 135, 475]</P>
1891 |     <P Name="ZOrder">143</P>
1892 |     <P Name="Value">0</P>
1893 |   </Block>
1894 |   <Block BlockType="Reference" Name="Dynamic Pressure" SID="26">
1895 |     <P Name="Ports">[2, 1]</P>
1896 |     <P Name="Position">[820, 391, 880, 464]</P>
1897 |     <P Name="ZOrder">54</P>
1898 |     <P Name="LibraryVersion">6.0</P>
1899 |     <P Name="SourceBlock">aerolibasang/Dynamic Pressure</P>
1900 |     <P Name="SourceType">Dynamic Pressure</P>
1901 |     <InstanceData>
1902 |       <P Name="RTWMemSecFuncInitTerm">Inherit from model</P>
1903 |       <P Name="RTWMemSecFuncExecute">Inherit from model</P>
1904 |       <P Name="RTWMemSecDataConstants">Inherit from model</P>
1905 |       <P Name="RTWMemSecDataInternal">Inherit from model</P>
1906 |       <P Name="RTWMemSecDataParameters">Inherit from model</P>
1907 |       <P Name="ContentPreviewEnabled">on</P>
1908 |     </InstanceData>
1909 |   </Block>
1910 |   <Block BlockType="SubSystem" Name="F16 Aerodynamics (Public Domain Data)" SID="259">
1911 |     <P Name="Ports">[9, 2]</P>
1912 |     <P Name="Position">[895, -27, 955, 297]</P>
1913 |     <P Name="ZOrder">203</P>
1914 |     <P Name="ContentPreviewEnabled">on</P>
1915 |     <System Ref="system_259"/>
1916 |   </Block>
1917 |   <Block BlockType="From" Name="From" SID="9">
1918 |     <P Name="Position">[765, 20, 825, 40]</P>
1919 |     <P Name="ZOrder">116</P>
1920 |     <P Name="GotoTag">alpha</P>
1921 |   </Block>
1922 |   <Block BlockType="From" Name="From1" SID="179">
1923 |     <P Name="Position">[765, -15, 825, 5]</P>
1924 |     <P Name="ZOrder">161</P>
1925 |     <P Name="GotoTag">Vt</P>
1926 |   </Block>
1927 |   <Block BlockType="From" Name="From10" SID="62">
1928 |     <P Name="Position">[1135, 85, 1195, 105]</P>
1929 |     <P Name="ZOrder">85</P>
1930 |     <P Name="GotoTag">alpha</P>
1931 |   </Block>
1932 |   <Block BlockType="From" Name="From11" SID="157">
1933 |     <P Name="Position">[1135, 220, 1195, 240]</P>
1934 |     <P Name="ZOrder">156</P>
1935 |     <P Name="GotoTag">euler_ang</P>
1936 |   </Block>
1937 |   <Block BlockType="From" Name="From12" SID="65">
1938 |     <P Name="Position">[1135, 120, 1195, 140]</P>
1939 |     <P Name="ZOrder">87</P>
1940 |     <P Name="GotoTag">beta</P>
1941 |   </Block>
1942 |   <Block BlockType="From" Name="From13" SID="76">
1943 |     <P Name="Position">[1135, 260, 1195, 280]</P>
1944 |     <P Name="ZOrder">97</P>
1945 |     <P Name="GotoTag">alpha</P>
1946 |   </Block>
1947 |   <Block BlockType="From" Name="From14" SID="72">
1948 |     <P Name="Position">[705, 580, 765, 600]</P>
1949 |     <P Name="ZOrder">94</P>
1950 |     <P Name="GotoTag">Vb</P>
1951 |   </Block>
1952 |   <Block BlockType="From" Name="From15" SID="79">
1953 |     <P Name="Position">[1455, -20, 1515, 0]</P>
1954 |     <P Name="ZOrder">101</P>
1955 |     <P Name="GotoTag">omega</P>
1956 |   </Block>
1957 |   <Block BlockType="From" Name="From16" SID="81">
1958 |     <P Name="Position">[1455, 15, 1515, 35]</P>
1959 |     <P Name="ZOrder">103</P>
1960 |     <P Name="GotoTag">lin_accl</P>
1961 |   </Block>
1962 |   <Block BlockType="From" Name="From17" SID="103">
1963 |     <P Name="Position">[155, 35, 210, 55]</P>
1964 |     <P Name="ZOrder">123</P>
1965 |     <P Name="GotoTag">Faero</P>
1966 |   </Block>
1967 |   <Block BlockType="From" Name="From18" SID="104">
1968 |     <P Name="Position">[155, 200, 210, 220]</P>
1969 |     <P Name="ZOrder">124</P>
1970 |     <P Name="GotoTag">Maero</P>
1971 |   </Block>
1972 |   <Block BlockType="From" Name="From19" SID="123">
1973 |     <P Name="Position">[345, 520, 415, 540]</P>
1974 |     <P Name="ZOrder">142</P>
1975 |     <P Name="GotoTag">DCM_be</P>
1976 |   </Block>
1977 |   <Block BlockType="From" Name="From2" SID="29">
1978 |     <P Name="Position">[730, 398, 775, 422]</P>
1979 |     <P Name="ZOrder">57</P>
1980 |     <P Name="GotoTag">Vb</P>
1981 |   </Block>
1982 |   <Block BlockType="From" Name="From20" SID="202">
1983 |     <P Name="Position">[1455, 110, 1515, 130]</P>
1984 |     <P Name="ZOrder">179</P>
1985 |     <P Name="ShowName">off</P>
1986 |     <P Name="HideAutomaticName">off</P>
1987 |     <P Name="GotoTag">Vb</P>
1988 |   </Block>
1989 |   <Block BlockType="From" Name="From21" SID="128">
1990 |     <P Name="Position">[155, 95, 210, 115]</P>
1991 |     <P Name="ZOrder">146</P>
1992 |     <P Name="GotoTag">Weight</P>
1993 |     <Port>
1994 |       <P Name="PortNumber">1</P>
1995 |       <P Name="PropagatedSignals">Wb</P>
1996 |     </Port>
1997 |   </Block>
1998 |   <Block BlockType="From" Name="From22" SID="169">
1999 |     <P Name="Position">[765, 55, 825, 75]</P>
2000 |     <P Name="ZOrder">157</P>
2001 |     <P Name="GotoTag">beta</P>
2002 |   </Block>
2003 |   <Block BlockType="From" Name="From23" SID="170">
2004 |     <P Name="Position">[765, 90, 825, 110]</P>
2005 |     <P Name="ZOrder">158</P>
2006 |     <P Name="GotoTag">omega</P>
2007 |   </Block>
2008 |   <Block BlockType="From" Name="From24" SID="203">
2009 |     <P Name="Position">[1455, 135, 1515, 155]</P>
2010 |     <P Name="ZOrder">180</P>
2011 |     <P Name="GotoTag">a</P>
2012 |   </Block>
2013 |   <Block BlockType="From" Name="From3" SID="30">
2014 |     <P Name="Position">[730, 435, 775, 455]</P>
2015 |     <P Name="ZOrder">58</P>
2016 |     <P Name="GotoTag">rho</P>
2017 |   </Block>
2018 |   <Block BlockType="From" Name="From4" SID="195">
2019 |     <P Name="Position">[1135, 15, 1195, 35]</P>
2020 |     <P Name="ZOrder">172</P>
2021 |     <P Name="GotoTag">Ve</P>
2022 |   </Block>
2023 |   <Block BlockType="From" Name="From5" SID="197">
2024 |     <P Name="Position">[1455, 50, 1520, 70]</P>
2025 |     <P Name="ZOrder">174</P>
2026 |     <P Name="ShowName">off</P>
2027 |     <P Name="HideAutomaticName">off</P>
2028 |     <P Name="GotoTag">ang_accl</P>
2029 |   </Block>
2030 |   <Block BlockType="From" Name="From6" SID="50">
2031 |     <P Name="Position">[1035, 475, 1075, 505]</P>
2032 |     <P Name="ZOrder">73</P>
2033 |     <P Name="GotoTag">Xe</P>
2034 |   </Block>
2035 |   <Block BlockType="From" Name="From7" SID="51">
2036 |     <P Name="Position">[765, 125, 825, 145]</P>
2037 |     <P Name="ZOrder">118</P>
2038 |     <P Name="GotoTag">qbar</P>
2039 |   </Block>
2040 |   <Block BlockType="From" Name="From8" SID="59">
2041 |     <P Name="Position">[1135, -20, 1195, 0]</P>
2042 |     <P Name="ZOrder">81</P>
2043 |     <P Name="GotoTag">Xe</P>
2044 |   </Block>
2045 |   <Block BlockType="From" Name="From9" SID="60">
2046 |     <P Name="Position">[1135, 50, 1195, 70]</P>
2047 |     <P Name="ZOrder">83</P>
2048 |     <P Name="GotoTag">Vt</P>
2049 |   </Block>
2050 |   <Block BlockType="Goto" Name="Goto" SID="10">
2051 |     <P Name="Position">[945, 542, 985, 568]</P>
2052 |     <P Name="ZOrder">38</P>
2053 |     <P Name="GotoTag">alpha</P>
2054 |   </Block>
2055 |   <Block BlockType="Goto" Name="Goto1" SID="193">
2056 |     <P Name="Position">[550, 217, 620, 243]</P>
2057 |     <P Name="ZOrder">170</P>
2058 |     <P Name="ShowName">off</P>
2059 |     <P Name="HideAutomaticName">off</P>
2060 |     <P Name="GotoTag">ang_accl</P>
2061 |   </Block>
2062 |   <Block BlockType="Goto" Name="Goto10" SID="44">
2063 |     <P Name="Position">[550, 182, 620, 208]</P>
2064 |     <P Name="ZOrder">67</P>
2065 |     <P Name="ShowName">off</P>
2066 |     <P Name="HideAutomaticName">off</P>
2067 |     <P Name="GotoTag">omega</P>
2068 |   </Block>
2069 |   <Block BlockType="Goto" Name="Goto12" SID="46">
2070 |     <P Name="Position">[550, 252, 620, 278]</P>
2071 |     <P Name="ZOrder">69</P>
2072 |     <P Name="ShowName">off</P>
2073 |     <P Name="HideAutomaticName">off</P>
2074 |     <P Name="GotoTag">lin_accl</P>
2075 |   </Block>
2076 |   <Block BlockType="Goto" Name="Goto14" SID="48">
2077 |     <P Name="Position">[550, 42, 620, 68]</P>
2078 |     <P Name="ZOrder">71</P>
2079 |     <P Name="ShowName">off</P>
2080 |     <P Name="HideAutomaticName">off</P>
2081 |     <P Name="GotoTag">Xe</P>
2082 |   </Block>
2083 |   <Block BlockType="Goto" Name="Goto15" SID="49">
2084 |     <P Name="Position">[550, 77, 620, 103]</P>
2085 |     <P Name="ZOrder">72</P>
2086 |     <P Name="ShowName">off</P>
2087 |     <P Name="HideAutomaticName">off</P>
2088 |     <P Name="GotoTag">euler_ang</P>
2089 |   </Block>
2090 |   <Block BlockType="Goto" Name="Goto16" SID="71">
2091 |     <P Name="Position">[550, 147, 620, 173]</P>
2092 |     <P Name="ZOrder">93</P>
2093 |     <P Name="ShowName">off</P>
2094 |     <P Name="HideAutomaticName">off</P>
2095 |     <P Name="GotoTag">Vb</P>
2096 |   </Block>
2097 |   <Block BlockType="Goto" Name="Goto17" SID="105">
2098 |     <P Name="Position">[980, 42, 1050, 68]</P>
2099 |     <P Name="ZOrder">125</P>
2100 |     <P Name="ShowName">off</P>
2101 |     <P Name="HideAutomaticName">off</P>
2102 |     <P Name="GotoTag">Faero</P>
2103 |   </Block>
2104 |   <Block BlockType="Goto" Name="Goto18" SID="107">
2105 |     <P Name="Position">[980, 202, 1050, 228]</P>
2106 |     <P Name="ZOrder">127</P>
2107 |     <P Name="GotoTag">Maero</P>
2108 |   </Block>
2109 |   <Block BlockType="Goto" Name="Goto2" SID="194">
2110 |     <P Name="Position">[550, 7, 620, 33]</P>
2111 |     <P Name="ZOrder">171</P>
2112 |     <P Name="ShowName">off</P>
2113 |     <P Name="HideAutomaticName">off</P>
2114 |     <P Name="GotoTag">Ve</P>
2115 |   </Block>
2116 |   <Block BlockType="Goto" Name="Goto20" SID="119">
2117 |     <P Name="Position">[580, 497, 650, 523]</P>
2118 |     <P Name="ZOrder">138</P>
2119 |     <P Name="GotoTag">Weight</P>
2120 |   </Block>
2121 |   <Block BlockType="Goto" Name="Goto3" SID="16">
2122 |     <P Name="Position">[1540, 550, 1625, 580]</P>
2123 |     <P Name="ZOrder">44</P>
2124 |     <P Name="GotoTag">rho</P>
2125 |   </Block>
2126 |   <Block BlockType="Goto" Name="Goto4" SID="201">
2127 |     <P Name="Position">[1540, 450, 1625, 480]</P>
2128 |     <P Name="ZOrder">178</P>
2129 |     <P Name="GotoTag">a</P>
2130 |   </Block>
2131 |   <Block BlockType="Goto" Name="Goto5" SID="27">
2132 |     <P Name="Position">[945, 577, 985, 603]</P>
2133 |     <P Name="ZOrder">55</P>
2134 |     <P Name="GotoTag">beta</P>
2135 |   </Block>
2136 |   <Block BlockType="Goto" Name="Goto6" SID="28">
2137 |     <P Name="Position">[945, 612, 985, 638]</P>
2138 |     <P Name="ZOrder">56</P>
2139 |     <P Name="GotoTag">Vt</P>
2140 |   </Block>
2141 |   <Block BlockType="Goto" Name="Goto7" SID="31">
2142 |     <P Name="Position">[915, 417, 955, 443]</P>
2143 |     <P Name="ZOrder">59</P>
2144 |     <P Name="GotoTag">qbar</P>
2145 |   </Block>
2146 |   <Block BlockType="Goto" Name="Goto9" SID="43">
2147 |     <P Name="Position">[550, 112, 620, 138]</P>
2148 |     <P Name="ZOrder">66</P>
2149 |     <P Name="ShowName">off</P>
2150 |     <P Name="HideAutomaticName">off</P>
2151 |     <P Name="GotoTag">DCM_be</P>
2152 |   </Block>
2153 |   <Block BlockType="Reference" Name="ISA Atmosphere Model" SID="5">
2154 |     <P Name="Ports">[1, 4]</P>
2155 |     <P Name="Position">[1360, 387, 1505, 593]</P>
2156 |     <P Name="ZOrder">33</P>
2157 |     <P Name="HideAutomaticName">off</P>
2158 |     <P Name="LibraryVersion">6.0</P>
2159 |     <P Name="SourceBlock">aerolibatmos2/ISA Atmosphere Model</P>
2160 |     <P Name="SourceType">International Standard Atmosphere Model</P>
2161 |     <InstanceData>
2162 |       <P Name="RTWMemSecFuncInitTerm">Inherit from model</P>
2163 |       <P Name="RTWMemSecFuncExecute">Inherit from model</P>
2164 |       <P Name="RTWMemSecDataConstants">Inherit from model</P>
2165 |       <P Name="RTWMemSecDataInternal">Inherit from model</P>
2166 |       <P Name="RTWMemSecDataParameters">Inherit from model</P>
2167 |       <P Name="ContentPreviewEnabled">on</P>
2168 |       <P Name="custom">off</P>
2169 |       <P Name="g">9.80665</P>
2170 |       <P Name="gamma">1.4</P>
2171 |       <P Name="R">287.0531</P>
2172 |       <P Name="L">0.0065</P>
2173 |       <P Name="h_trop">11000</P>
2174 |       <P Name="h_strat">20000</P>
2175 |       <P Name="rho0">1.225</P>
2176 |       <P Name="P0">101325</P>
2177 |       <P Name="T0">288.15</P>
2178 |       <P Name="h0">0</P>
2179 |     </InstanceData>
2180 |   </Block>
2181 |   <Block BlockType="Reference" Name="Incidence, Sideslip,&#xA;&amp; Airspeed" SID="7">
2182 |     <P Name="Ports">[1, 3]</P>
2183 |     <P Name="Position">[825, 540, 885, 640]</P>
2184 |     <P Name="ZOrder">35</P>
2185 |     <P Name="LibraryVersion">6.0</P>
2186 |     <P Name="SourceBlock">aerolibasang/Incidence, Sideslip,
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2188 |     <P Name="SourceType">Incidence,Sideslip,&amp;Airspeed</P>
2189 |     <InstanceData>
2190 |       <P Name="RTWMemSecFuncInitTerm">Inherit from model</P>
2191 |       <P Name="RTWMemSecFuncExecute">Inherit from model</P>
2192 |       <P Name="RTWMemSecDataConstants">Inherit from model</P>
2193 |       <P Name="RTWMemSecDataInternal">Inherit from model</P>
2194 |       <P Name="RTWMemSecDataParameters">Inherit from model</P>
2195 |       <P Name="ContentPreviewEnabled">on</P>
2196 |     </InstanceData>
2197 |   </Block>
2198 |   <Block BlockType="Reference" Name="Mach Number" SID="200">
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2200 |     <P Name="Position">[1540, 107, 1600, 158]</P>
2201 |     <P Name="ZOrder">177</P>
2202 |     <P Name="ShowName">off</P>
2203 |     <P Name="HideAutomaticName">off</P>
2204 |     <P Name="LibraryVersion">6.0</P>
2205 |     <P Name="SourceBlock">aerolibasang/Mach Number</P>
2206 |     <P Name="SourceType">Mach Number</P>
2207 |     <InstanceData>
2208 |       <P Name="RTWMemSecFuncInitTerm">Inherit from model</P>
2209 |       <P Name="RTWMemSecFuncExecute">Inherit from model</P>
2210 |       <P Name="RTWMemSecDataConstants">Inherit from model</P>
2211 |       <P Name="RTWMemSecDataInternal">Inherit from model</P>
2212 |       <P Name="RTWMemSecDataParameters">Inherit from model</P>
2213 |       <P Name="ContentPreviewEnabled">on</P>
2214 |     </InstanceData>
2215 |   </Block>
2216 |   <Block BlockType="Mux" Name="Mux1" SID="114">
2217 |     <P Name="Ports">[3, 1]</P>
2218 |     <P Name="Position">[310, 448, 315, 522]</P>
2219 |     <P Name="ZOrder">133</P>
2220 |     <P Name="Inputs">3</P>
2221 |     <P Name="DisplayOption">bar</P>
2222 |   </Block>
2223 |   <Block BlockType="Selector" Name="Selector" SID="11">
2224 |     <P Name="Ports">[1, 1]</P>
2225 |     <P Name="Position">[1100, 471, 1140, 509]</P>
2226 |     <P Name="ZOrder">39</P>
2227 |     <P Name="InputPortWidth">3</P>
2228 |     <P Name="IndexOptions">Index vector (dialog)</P>
2229 |     <P Name="Indices">3</P>
2230 |     <P Name="OutputSizes">1</P>
2231 |   </Block>
2232 |   <Block BlockType="Selector" Name="Selector1" SID="75">
2233 |     <P Name="Ports">[1, 1]</P>
2234 |     <P Name="Position">[1220, 211, 1260, 249]</P>
2235 |     <P Name="ZOrder">95</P>
2236 |     <P Name="InputPortWidth">3</P>
2237 |     <P Name="IndexOptions">Index vector (dialog)</P>
2238 |     <P Name="Indices">2</P>
2239 |     <P Name="OutputSizes">1</P>
2240 |   </Block>
2241 |   <Block BlockType="Sum" Name="Sum" SID="182">
2242 |     <P Name="Ports">[2, 1]</P>
2243 |     <P Name="Position">[780, 580, 800, 600]</P>
2244 |     <P Name="ZOrder">164</P>
2245 |     <P Name="Inputs">|++</P>
2246 |   </Block>
2247 |   <Block BlockType="Sum" Name="Sum1" SID="185">
2248 |     <P Name="Ports">[2, 1]</P>
2249 |     <P Name="Position">[235, 200, 255, 220]</P>
2250 |     <P Name="ZOrder">166</P>
2251 |     <P Name="ShowName">off</P>
2252 |     <P Name="HideAutomaticName">off</P>
2253 |     <P Name="Inputs">|++</P>
2254 |   </Block>
2255 |   <Block BlockType="Terminator" Name="Terminator" SID="130">
2256 |     <P Name="Position">[1540, 405, 1560, 425]</P>
2257 |     <P Name="ZOrder">147</P>
2258 |   </Block>
2259 |   <Block BlockType="Terminator" Name="Terminator1" SID="131">
2260 |     <P Name="Position">[1540, 505, 1560, 525]</P>
2261 |     <P Name="ZOrder">148</P>
2262 |   </Block>
2263 |   <Block BlockType="SubSystem" Name="Transform weight vector to body axis" SID="122">
2264 |     <P Name="Ports">[2, 1]</P>
2265 |     <P Name="Position">[450, 464, 545, 551]</P>
2266 |     <P Name="ZOrder">141</P>
2267 |     <P Name="ErrorFcn">Stateflow.Translate.translate</P>
2268 |     <P Name="PermitHierarchicalResolution">ExplicitOnly</P>
2269 |     <P Name="TreatAsAtomicUnit">on</P>
2270 |     <P Name="SFBlockType">MATLAB Function</P>
2271 |     <P Name="ContentPreviewEnabled">on</P>
2272 |     <Port>
2273 |       <P Name="PortNumber">1</P>
2274 |       <P Name="PropagatedSignals">Wb</P>
2275 |     </Port>
2276 |     <System Ref="system_122"/>
2277 |   </Block>
2278 |   <Block BlockType="Gain" Name="mass" SID="113">
2279 |     <P Name="Position">[185, 485, 265, 535]</P>
2280 |     <P Name="ZOrder">132</P>
2281 |     <P Name="Gain">Param.mass</P>
2282 |   </Block>
2283 |   <Block BlockType="Outport" Name="Xe (m)" SID="89">
2284 |     <P Name="Position">[1230, -17, 1260, -3]</P>
2285 |     <P Name="ZOrder">108</P>
2286 |   </Block>
2287 |   <Block BlockType="Outport" Name="Ve (m/s)" SID="196">
2288 |     <P Name="Position">[1230, 18, 1260, 32]</P>
2289 |     <P Name="ZOrder">173</P>
2290 |     <P Name="Port">2</P>
2291 |   </Block>
2292 |   <Block BlockType="Outport" Name="Vt (m/s)" SID="90">
2293 |     <P Name="Position">[1230, 53, 1260, 67]</P>
2294 |     <P Name="ZOrder">109</P>
2295 |     <P Name="Port">3</P>
2296 |   </Block>
2297 |   <Block BlockType="Outport" Name="alpha (rad)" SID="91">
2298 |     <P Name="Position">[1230, 88, 1260, 102]</P>
2299 |     <P Name="ZOrder">110</P>
2300 |     <P Name="Port">4</P>
2301 |   </Block>
2302 |   <Block BlockType="Outport" Name="beta (rad)" SID="92">
2303 |     <P Name="Position">[1230, 123, 1260, 137]</P>
2304 |     <P Name="ZOrder">111</P>
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3368 | 


--------------------------------------------------------------------------------
/F16_Julia_Dump.mat:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/isrlab/F16-Model-Matlab/d019742f2fe7f5f25c521bc7e846519b28b759b3/F16_Julia_Dump.mat


--------------------------------------------------------------------------------
/JuliaF16Model.ipynb:
--------------------------------------------------------------------------------
  1 | {
  2 |  "cells": [
  3 |   {
  4 |    "cell_type": "markdown",
  5 |    "metadata": {},
  6 |    "source": [
  7 |     "# Comparison with Julia Model"
  8 |    ]
  9 |   },
 10 |   {
 11 |    "cell_type": "code",
 12 |    "execution_count": 37,
 13 |    "metadata": {},
 14 |    "outputs": [],
 15 |    "source": [
 16 |     "using F16Model, OrdinaryDiffEq\n"
 17 |    ]
 18 |   },
 19 |   {
 20 |    "cell_type": "code",
 21 |    "execution_count": 38,
 22 |    "metadata": {},
 23 |    "outputs": [],
 24 |    "source": [
 25 |     "\n",
 26 |     "# Define state vector\n",
 27 |     "# -------------------\n",
 28 |     "d2r = pi/180;\n",
 29 |     "npos = 0; # ft\n",
 30 |     "epos = 0; # ft\n",
 31 |     "alt = 10000; # should be in between 5000 ft and 100000 ft\n",
 32 |     "phi = 0;   # rad -- Roll\n",
 33 |     "theta = 0; # rad -- Pitch\n",
 34 |     "psi = 0;   # rad -- Yaw\n",
 35 |     "Vt = 300;  # ft/s -- Total velocity\n",
 36 |     "alp = 0;   # rad -- Angle of attack\n",
 37 |     "bet = 0;   # rad -- Side slip angle \n",
 38 |     "p = 0;     # rad/s -- Roll rate\n",
 39 |     "q = 0;     # rad/s -- Pitch rate\n",
 40 |     "r = 0;     # rad/s -- Yaw rate\n",
 41 |     "\n",
 42 |     "x0 = [npos,epos,alt,phi,theta,psi,Vt,alp,bet,p,q,r];\n",
 43 |     "\n",
 44 |     "# Define control vector\n",
 45 |     "# ---------------------\n",
 46 |     "T = 9000; # Thrust lbs\n",
 47 |     "dele = 2; # deg elevator angle\n",
 48 |     "dail = 2; # deg aileron angle\n",
 49 |     "drud = 2; # deg rudder angle\n",
 50 |     "dlef = 2; # deg leading edge flap angle\n",
 51 |     "u0 = [T,dele,dail,drud,dlef];"
 52 |    ]
 53 |   },
 54 |   {
 55 |    "cell_type": "code",
 56 |    "execution_count": 39,
 57 |    "metadata": {},
 58 |    "outputs": [],
 59 |    "source": [
 60 |     "tspan = (0.0,10);\n",
 61 |     "xdot = zeros(12)\n",
 62 |     "\n",
 63 |     "nlplant! = (xdot,x,p,t) -> F16Model.Dynamics!(xdot,x,u0)\n",
 64 |     "\n",
 65 |     "prob = ODEProblem(nlplant!,x0,tspan, saveat=0.01);\n",
 66 |     "sol = solve(prob);"
 67 |    ]
 68 |   },
 69 |   {
 70 |    "cell_type": "code",
 71 |    "execution_count": 40,
 72 |    "metadata": {},
 73 |    "outputs": [],
 74 |    "source": [
 75 |     "xout = hcat(sol.u...)\n",
 76 |     "tout = sol.t\n",
 77 |     "\n",
 78 |     "using MAT\n",
 79 |     "file = matopen(\"F16_Julia_Dump.mat\",\"w\")\n",
 80 |     "write(file, \"xout\", xout)\n",
 81 |     "write(file, \"tout\", tout)\n",
 82 |     "close(file)"
 83 |    ]
 84 |   },
 85 |   {
 86 |    "cell_type": "code",
 87 |    "execution_count": 41,
 88 |    "metadata": {},
 89 |    "outputs": [
 90 |     {
 91 |      "name": "stdout",
 92 |      "output_type": "stream",
 93 |      "text": [
 94 |       "This is Ipopt version 3.14.17, running with linear solver MUMPS 5.7.3.\n",
 95 |       "\n",
 96 |       "Number of nonzeros in equality constraint Jacobian...:        0\n",
 97 |       "Number of nonzeros in inequality constraint Jacobian.:        8\n",
 98 |       "Number of nonzeros in Lagrangian Hessian.............:       36\n",
 99 |       "\n",
100 |       "Total number of variables............................:        8\n",
101 |       "                     variables with only lower bounds:        1\n",
102 |       "                variables with lower and upper bounds:        7\n",
103 |       "                     variables with only upper bounds:        0\n",
104 |       "Total number of equality constraints.................:        0\n",
105 |       "Total number of inequality constraints...............:        1\n",
106 |       "        inequality constraints with only lower bounds:        0\n",
107 |       "   inequality constraints with lower and upper bounds:        0\n",
108 |       "        inequality constraints with only upper bounds:        1\n",
109 |       "\n",
110 |       "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
111 |       "   0  9.9999900e-03 1.45e+02 1.00e+00  -1.0 0.00e+00    -  0.00e+00 0.00e+00   0\n",
112 |       "   1  1.0000312e-01 3.63e+01 1.05e-01  -1.0 1.88e-01    -  9.37e-01 1.00e+00h  1\n",
113 |       "   2  1.0004177e-01 8.07e+00 5.65e-01  -1.0 5.70e-01   0.0 9.90e-01 1.00e+00h  1\n",
114 |       "   3  1.0010984e-01 1.10e+02 2.87e+00  -1.0 2.98e+00  -0.5 1.49e-01 9.28e-02h  3\n",
115 |       "   4  1.0004505e-01 2.20e+01 5.28e-01  -1.0 2.39e+01    -  9.96e-01 1.00e+00h  1\n",
116 |       "   5  1.0016456e-01 1.49e+02 4.73e+00  -1.0 1.00e+03    -  1.00e+00 1.00e+00f  1\n",
117 |       "   6  1.0008417e-01 7.27e+01 1.16e+00  -1.0 1.48e-01   0.9 1.00e+00 1.00e+00h  1\n",
118 |       "   7  1.0005038e-01 2.08e+01 7.77e-01  -1.0 4.14e+02    -  1.00e+00 1.00e+00h  1\n",
119 |       "   8  1.0009114e-01 2.33e+00 6.64e-01  -1.0 1.19e-01   0.4 1.00e+00 2.50e-01h  3\n",
120 |       "   9  1.0011207e-01 7.27e-01 3.04e-01  -1.0 3.17e+02    -  1.00e+00 9.99e-01h  1\n",
121 |       "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
122 |       "  10  2.0766648e-02 1.34e+01 9.08e+00  -1.7 3.12e+01    -  1.00e+00 1.00e+00h  1\n",
123 |       "  11  2.0177631e-02 5.17e-01 9.66e-01  -1.7 5.09e-02   0.8 1.00e+00 1.00e+00h  1\n",
124 |       "  12  2.0341148e-02 5.86e-01 3.15e+00  -1.7 1.41e-01   0.3 1.00e+00 2.50e-01h  3\n",
125 |       "  13  2.0150872e-02 2.77e-01 8.68e-01  -1.7 2.57e+02    -  1.00e+00 9.64e-01h  1\n",
126 |       "  14  2.1522158e-02 4.27e-01 1.15e+01  -1.7 2.13e+03    -  1.00e+00 1.00e+00f  1\n",
127 |       "  15  2.1742110e-02 3.02e-02 2.32e+00  -1.7 2.89e-01   0.7 1.00e+00 2.50e-01h  3\n",
128 |       "  16  2.2398935e-02 1.36e-02 9.44e-01  -1.7 2.52e-01   0.3 1.00e+00 9.92e-01h  1\n",
129 |       "  17  3.6360171e-02 3.61e-01 3.51e+01  -1.7 2.15e+03    -  1.00e+00 1.00e+00f  1\n",
130 |       "  18  7.4853617e-02 1.81e-01 4.33e+00  -1.7 2.20e-01  -0.2 1.00e+00 8.43e-01h  1\n",
131 |       "  19  9.0338449e-02 4.47e-01 1.40e+02  -1.7 2.93e-01  -0.7 1.00e+00 1.00e+00f  1\n",
132 |       "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
133 |       "  20  9.0337459e-04 1.61e-01 3.75e+01  -1.7 4.54e-01  -1.2 1.00e+00 9.20e-01h  1\n",
134 |       "  21  4.1545019e-02 3.74e-02 1.99e+01  -1.7 7.46e-01  -1.6 1.00e+00 1.00e+00f  1\n",
135 |       "  22  4.1547487e-02 0.00e+00 2.99e-01  -1.7 7.04e-01  -2.1 1.00e+00 1.00e+00h  1\n",
136 |       "  23  3.8499906e-02 3.83e-01 6.41e+01  -1.7 1.39e+03    -  1.00e+00 1.00e+00h  1\n",
137 |       "  24  2.2959201e-02 6.93e-02 1.58e+01  -1.7 1.86e-02  -1.7 1.00e+00 1.00e+00h  1\n",
138 |       "  25  2.6770580e-02 0.00e+00 1.24e+00  -1.7 1.27e-02  -2.2 1.00e+00 1.00e+00h  1\n",
139 |       "  26  3.3182261e-02 0.00e+00 4.47e-01  -1.7 2.74e+02    -  1.00e+00 1.00e+00h  1\n",
140 |       "  27  4.7884222e-02 0.00e+00 3.38e-01  -1.7 1.47e-02  -2.6 1.00e+00 1.00e+00h  1\n",
141 |       "  28  4.5843521e-02 0.00e+00 5.08e+00  -1.7 9.98e+02    -  1.00e+00 1.00e+00h  1\n",
142 |       "  29  4.4576647e-02 0.00e+00 1.65e-01  -1.7 1.51e-02  -3.1 1.00e+00 1.00e+00h  1\n",
143 |       "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
144 |       "  30  9.9552848e-03 1.76e-02 1.26e+01  -2.5 1.39e+03    -  1.00e+00 1.00e+00f  1\n",
145 |       "  31  3.2071378e-03 5.55e-03 2.42e+00  -2.5 7.33e-02  -2.7 1.00e+00 1.00e+00h  1\n",
146 |       "  32  6.7573201e-03 1.20e-03 2.71e+00  -2.5 1.74e-01  -3.2 1.00e+00 1.00e+00h  1\n",
147 |       "  33  7.5471813e-03 3.96e-05 1.10e+00  -2.5 4.46e-02  -0.0 1.00e+00 2.50e-01h  3\n",
148 |       "  34  1.0568040e-02 0.00e+00 2.02e+00  -2.5 1.37e-02  -0.5 1.00e+00 1.00e+00h  1\n",
149 |       "  35  1.0838686e-02 0.00e+00 1.35e-01  -2.5 3.52e-03  -1.0 1.00e+00 1.00e+00h  1\n",
150 |       "  36  9.7670052e-03 0.00e+00 3.02e+00  -2.5 2.45e+03    -  1.00e+00 2.50e-01h  3\n",
151 |       "  37  9.2644658e-03 0.00e+00 1.26e-01  -2.5 2.11e-03  -1.5 1.00e+00 1.00e+00h  1\n",
152 |       "  38  8.1141907e-03 1.34e-03 5.33e+00  -2.5 1.77e+03    -  1.00e+00 5.00e-01h  2\n",
153 |       "  39  5.9295647e-03 0.00e+00 7.45e-01  -2.5 2.18e-03  -1.9 1.00e+00 1.00e+00h  1\n",
154 |       "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
155 |       "  40  7.9879972e-03 0.00e+00 1.15e-01  -2.5 1.21e-02  -2.4 1.00e+00 1.00e+00h  1\n",
156 |       "  41  8.4702757e-03 0.00e+00 6.39e-02  -2.5 1.39e-02  -2.9 1.00e+00 1.00e+00h  1\n",
157 |       "  42  7.5357985e-03 0.00e+00 2.52e+00  -2.5 1.24e+03    -  1.00e+00 5.00e-01h  2\n",
158 |       "  43  6.4843794e-03 0.00e+00 2.29e-01  -2.5 2.77e-03  -3.4 1.00e+00 1.00e+00h  1\n",
159 |       "  44  7.0895935e-03 0.00e+00 4.57e-01  -2.5 3.57e+02    -  1.00e+00 1.00e+00h  1\n",
160 |       "  45  7.0830652e-03 0.00e+00 4.92e-02  -2.5 1.82e-01  -3.9 1.00e+00 1.00e+00h  1\n",
161 |       "  46  6.8750677e-03 0.00e+00 4.59e-01  -2.5 4.06e+02    -  1.00e+00 5.00e-01h  2\n",
162 |       "  47  6.8385513e-03 0.00e+00 5.99e-03  -2.5 4.09e-01  -4.3 1.00e+00 1.00e+00h  1\n",
163 |       "  48  1.0186846e-06 5.10e-01 2.48e+01  -3.8 1.87e+03    -  9.32e-01 9.38e-01f  1\n",
164 |       "  49  3.2666720e-04 1.27e-01 6.20e+00  -3.8 1.40e-02  -2.1 1.00e+00 1.00e+00h  1\n",
165 |       "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
166 |       "  50  1.4610597e-04 3.14e-02 1.55e+00  -3.8 7.35e-03  -2.6 1.00e+00 1.00e+00h  1\n",
167 |       "  51  1.6320367e-04 7.10e-03 3.87e-01  -3.8 5.87e-03  -3.1 1.00e+00 1.00e+00h  1\n",
168 |       "  52  1.5807559e-04 7.42e-04 8.32e-02  -3.8 1.13e-02  -3.5 1.00e+00 1.00e+00h  1\n",
169 |       "  53  1.6306995e-04 2.23e-04 7.58e-02  -3.8 4.59e-02  -4.0 1.00e+00 1.00e+00h  1\n",
170 |       "  54  1.7522640e-04 1.02e-04 1.10e-01  -3.8 8.55e-04   0.9 1.00e+00 1.00e+00h  1\n",
171 |       "  55  2.0343657e-04 0.00e+00 1.75e-01  -3.8 1.28e-03   0.5 1.00e+00 1.00e+00h  1\n",
172 |       "  56  2.4103675e-04 0.00e+00 1.29e-01  -3.8 1.76e-03   0.9 1.00e+00 1.00e+00h  1\n",
173 |       "  57  2.9789285e-04 0.00e+00 4.43e-02  -3.8 8.02e-04   0.4 1.00e+00 1.00e+00h  1\n",
174 |       "  58  3.2579106e-04 0.00e+00 5.03e-02  -3.8 1.86e-03  -0.1 1.00e+00 1.00e+00h  1\n",
175 |       "  59  3.2578355e-04 0.00e+00 7.60e-04  -3.8 2.67e-03  -0.5 1.00e+00 1.00e+00h  1\n",
176 |       "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
177 |       "  60 -9.3989388e-09 9.39e-06 9.11e-02  -5.7 6.16e+01    -  9.36e-01 9.42e-01h  1\n",
178 |       "  61  3.7284521e-06 0.00e+00 1.01e-02  -5.7 5.17e-04  -1.0 1.00e+00 1.00e+00f  1\n",
179 |       "  62  3.8018210e-06 0.00e+00 1.43e-03  -5.7 1.60e-03  -1.5 1.00e+00 1.00e+00h  1\n",
180 |       "  63  4.0763468e-06 0.00e+00 2.43e-03  -5.7 6.05e+00    -  1.00e+00 1.00e+00h  1\n",
181 |       "  64  4.2397018e-06 0.00e+00 6.18e-05  -5.7 2.07e-04  -2.0 1.00e+00 1.00e+00h  1\n",
182 |       "  65  4.2670128e-06 0.00e+00 1.71e-02  -5.7 1.97e+01    -  1.00e+00 1.00e+00h  1\n",
183 |       "  66  4.1363852e-06 0.00e+00 3.87e-04  -5.7 2.16e-01    -  1.00e+00 1.00e+00h  1\n",
184 |       "  67  4.2669850e-06 0.00e+00 7.56e-05  -5.7 1.30e+00    -  1.00e+00 1.00e+00h  1\n",
185 |       "  68  4.2709781e-06 0.00e+00 5.84e-05  -5.7 1.08e+00    -  1.00e+00 1.00e+00h  1\n",
186 |       "  69  4.2711819e-06 0.00e+00 1.63e-06  -5.7 1.80e-01    -  1.00e+00 1.00e+00h  1\n",
187 |       "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
188 |       "  70  9.7507272e-07 1.51e-06 4.94e-02  -8.6 3.38e+01    -  9.15e-01 9.02e-01f  1\n",
189 |       "  71 -9.9999975e-09 1.08e-06 8.40e-02  -8.6 4.86e-04  -2.5 1.00e+00 8.45e-01f  1\n",
190 |       "  72 -9.3463801e-09 9.97e-07 1.05e+00  -8.6 8.39e+00    -  1.72e-01 1.16e-01f  2\n",
191 |       "  73  1.0918006e-06 2.47e-07 2.20e+01  -8.6 9.68e+00    -  2.61e-01 1.00e+00h  1\n",
192 |       "  74  1.0854214e-06 2.53e-07 2.39e+01  -8.6 6.20e-07   5.4 1.00e+00 1.03e-02h  1\n",
193 |       "  75  1.1153708e-06 2.20e-07 2.55e+01  -8.6 5.67e-07   4.9 8.23e-01 1.25e-01f  4\n",
194 |       "  76  1.2717711e-06 7.29e-10 3.39e-02  -8.6 1.69e-06   4.4 1.00e+00 1.00e+00h  1\n",
195 |       "  77  6.6797717e-07 6.14e-07 1.55e-02  -8.6 2.83e+00    -  1.00e+00 1.00e+00h  1\n",
196 |       "  78  1.2626335e-06 0.00e+00 1.26e-02  -8.6 1.39e-06   4.0 1.00e+00 1.00e+00h  1\n",
197 |       "  79  1.2338173e-06 3.85e-09 7.41e-03  -8.6 2.43e-06   3.5 1.00e+00 1.00e+00h  1\n",
198 |       "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
199 |       "  80  1.2222169e-06 3.40e-09 2.47e-03  -8.6 2.45e-06   3.0 1.00e+00 1.00e+00h  1\n",
200 |       "  81  1.2241144e-06 0.00e+00 6.86e-04  -8.6 2.04e-06   2.5 1.00e+00 1.00e+00h  1\n",
201 |       "  82  1.2200558e-06 0.00e+00 7.17e-04  -8.6 6.38e-06   2.1 1.00e+00 1.00e+00h  1\n",
202 |       "  83  1.2072541e-06 0.00e+00 6.43e-04  -8.6 1.72e-05   1.6 1.00e+00 1.00e+00h  1\n",
203 |       "  84  1.1821983e-06 7.84e-10 4.70e-04  -8.6 3.82e-05   1.1 1.00e+00 1.00e+00h  1\n",
204 |       "  85  1.1566599e-06 4.41e-09 2.19e-04  -8.6 5.67e-05   0.6 1.00e+00 1.00e+00h  1\n",
205 |       "  86  1.1489456e-06 1.43e-09 6.65e-05  -8.6 4.57e-05   0.1 1.00e+00 1.00e+00h  1\n",
206 |       "  87  1.1431404e-06 0.00e+00 4.17e-05  -8.6 9.03e-05  -0.3 1.00e+00 1.00e+00h  1\n",
207 |       "  88  1.1316595e-06 0.00e+00 3.75e-05  -8.6 2.43e-04  -0.8 1.00e+00 1.00e+00h  1\n",
208 |       "  89  1.0798349e-06 2.57e-07 3.25e-02  -8.6 3.26e+02    -  1.00e+00 6.25e-02h  5\n",
209 |       "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
210 |       "  90  5.3491747e-07 6.71e-07 3.16e-02  -8.6 2.12e+01    -  1.00e+00 3.17e-01h  2\n",
211 |       "  91  9.0724978e-07 1.34e-07 8.14e-03  -8.6 4.27e-04  -1.3 8.87e-01 1.00e+00h  1\n",
212 |       "  92  1.0238911e-06 3.92e-09 8.42e-05  -8.6 6.16e-04  -1.8 1.00e+00 1.00e+00h  1\n",
213 |       "  93  1.0263178e-06 0.00e+00 1.27e-05  -8.6 3.40e-04  -2.2 1.00e+00 1.00e+00h  1\n",
214 |       "  94  1.0276045e-06 0.00e+00 6.53e-07  -8.6 3.01e-04  -2.7 1.00e+00 1.00e+00h  1\n",
215 |       "  95  1.0271854e-06 0.00e+00 5.52e-07  -8.6 8.71e-04  -3.2 1.00e+00 1.00e+00h  1\n",
216 |       "  96  1.0257339e-06 0.00e+00 5.46e-07  -8.6 2.58e-03  -3.7 1.00e+00 1.00e+00h  1\n",
217 |       "  97  1.0215541e-06 0.00e+00 5.30e-07  -8.6 7.52e-03  -4.2 1.00e+00 1.00e+00h  1\n",
218 |       "  98  1.0104474e-06 0.00e+00 4.85e-07  -8.6 2.07e-02  -4.6 1.00e+00 1.00e+00h  1\n",
219 |       "  99  9.8682331e-07 7.99e-11 2.00e-06  -8.6 4.87e-02  -5.1 1.00e+00 1.00e+00h  1\n",
220 |       "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
221 |       " 100  9.5829714e-07 4.51e-09 3.32e-06  -8.6 8.01e-02  -5.6 1.00e+00 1.00e+00h  1\n",
222 |       " 101  9.5054641e-07 2.74e-09 3.82e-07  -8.6 6.94e-02  -6.1 1.00e+00 1.00e+00h  1\n",
223 |       " 102  9.3365045e-07 2.12e-08 1.36e-02  -8.6 3.42e+03    -  1.23e-01 3.13e-03h  6\n",
224 |       " 103  9.1604246e-07 1.64e-08 4.24e-04  -8.6 2.32e+00    -  1.00e+00 1.00e+00h  1\n",
225 |       " 104  8.8799347e-07 4.74e-07 4.38e-02  -8.6 4.88e+01    -  1.00e+00 5.00e-01h  2\n",
226 |       " 105  4.3274185e-07 4.63e-07 4.41e-05  -8.6 7.93e-03  -5.6 1.00e+00 1.00e+00h  1\n",
227 |       " 106  4.3454830e-07 4.56e-07 6.45e-03  -8.6 2.80e+02    -  1.00e+00 3.12e-02h  6\n",
228 |       " 107  8.7158186e-07 5.48e-09 1.10e-03  -8.6 4.62e+00    -  1.00e+00 1.00e+00h  1\n",
229 |       " 108  8.5099897e-07 1.59e-07 2.57e-02  -8.6 1.97e+01    -  1.00e+00 1.00e+00h  1\n",
230 |       " 109  6.8973398e-07 1.58e-07 6.16e-05  -8.6 1.13e+00    -  1.00e+00 1.00e+00h  1\n",
231 |       "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
232 |       " 110  6.7555848e-07 2.45e-07 1.99e-02  -8.6 2.85e+02    -  1.00e+00 6.25e-02h  5\n",
233 |       " 111  7.2802549e-07 9.43e-08 7.07e-05  -8.6 1.30e+00    -  1.00e+00 1.00e+00h  1\n",
234 |       " 112  7.1307187e-07 1.46e-07 1.54e-02  -8.6 2.56e+02    -  1.00e+00 6.25e-02h  5\n",
235 |       " 113  7.4399526e-07 5.56e-08 1.21e-04  -8.6 1.62e+00    -  1.00e+00 1.00e+00h  1\n",
236 |       " 114  7.3461244e-07 6.12e-08 6.16e-03  -8.6 1.64e+02    -  1.00e+00 6.25e-02h  5\n",
237 |       " 115  7.7527902e-07 6.89e-09 7.50e-04  -8.6 3.71e+00    -  1.00e+00 1.00e+00h  1\n",
238 |       " 116  1.3279508e-06 0.00e+00 4.89e-02  -8.6 2.95e+01    -  1.00e+00 1.00e+00H  1\n",
239 |       " 117  1.7133396e-07 5.75e-07 5.35e-05  -8.6 6.26e-03  -5.2 1.00e+00 1.00e+00f  1\n",
240 |       " 118  1.7885821e-07 5.61e-07 5.41e-02  -8.6 2.69e+02    -  1.00e+00 2.88e-02h  6\n",
241 |       " 119  7.2772787e-07 2.57e-09 1.20e-01  -8.6 7.53e+00    -  3.89e-01 1.00e+00h  1\n",
242 |       "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
243 |       " 120  7.1968949e-07 2.80e-09 3.92e-03  -8.6 8.73e+00    -  1.00e+00 1.00e+00h  1\n",
244 |       " 121  7.1095783e-07 1.94e-09 1.69e-03  -8.6 5.86e+00    -  1.00e+00 1.00e+00h  1\n",
245 |       " 122  6.9905988e-07 1.75e-08 8.88e-03  -8.6 1.34e+01    -  1.00e+00 1.00e+00h  1\n",
246 |       " 123  6.7776292e-07 1.68e-08 3.22e-04  -8.6 2.67e+00    -  1.00e+00 1.00e+00h  1\n",
247 |       " 124  6.6418051e-07 5.97e-08 1.40e-02  -8.6 6.77e+01    -  1.00e+00 2.50e-01h  3\n",
248 |       " 125  6.2931290e-07 4.52e-08 1.29e-04  -8.6 1.79e+00    -  1.00e+00 1.00e+00h  1\n",
249 |       " 126  6.1454707e-07 1.19e-07 1.80e-02  -8.6 1.57e+02    -  1.00e+00 1.25e-01h  4\n",
250 |       " 127  5.7572973e-07 7.69e-08 7.83e-05  -8.6 1.46e+00    -  1.00e+00 1.00e+00h  1\n",
251 |       " 128  5.6016894e-07 1.98e-07 2.30e-02  -8.6 2.40e+02    -  1.00e+00 9.46e-02h  4\n",
252 |       " 129  5.0265591e-07 1.26e-07 5.56e-05  -8.6 1.24e+00    -  1.00e+00 1.00e+00h  1\n",
253 |       "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
254 |       " 130  4.9124619e-07 1.92e-07 1.74e-02  -8.6 3.11e+02    -  1.00e+00 6.48e-02h  4\n",
255 |       " 131  5.3635875e-07 7.15e-08 6.15e-05  -8.6 1.50e+00    -  1.00e+00 1.00e+00h  1\n",
256 |       " 132  5.2411590e-07 1.09e-07 1.31e-02  -8.6 2.84e+02    -  1.00e+00 6.25e-02h  4\n",
257 |       " 133  5.4994838e-07 3.95e-08 1.22e-04  -8.6 1.89e+00    -  1.00e+00 1.00e+00h  1\n",
258 |       " 134  5.3964185e-07 5.92e-08 9.85e-03  -8.6 1.62e+02    -  1.00e+00 9.66e-02h  4\n",
259 |       " 135  5.5190105e-07 2.12e-08 2.11e-04  -8.6 2.42e+00    -  1.00e+00 1.00e+00h  1\n",
260 |       " 136  5.4383758e-07 2.73e-08 6.07e-03  -8.6 9.83e+01    -  1.00e+00 1.25e-01h  4\n",
261 |       " 137  5.5231377e-07 6.56e-09 5.38e-04  -8.6 3.81e+00    -  1.00e+00 1.00e+00h  1\n",
262 |       " 138  1.5216975e-06 0.00e+00 6.43e-02  -8.6 4.06e+01    -  5.81e-01 1.00e+00H  1\n",
263 |       " 139 -9.9999962e-09 5.87e-07 1.48e-02  -8.6 6.44e-03  -4.8 1.00e+00 7.73e-01f  1\n",
264 |       "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
265 |       " 140  1.3932434e-08 5.79e-07 6.61e+00  -8.6 1.70e+01    -  1.07e-01 1.56e-02f  7\n",
266 |       " 141  1.3928723e-08 5.78e-07 1.43e-01  -8.6 1.92e+00    -  1.00e+00 6.56e-03h  1\n",
267 |       " 142  4.2974052e-08 5.12e-07 1.10e-01  -8.6 4.84e+00    -  1.01e-01 1.25e-01f  4\n",
268 |       " 143  4.9669577e-07 2.55e-08 7.49e-04  -8.6 2.03e+00    -  1.00e+00 1.00e+00h  1\n",
269 |       " 144  7.1046331e-07 0.00e+00 1.16e-01  -8.6 2.81e+01    -  7.59e-01 1.00e+00H  1\n",
270 |       " 145  2.9772931e-07 2.01e-07 5.49e-04  -8.6 1.02e+00    -  1.00e+00 1.00e+00h  1\n",
271 |       " 146  4.4448635e-07 1.30e-07 1.97e-02  -8.6 2.93e+01    -  1.00e+00 8.17e-01h  1\n",
272 |       " 147  3.9366105e-07 1.11e-07 1.24e-03  -8.6 7.02e+00    -  1.00e+00 1.00e+00f  1\n",
273 |       " 148  4.7175416e-07 1.54e-08 8.78e-04  -8.6 2.61e+00    -  1.00e+00 1.00e+00h  1\n",
274 |       " 149  4.8220276e-07 0.00e+00 2.88e-03  -8.6 9.29e+00    -  1.00e+00 1.00e+00h  1\n",
275 |       "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
276 |       " 150  4.8178682e-07 0.00e+00 1.08e-04  -8.6 1.78e+00    -  1.00e+00 1.00e+00h  1\n",
277 |       " 151  4.8429030e-07 0.00e+00 1.46e-05  -8.6 6.77e-01    -  1.00e+00 1.00e+00h  1\n",
278 |       " 152  4.8440760e-07 0.00e+00 7.09e-07  -8.6 1.46e-01    -  1.00e+00 1.00e+00h  1\n",
279 |       " 153  4.8440821e-07 0.00e+00 1.77e-11  -8.6 7.27e-04    -  1.00e+00 1.00e+00h  1\n",
280 |       "\n",
281 |       "Number of Iterations....: 153\n",
282 |       "\n",
283 |       "                                   (scaled)                 (unscaled)\n",
284 |       "Objective...............:   4.8440820559524264e-07    4.8440820559524264e-07\n",
285 |       "Dual infeasibility......:   1.7710343972634979e-11    1.7710343972634979e-11\n",
286 |       "Constraint violation....:   0.0000000000000000e+00    0.0000000000000000e+00\n",
287 |       "Variable bound violation:   0.0000000000000000e+00    0.0000000000000000e+00\n",
288 |       "Complementarity.........:   2.5059035596800622e-09    2.5059035596800622e-09\n",
289 |       "Overall NLP error.......:   2.5059035596800622e-09    2.5059035596800622e-09\n",
290 |       "\n",
291 |       "\n",
292 |       "Number of objective function evaluations             = 285\n",
293 |       "Number of objective gradient evaluations             = 154\n",
294 |       "Number of equality constraint evaluations            = 0\n",
295 |       "Number of inequality constraint evaluations          = 285\n",
296 |       "Number of equality constraint Jacobian evaluations   = 0\n",
297 |       "Number of inequality constraint Jacobian evaluations = 154\n",
298 |       "Number of Lagrangian Hessian evaluations             = 153\n",
299 |       "Total seconds in IPOPT                               = 0.096\n",
300 |       "\n",
301 |       "EXIT: Optimal Solution Found.\n"
302 |      ]
303 |     }
304 |    ],
305 |    "source": [
306 |     "h0 = 10000; # ft\n",
307 |     "Vt0 = 500;   # ft/s\n",
308 |     "\n",
309 |     "# Stead-Level Flight\n",
310 |     "xbar, ubar, status, prob = F16Model.Trim(h0,Vt0,γ=0, ψdot=0, ϕ=(0,1), ψ=(0,1), β=(0,1), p=(0,1), q=(0,1), r=(0,1));\n",
311 |     "xdot_trim = F16Model.Dynamics(xbar,ubar); # Should be close to zero."
312 |    ]
313 |   },
314 |   {
315 |    "cell_type": "code",
316 |    "execution_count": 42,
317 |    "metadata": {},
318 |    "outputs": [
319 |     {
320 |      "name": "stdout",
321 |      "output_type": "stream",
322 |      "text": [
323 |       "┌────────┬──────────────┬───────────┬───────────┬──────────┐\n",
324 |       "│\u001b[1m states \u001b[0m│\u001b[1m         xdot \u001b[0m│\u001b[1m      xmin \u001b[0m│\u001b[1m      xbar \u001b[0m│\u001b[1m     xmax \u001b[0m│\n",
325 |       "├────────┼──────────────┼───────────┼───────────┼──────────┤\n",
326 |       "│   npos │        500.0 │      -Inf │       0.0 │      Inf │\n",
327 |       "│   epos │          0.0 │      -Inf │       0.0 │      Inf │\n",
328 |       "│      h │   3.02269e-5 │    5000.0 │   10000.0 │  40000.0 │\n",
329 |       "│    phi │          0.0 │   -1.5708 │       0.0 │   1.5708 │\n",
330 |       "│  theta │          0.0 │   -1.5708 │ 0.0590342 │   1.5708 │\n",
331 |       "│    psi │          0.0 │   -1.5708 │       0.0 │   1.5708 │\n",
332 |       "│      V │    1.8945e-9 │     300.0 │     500.0 │    900.0 │\n",
333 |       "│  alpha │   8.79867e-6 │ -0.349066 │ 0.0590341 │ 0.785398 │\n",
334 |       "│   beta │ -0.000701234 │ -0.523599 │       0.0 │ 0.523599 │\n",
335 |       "│      p │   6.75021e-8 │      -Inf │       0.0 │      Inf │\n",
336 |       "│      q │  -2.15363e-7 │      -Inf │       0.0 │      Inf │\n",
337 |       "│      r │  -9.08611e-6 │      -Inf │       0.0 │      Inf │\n",
338 |       "└────────┴──────────────┴───────────┴───────────┴──────────┘\n",
339 |       "┌──────────┬────────┬─────────────┬─────────┐\n",
340 |       "│\u001b[1m controls \u001b[0m│\u001b[1m   umin \u001b[0m│\u001b[1m        ubar \u001b[0m│\u001b[1m    umax \u001b[0m│\n",
341 |       "├──────────┼────────┼─────────────┼─────────┤\n",
342 |       "│        T │ 1000.0 │     1891.67 │ 19000.0 │\n",
343 |       "│      ele │  -25.0 │    -1.37945 │    25.0 │\n",
344 |       "│      ail │  -21.5 │  -0.0802958 │    21.5 │\n",
345 |       "│      rud │  -30.0 │ -0.00584493 │    30.0 │\n",
346 |       "│      lef │    0.0 │   0.0699389 │    25.0 │\n",
347 |       "└──────────┴────────┴─────────────┴─────────┘\n"
348 |      ]
349 |     }
350 |    ],
351 |    "source": [
352 |     "using PrettyTables\n",
353 |     "\n",
354 |     "# Check Trim Values\n",
355 |     "xuBounds = F16Model.StateAndControlBounds();\n",
356 |     "states = [\"npos\",\"epos\",\"h\",\"phi\",\"theta\",\"psi\",\"V\",\"alpha\",\"beta\",\"p\",\"q\",\"r\"];\n",
357 |     "statesDer = [\"Dnpos\",\"Depos\",\"Dh\",\"Dphi\",\"Dtheta\",\"Dpsi\",\"DV\",\"Dalpha\",\"Ddbeta\",\"Dp\",\"Dq\",\"Dr\"];\n",
358 |     "controls = [\"T\",\"ele\",\"ail\",\"rud\",\"lef\"];\n",
359 |     "\n",
360 |     "xmin = vcat([-Inf;-Inf],xuBounds[1:10,1]); xmax = vcat([Inf;Inf], xuBounds[1:10,2]);\n",
361 |     "\n",
362 |     "data = hcat(states,xdot_trim,xmin,xbar,xmax)\n",
363 |     "pretty_table(header=[\"states\",\"xdot\",\"xmin\",\"xbar\",\"xmax\"],data);\n",
364 |     "pretty_table(header=[\"controls\",\"umin\",\"ubar\",\"umax\"],hcat(controls,xuBounds[11:end,1],ubar,xuBounds[11:end,2]));\n",
365 |     "     "
366 |    ]
367 |   },
368 |   {
369 |    "cell_type": "code",
370 |    "execution_count": 43,
371 |    "metadata": {},
372 |    "outputs": [
373 |     {
374 |      "name": "stdout",
375 |      "output_type": "stream",
376 |      "text": [
377 |       "┌───────────┬─────────────┬──────────────┬───────────┬──────────┬────────────┬─────────────┐\n",
378 |       "│\u001b[1m xdotLongi \u001b[0m│\u001b[1m       theta \u001b[0m│\u001b[1m            V \u001b[0m│\u001b[1m     alpha \u001b[0m│\u001b[1m        q \u001b[0m│\u001b[1m          T \u001b[0m│\u001b[1m         ele \u001b[0m│\n",
379 |       "├───────────┼─────────────┼──────────────┼───────────┼──────────┼────────────┼─────────────┤\n",
380 |       "│    Dtheta │         0.0 │          0.0 │       0.0 │      1.0 │        0.0 │         0.0 │\n",
381 |       "│        DV │      -32.17 │   -0.0118591 │  -2.58453 │ -1.28295 │ 0.00156727 │   0.0662367 │\n",
382 |       "│    Dalpha │ -3.88959e-9 │ -0.000255941 │ -0.782055 │ 0.929171 │ -1.8526e-7 │ -0.00172694 │\n",
383 |       "│        Dq │         0.0 │ -8.61453e-10 │ -0.455764 │ -1.01533 │        0.0 │   -0.140354 │\n",
384 |       "└───────────┴─────────────┴──────────────┴───────────┴──────────┴────────────┴─────────────┘\n",
385 |       "┌─────────────────────────┐\n",
386 |       "│\u001b[1m            Eigen values \u001b[0m│\n",
387 |       "├─────────────────────────┤\n",
388 |       "│    -0.901194-0.640782im │\n",
389 |       "│    -0.901194+0.640782im │\n",
390 |       "│ -0.00342886-0.0552919im │\n",
391 |       "│ -0.00342886+0.0552919im │\n",
392 |       "└─────────────────────────┘\n"
393 |      ]
394 |     }
395 |    ],
396 |    "source": [
397 |     "A, B = F16Model.Linearize(xbar,ubar);\n",
398 |     "\n",
399 |     "# Pull out longitudinal dynamics -- states:(theta,V,alpha,q), control:(T,ele)\n",
400 |     "ix = [5,7,8,11]; iu = [1,2]; # 4 states, 3 control system.\n",
401 |     "longiA = A[ix,ix];\n",
402 |     "longiB = B[ix,iu];\n",
403 |     "\n",
404 |     "# Show system\n",
405 |     "pretty_table(header = vcat(\"xdotLongi\",states[ix],controls[iu]),hcat(statesDer[ix],longiA,longiB))\n",
406 |     "\n",
407 |     "# Eigen values \n",
408 |     "using LinearAlgebra\n",
409 |     "ev = eigen(longiA).values;\n",
410 |     "pretty_table(header=[\"Eigen values\"],ev)\n",
411 |     "\n",
412 |     "# plot(real(ev),imag(ev),seriestype=:scatter,label=\"Eigen values\")"
413 |    ]
414 |   },
415 |   {
416 |    "cell_type": "code",
417 |    "execution_count": 44,
418 |    "metadata": {},
419 |    "outputs": [
420 |     {
421 |      "data": {
422 |       "text/plain": [
423 |        "4×4 Matrix{Float64}:\n",
424 |        "   0.0          0.0           0.0        1.0\n",
425 |        " -32.17        -0.0118591    -2.58453   -1.28295\n",
426 |        "  -3.88959e-9  -0.000255941  -0.782055   0.929171\n",
427 |        "   0.0         -8.61453e-10  -0.455764  -1.01533"
428 |       ]
429 |      },
430 |      "metadata": {},
431 |      "output_type": "display_data"
432 |     }
433 |    ],
434 |    "source": [
435 |     "longiA"
436 |    ]
437 |   },
438 |   {
439 |    "cell_type": "code",
440 |    "execution_count": 45,
441 |    "metadata": {},
442 |    "outputs": [
443 |     {
444 |      "data": {
445 |       "text/plain": [
446 |        "44.99999063801584"
447 |       ]
448 |      },
449 |      "metadata": {},
450 |      "output_type": "display_data"
451 |     }
452 |    ],
453 |    "source": [
454 |     "0.785398*180/pi\n"
455 |    ]
456 |   }
457 |  ],
458 |  "metadata": {
459 |   "kernelspec": {
460 |    "display_name": "Julia 1.11.3",
461 |    "language": "julia",
462 |    "name": "julia-1.11"
463 |   },
464 |   "language_info": {
465 |    "file_extension": ".jl",
466 |    "mimetype": "application/julia",
467 |    "name": "julia",
468 |    "version": "1.11.3"
469 |   }
470 |  },
471 |  "nbformat": 4,
472 |  "nbformat_minor": 2
473 | }
474 | 


--------------------------------------------------------------------------------
/LICENSE:
--------------------------------------------------------------------------------
 1 | MIT License
 2 | 
 3 | Copyright (c) 2023 Raktim Bhattacharya
 4 | 
 5 | Permission is hereby granted, free of charge, to any person obtaining a copy
 6 | of this software and associated documentation files (the "Software"), to deal
 7 | in the Software without restriction, including without limitation the rights
 8 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 9 | copies of the Software, and to permit persons to whom the Software is
10 | furnished to do so, subject to the following conditions:
11 | 
12 | The above copyright notice and this permission notice shall be included in all
13 | copies or substantial portions of the Software.
14 | 
15 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
16 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
17 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
18 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
19 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
20 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
21 | SOFTWARE.
22 | 


--------------------------------------------------------------------------------
/README.md:
--------------------------------------------------------------------------------
 1 | # F16-Model-Matlab
 2 | This is a Matlab/Simulink implementation of a full nonlinear F16 aircraft model. The aerodynamics included in this model come from the NASA Technical Report 1538, Simulator Study of Stall/Post-Stall Characteristics of a Fighter Airplane with Relaxed Longitudinal Static Stability, by Nguyen, Ogburn, Gilbert, Kibler, Brown, and Deal, Dec 1979. 
 3 | 
 4 | The model is based on Aircraft Control and Simulations, by Brian Stevens and Frank Lewis, Wiley Inter-Science, New York, 1992. 
 5 | 
 6 | This is a revised implementation of the older implementation available at  [MATLAB/Simulink package](https://dept.aem.umn.edu/~balas/darpa_sec/SEC.Software.html).
 7 | 
 8 | 
 9 | ## Trim and Linearization
10 | * Please see trim_and_linearize.m
11 | * Trim and linearization is done using [Simulink's Control System Design and Analysis Apps](https://www.mathworks.com/products/simcontrol.html). The script file Trim16.m, exported by Simulink, is for steady-level flight. This is called by trim_and_linearize.m.
12 | 
13 | 
14 | 


--------------------------------------------------------------------------------
/TrimF16.m:
--------------------------------------------------------------------------------
  1 | %% Search for a specified operating point for the model - F16.
  2 | %
  3 | % This MATLAB script is the command line equivalent of the specification
  4 | % tab in the Steady State Manager with current specifications and options.
  5 | % It produces the exact same operating points as hitting the Trim button.
  6 | 
  7 | % MATLAB(R) file generated by MATLAB(R) 24.2 and Simulink Control Design (TM) 24.2.
  8 | %
  9 | % Generated on: 13-Feb-2025 21:04:29
 10 | 
 11 | %% Specify the model name
 12 | model = 'F16';
 13 | 
 14 | %% Create the operating point specification object.
 15 | opspec = operspec(model);
 16 | 
 17 | 
 18 | %% Limits
 19 | control.lb = [1000*lbf2N -25*d2r -21.5*d2r -30*d2r 0];
 20 | control.ub = [19000*lbf2N 25*d2r  21.5*d2r  30*d2r 25*d2r];
 21 | 
 22 | %% Set the constraints on the states in the model.
 23 | % - The defaults for all states are Known = false, SteadyState = true,
 24 | %   Min = -Inf, Max = Inf, dxMin = -Inf, and dxMax = Inf.
 25 | 
 26 | % State (1) - F16/Nonlinear F16 Model/6DOF (Quaternion)/Calculate DCM & Euler Angles/phi theta psi
 27 | % - Default model initial conditions are used to initialize optimization.
 28 | opspec.States(1).Known = [true;true;true];
 29 | 
 30 | % State (2) - F16/Nonlinear F16 Model/6DOF (Quaternion)/p,q,r
 31 | % - Default model initial conditions are used to initialize optimization.
 32 | opspec.States(2).Known = true;
 33 | 
 34 | % State (3) - F16/Nonlinear F16 Model/6DOF (Quaternion)/p,q,r
 35 | % - Default model initial conditions are used to initialize optimization.
 36 | opspec.States(3).Known = true;
 37 | 
 38 | % State (4) - F16/Nonlinear F16 Model/6DOF (Quaternion)/p,q,r
 39 | % - Default model initial conditions are used to initialize optimization.
 40 | opspec.States(4).Known = true;
 41 | 
 42 | % State (5) - F16/Nonlinear F16 Model/6DOF (Quaternion)/ub,vb,wb
 43 | % - Default model initial conditions are used to initialize optimization.
 44 | opspec.States(5).Known = true;
 45 | 
 46 | % State (6) - F16/Nonlinear F16 Model/6DOF (Quaternion)/ub,vb,wb
 47 | % - Default model initial conditions are used to initialize optimization.
 48 | opspec.States(6).Known = true;
 49 | 
 50 | % State (7) - F16/Nonlinear F16 Model/6DOF (Quaternion)/ub,vb,wb
 51 | % - Default model initial conditions are used to initialize optimization.
 52 | opspec.States(7).Known = true;
 53 | 
 54 | % State (8) - F16/Nonlinear F16 Model/6DOF (Quaternion)/xe,ye,ze
 55 | % - Default model initial conditions are used to initialize optimization.
 56 | opspec.States(8).Known = true;
 57 | opspec.States(8).SteadyState = false;
 58 | 
 59 | % State (9) - F16/Nonlinear F16 Model/6DOF (Quaternion)/xe,ye,ze
 60 | % - Default model initial conditions are used to initialize optimization.
 61 | opspec.States(9).Known = true;
 62 | opspec.States(9).SteadyState = false;
 63 | 
 64 | % State (10) - F16/Nonlinear F16 Model/6DOF (Quaternion)/xe,ye,ze
 65 | % - Default model initial conditions are used to initialize optimization.
 66 | opspec.States(10).Known = true;
 67 | 
 68 | %% Set the constraints on the inputs in the model.
 69 | % - The defaults for all inputs are Known = false, Min = -Inf, and
 70 | % Max = Inf.
 71 | 
 72 | % Input (1) - F16/Thrust
 73 | % - Default model initial conditions are used to initialize optimization.
 74 | opspec.Inputs(1).Known = false;
 75 | opspec.Inputs(1).Min = control.lb(1);
 76 | opspec.Inputs(1).Max = control.ub(1);
 77 | 
 78 | % Input (2) - F16/ele
 79 | % - Default model initial conditions are used to initialize optimization.
 80 | opspec.Inputs(2).Known = false;
 81 | opspec.Inputs(2).Min = control.lb(2);
 82 | opspec.Inputs(2).Max = control.ub(2);
 83 | 
 84 | % Input (3) - F16/ail
 85 | % - Default model initial conditions are used to initialize optimization.
 86 | opspec.Inputs(3).Known = true;
 87 | opspec.Inputs(3).u = 0;
 88 | 
 89 | % Input (4) - F16/rud
 90 | % - Default model initial conditions are used to initialize optimization.
 91 | opspec.Inputs(4).Known = true;
 92 | opspec.Inputs(4).u = 0;
 93 | 
 94 | % Input (5) - F16/lef
 95 | % - Default model initial conditions are used to initialize optimization.
 96 | opspec.Inputs(5).Known = false;
 97 | opspec.Inputs(5).Min = control.lb(5);
 98 | opspec.Inputs(5).Max = control.ub(5);
 99 | 
100 | % Input (6) - F16/gust
101 | % - Default model initial conditions are used to initialize optimization.
102 | opspec.Inputs(6).Known = [true;true;true];
103 | opspec.Inputs(6).u = [0;0;0];
104 | 
105 | %% Set the constraints on the outputs in the model.
106 | % - The defaults for all outputs are Known = false, Min = -Inf, and
107 | % Max = Inf.
108 | 
109 | % Output (1) - F16/X,Y, Z in inertial
110 | % - Default model initial conditions are used to initialize optimization.
111 | 
112 | % Output (2) - F16/Xd,Yd, Zd in inertial
113 | % - Default model initial conditions are used to initialize optimization.
114 | 
115 | % Output (3) - F16/total velocity
116 | opspec.Outputs(3).y = Vt0;
117 | opspec.Outputs(3).Known = true;
118 | 
119 | % Output (4) - F16/angle of attack
120 | % - Default model initial conditions are used to initialize optimization.
121 | opspec.Outputs(4).Known = false;
122 | opspec.Outputs(4).y = 0;
123 | opspec.Outputs(4).Min = -20*d2r;
124 | opspec.Outputs(4).Max = 45*d2r;
125 | 
126 | % Output (5) - F16/side slip angle
127 | % - Default model initial conditions are used to initialize optimization.
128 | opspec.Outputs(5).Known = true;
129 | opspec.Outputs(5).y = 0;
130 | 
131 | % Output (6) - F16/euler angles
132 | % - Default model initial conditions are used to initialize optimization.
133 | opspec.Outputs(6).Known = [true;false;true];
134 | opspec.Outputs(6).y = [0;0;0];
135 | 
136 | % Output (7) - F16/flight path angle
137 | % - Default model initial conditions are used to initialize optimization.
138 | opspec.Outputs(7).Known = true;
139 | opspec.Outputs(7).y = 0;
140 | 
141 | % Output (8) - F16/angular velocity vector  (expressed in body)
142 | % - Default model initial conditions are used to initialize optimization.
143 | opspec.Outputs(8).Known = [true;true;true];
144 | opspec.Outputs(8).y = [0;0;0];
145 | 
146 | % Output (9) - F16/linear acceleration vector  (expressed in body)
147 | % - Default model initial conditions are used to initialize optimization.
148 | opspec.Outputs(9).Known = [true;true;true];
149 | opspec.Outputs(9).y = [0;0;0];
150 | 
151 | % Output (10) - F16/angular acceleration vector
152 | % - Default model initial conditions are used to initialize optimization.
153 | opspec.Outputs(10).Known = [true;true;true];
154 | opspec.Outputs(10).y = [0;0;0];
155 | 
156 | % Output (11) - F16/Mach
157 | % - Default model initial conditions are used to initialize optimization.
158 | 
159 | % Output (12) - F16/Faero
160 | % - Default model initial conditions are used to initialize optimization.
161 | 
162 | % Output (13) - F16/Maero
163 | % - Default model initial conditions are used to initialize optimization.
164 | 
165 | 
166 | %% Create the options
167 | opt = findopOptions('OptimizerType','graddescent',...
168 |     'DisplayReport','iter');
169 | opt.OptimizationOptions.Algorithm = 'active-set';
170 | opt.OptimizationOptions.MaxFunEvals = 4000;
171 | opt.OptimizationOptions.MaxIter = 2000;
172 | 
173 | %% Perform the operating point search.
174 | [op,opreport] = findop(model,opspec,opt);
175 | 


--------------------------------------------------------------------------------
/conversion.m:
--------------------------------------------------------------------------------
1 | ft2m = 0.3048;
2 | d2r = pi/180;
3 | r2d = 180/pi;
4 | lbf2N = 4.44822;


--------------------------------------------------------------------------------
/load_F16_params.m:
--------------------------------------------------------------------------------
 1 | % ==========================
 2 | % Developed by
 3 | % Raktim Bhattacharya, 
 4 | % Professor
 5 | % Aerospace Engineering,
 6 | % Texas A&M University.
 7 | % ==========================
 8 | 
 9 | function Param = load_F16_params()
10 | % Inertia and geometry data for F16.
11 | % All parameters are in SI Units.
12 | 
13 | slugs2kg = 14.5939;
14 | ft2m     = 0.3048;
15 | 
16 | Param.S = 300*ft2m^2;      % Reference Area, m^2
17 | Param.b =  30*ft2m;        % Wing Span, m
18 | Param.cbar =  11.32*ft2m;     % Aerodynamic Mean Chord, m
19 | Param.rho = 1.293;         % Air Density, kg/m^3
20 | Param.xcgr = 0.35;         % reference center of gravity as a fraction of cbar
21 | Param.xcg  = 0.30;         % center of gravity as a fraction of cbar.
22 | 
23 | 
24 | % Moment of Inertial
25 | Ixx = 9496.0;            % Principle Moment of Intertia around X-axis, slugs*ft^2
26 | Iyy = 55814.0;           % Principle Moment of Intertia around Y-axis, slugs*ft^2
27 | Izz = 63100.0;           % Principle Moment of Intertia around Z-axis, slugs*ft^2 
28 | Ixz = 982.0;           % Principle Moment of Intertia around XZ-axis,slugs*ft^2
29 | Param.moi = [Ixx 0 Ixz;
30 |              0   Iyy 0
31 |              Ixz 0   Izz]*slugs2kg*(ft2m)^2; % Convert to Kg*m^2
32 | 
33 | Param.mass = 636.94*slugs2kg;     % kg
34 | Param.g = 9.806;  % m/s^2
35 | end


--------------------------------------------------------------------------------
/load_aerodynamics.m:
--------------------------------------------------------------------------------
 1 | % ==========================
 2 | % Developed by
 3 | % Raktim Bhattacharya, 
 4 | % Professor
 5 | % Aerospace Engineering,
 6 | % Texas A&M University.
 7 | % ==========================
 8 | 
 9 | function F16AeroData = load_aerodynamics()
10 |     Data = load('F16AeroDataInterpolants.mat');
11 |     F16AeroData = Data.F16AeroData;
12 | end


--------------------------------------------------------------------------------
/plot_trajectories.m:
--------------------------------------------------------------------------------
 1 | % ==========================
 2 | % Developed by
 3 | % Raktim Bhattacharya, 
 4 | % Professor
 5 | % Aerospace Engineering,
 6 | % Texas A&M University.
 7 | % ==========================
 8 | 
 9 | 
10 | function plot_trajectories(simOut)
11 | r2d = 180/pi;
12 | set(0, 'DefaultLineLineWidth', 1);
13 | 
14 | yout = horzcat(simOut.yout.signals.values);
15 | tout = simOut.tout;
16 | 
17 | figure(1); clf;
18 | % Plot position in inertial
19 | subplot(4,3,1); plot(tout,yout(:,1)); title('$X$ Inertial Position (m)', 'interpreter', 'latex'); xlabel('Time (s)');
20 | subplot(4,3,2); plot(tout,yout(:,2)); title('$Y$ Inertial Position (m)', 'interpreter', 'latex'); xlabel('Time (s)');
21 | subplot(4,3,3); plot(tout,yout(:,3)); title('$Z$ Inertial Position (m)', 'interpreter', 'latex'); xlabel('Time (s)');
22 | set(gca,'YDir','reverse');
23 | 
24 | % Plot velocity in inertial
25 | subplot(4,3,4); plot(tout,yout(:,4)); title('Inertial Velocity $\dot{X}$ (m)', 'interpreter','latex'); xlabel('Time (s)');
26 | subplot(4,3,5); plot(tout,yout(:,5)); title('Ineritial Velocity $\dot{Y}$ (m)', 'interpreter','latex'); xlabel('Time (s)');
27 | subplot(4,3,6); plot(tout,yout(:,6)); title('Inertial Velocity $\dot{Z}$ (m)', 'interpreter','latex'); xlabel('Time (s)');
28 | 
29 | % Plot total velocity, angle of attack, and side slip angle
30 | subplot(4,3,7); plot(tout,yout(:,7)); title('Total Velocity $V_t$ (m/s)', 'interpreter','latex'); xlabel('Time (s)');
31 | subplot(4,3,8); plot(tout,yout(:,8)*r2d); title('Angle of Attack $\alpha$ (deg)', 'interpreter','latex'); xlabel('Time (s)');
32 | subplot(4,3,9); plot(tout,yout(:,9)*r2d); title('Side-slip Angle $\beta$ (deg)', 'interpreter','latex'); xlabel('Time (s)');
33 | 
34 | % Plot body acceleration
35 | subplot(4,3,10); plot(tout,yout(:,17)); title('Body Accleration $\ddot{x}_b$  (m/s$^2$)', 'interpreter','latex'); xlabel('Time (s)');
36 | subplot(4,3,11); plot(tout,yout(:,18)); title('Body Accleration $\ddot{y}_b$  (m/s$^2$)', 'interpreter','latex'); xlabel('Time (s)');
37 | subplot(4,3,12); plot(tout,yout(:,19)); title('Body Accleration $\ddot{z}_b$  (m/s$^2$)', 'interpreter','latex'); xlabel('Time (s)');
38 | 
39 | 
40 | figure(2); clf;
41 | % Plot Euler angels
42 | subplot(4,3,1); plot(tout,yout(:,10)*r2d); title('Roll Angle $\phi$ (deg)', 'interpreter', 'latex'); xlabel('Time (s)');
43 | subplot(4,3,2); plot(tout,yout(:,11)*r2d); title('Pitch Angle $\theta$ (deg)', 'interpreter', 'latex'); xlabel('Time (s)');
44 | subplot(4,3,3); plot(tout,yout(:,12)*r2d); title('Yaw Angle $\psi$ (deg)', 'interpreter', 'latex'); xlabel('Time (s)');
45 | 
46 | % Plot angular velocity
47 | subplot(4,3,4); plot(tout,yout(:,14)*r2d); title('Roll Rate $p$ (deg/s)', 'interpreter','latex'); xlabel('Time (s)');
48 | subplot(4,3,5); plot(tout,yout(:,15)*r2d); title('Pitch Rate $q$ (deg/s)', 'interpreter','latex'); xlabel('Time (s)');
49 | subplot(4,3,6); plot(tout,yout(:,16)*r2d); title('Yaw Rate $r$ (deg/s)', 'interpreter','latex'); xlabel('Time (s)');
50 | 
51 | % Plot angular acceleration
52 | subplot(4,3,7); plot(tout,yout(:,20)*r2d); title('Roll Acceleration $\dot{p}$ (deg/s)', 'interpreter','latex'); xlabel('Time (s)');
53 | subplot(4,3,8); plot(tout,yout(:,21)*r2d); title('Pitch Acceleration $\dot{q}$ (deg/s)', 'interpreter','latex'); xlabel('Time (s)');
54 | subplot(4,3,9); plot(tout,yout(:,22)*r2d); title('Yaw Acceleration $\dot{r}$ (deg/s)', 'interpreter','latex'); xlabel('Time (s)');
55 | 
56 | 
57 | % Plot Mach and flight path angle
58 | subplot(4,3,10); plot(tout,yout(:,23)); title('Mach Number $M$', 'interpreter','latex'); xlabel('Time (s)');
59 | subplot(4,3,11); plot(tout,yout(:,13)*r2d); title('Flight Path Angle $\gamma$ (deg)', 'interpreter','latex'); xlabel('Time (s)');
60 | %subplot(4,3,9); plot(tout,yout{5}*r2d); title('Side-slip Angle $\beta$ (deg)', 'interpreter','latex'); xlabel('Time (s)');
61 | 
62 | end


--------------------------------------------------------------------------------
/preprocess_F16_AeroData.m:
--------------------------------------------------------------------------------
 1 | clc; clear all;
 2 | 
 3 | d2r = pi/180;
 4 | % Read independent variables
 5 | alpha1 = h5read('F16AeroData.h5','/alpha1');
 6 | alpha2 = h5read('F16AeroData.h5','/alpha2');
 7 | beta1 = h5read('F16AeroData.h5','/beta1');
 8 | dh1 = h5read('F16AeroData.h5','/dh1');
 9 | dh2 = h5read('F16AeroData.h5','/dh2');
10 | 
11 | % Force coefficients
12 | F16AeroData.Cx = createAeroFunction(h5read('F16AeroData.h5','/_Cx'),alpha1,beta1,dh1);
13 | F16AeroData.Cy = createAeroFunction(h5read('F16AeroData.h5','/_Cy'),alpha1,beta1);
14 | F16AeroData.Cz = createAeroFunction(h5read('F16AeroData.h5','/_Cz'),alpha1,beta1,dh1);
15 | 
16 | % Moment coefficients
17 | F16AeroData.Cl = createAeroFunction(h5read('F16AeroData.h5','/_Cl'),alpha1,beta1,dh2);
18 | F16AeroData.Cm = createAeroFunction(h5read('F16AeroData.h5','/_Cm'),alpha1,beta1,dh1);
19 | F16AeroData.Cn = createAeroFunction(h5read('F16AeroData.h5','/_Cn'),alpha1,beta1,dh2);
20 | 
21 | % Leading edge influences
22 | F16AeroData.Cx_lef = createAeroFunction(h5read('F16AeroData.h5','/_Cx_lef'),alpha2,beta1);
23 | F16AeroData.Cy_lef = createAeroFunction(h5read('F16AeroData.h5','/_Cy_lef'),alpha2,beta1);
24 | F16AeroData.Cz_lef = createAeroFunction(h5read('F16AeroData.h5','/_Cz_lef'),alpha2,beta1);
25 | 
26 | F16AeroData.Cl_lef = createAeroFunction(h5read('F16AeroData.h5','/_Cl_lef'),alpha2,beta1);
27 | F16AeroData.Cm_lef = createAeroFunction(h5read('F16AeroData.h5','/_Cm_lef'),alpha2,beta1);
28 | F16AeroData.Cn_lef = createAeroFunction(h5read('F16AeroData.h5','/_Cn_lef'),alpha2,beta1);
29 | 
30 | % Stability Derivatives
31 | F16AeroData.Cxq = createAeroFunction(h5read('F16AeroData.h5','/_Cxq'),alpha1);
32 | F16AeroData.Cyp = createAeroFunction(h5read('F16AeroData.h5','/_Cyp'),alpha1);
33 | F16AeroData.Czq = createAeroFunction(h5read('F16AeroData.h5','/_Czq'),alpha1);
34 | F16AeroData.Cmq = createAeroFunction(h5read('F16AeroData.h5','/_Cmq'),alpha1);
35 | 
36 | F16AeroData.Cyr = createAeroFunction(h5read('F16AeroData.h5','/_Cyr'),alpha1);
37 | F16AeroData.Cnr = createAeroFunction(h5read('F16AeroData.h5','/_Cnr'),alpha1);
38 | 
39 | F16AeroData.Cnp = createAeroFunction(h5read('F16AeroData.h5','/_Cnp'),alpha1);
40 | F16AeroData.Clp = createAeroFunction(h5read('F16AeroData.h5','/_Clp'),alpha1);
41 | F16AeroData.Clr = createAeroFunction(h5read('F16AeroData.h5','/_Clr'),alpha1);
42 | 
43 | F16AeroData.deltaCxq_lef = createAeroFunction(h5read('F16AeroData.h5','/_deltaCxq_lef'),alpha2);
44 | F16AeroData.deltaCyr_lef = createAeroFunction(h5read('F16AeroData.h5','/_deltaCyr_lef'),alpha2);
45 | F16AeroData.deltaCyp_lef = createAeroFunction(h5read('F16AeroData.h5','/_deltaCyp_lef'),alpha2);
46 | 
47 | F16AeroData.deltaCzq_lef = createAeroFunction(h5read('F16AeroData.h5','/_deltaCzq_lef'),alpha2);
48 | F16AeroData.deltaClr_lef = createAeroFunction(h5read('F16AeroData.h5','/_deltaClr_lef'),alpha2);
49 | F16AeroData.deltaClp_lef = createAeroFunction(h5read('F16AeroData.h5','/_deltaClp_lef'),alpha2);
50 | 
51 | F16AeroData.deltaCmq_lef = createAeroFunction(h5read('F16AeroData.h5','/_deltaCmq_lef'),alpha2);
52 | F16AeroData.deltaCnr_lef = createAeroFunction(h5read('F16AeroData.h5','/_deltaCnr_lef'),alpha2);
53 | F16AeroData.deltaCnp_lef = createAeroFunction(h5read('F16AeroData.h5','/_deltaCnp_lef'),alpha2);
54 | 
55 | % Other data
56 | F16AeroData.Cy_r30 = createAeroFunction(h5read('F16AeroData.h5','/_Cy_r30'),alpha1,beta1);
57 | F16AeroData.Cn_r30 = createAeroFunction(h5read('F16AeroData.h5','/_Cn_r30'),alpha1,beta1);
58 | F16AeroData.Cl_r30 = createAeroFunction(h5read('F16AeroData.h5','/_Cl_r30'),alpha1,beta1);
59 | 
60 | F16AeroData.Cy_a20 = createAeroFunction(h5read('F16AeroData.h5','/_Cy_a20'),alpha1,beta1);
61 | F16AeroData.Cy_a20_lef = createAeroFunction(h5read('F16AeroData.h5','/_Cy_a20_lef'),alpha2,beta1);
62 | 
63 | F16AeroData.Cn_a20 = createAeroFunction(h5read('F16AeroData.h5','/_Cn_a20'),alpha1,beta1);
64 | F16AeroData.Cn_a20_lef = createAeroFunction(h5read('F16AeroData.h5','/_Cn_a20_lef'),alpha2,beta1);
65 | 
66 | F16AeroData.Cl_a20 = createAeroFunction(h5read('F16AeroData.h5','/_Cl_a20'),alpha1,beta1);
67 | F16AeroData.Cl_a20_lef = createAeroFunction(h5read('F16AeroData.h5','/_Cl_a20_lef'),alpha2,beta1);
68 | 
69 | F16AeroData.deltaCnbeta = createAeroFunction(h5read('F16AeroData.h5','/_deltaCnbeta'),alpha1);
70 | F16AeroData.deltaClbeta = createAeroFunction(h5read('F16AeroData.h5','/_deltaClbeta'),alpha1);
71 | F16AeroData.deltaCm = createAeroFunction(h5read('F16AeroData.h5','/_deltaCm'),alpha1);
72 | 
73 | F16AeroData.eta_el = createAeroFunction(h5read('F16AeroData.h5','/_eta_el'),dh1);
74 | 
75 | save F16AeroDataInterpolants F16AeroData
76 | 
77 | function fcn = createAeroFunction(data,varargin)
78 | n = length(varargin);
79 | L = zeros(1,n);
80 | for i = 1:n
81 |     L(i) = length(varargin{i});
82 | end
83 | 
84 | if n == 1
85 |     fcn = griddedInterpolant(varargin,data,'linear','none');
86 | else
87 |     fcn = griddedInterpolant(varargin,reshape(data,L),'linear','none');
88 | end
89 | 
90 | end


--------------------------------------------------------------------------------
/runF16.m:
--------------------------------------------------------------------------------
 1 | clc; clear;
 2 | 
 3 | conversion % loads conversion constants. see conversion.m for defintions.
 4 | 
 5 | Param = load_F16_params(); % System Parameters
 6 | 
 7 | % Simulate with Arbitrary Initial Conditions
 8 | % ==========================================
 9 | h0 = -10000*ft2m; % 10 ft altitude
10 | Vt0 = 300*ft2m;
11 | 
12 | % Need to specify IC to initialize simulink.
13 | IC.inertial_position = [0,0,h0]; % At 10 Km altitude.
14 | IC.body_velocity = [Vt0,0,0];    % We may need to get this from Mach, alpha, beta
15 | IC.euler_angles = [0,0,0]*d2r;  % Euler angles
16 | IC.omega = [0,0,0] ;            % Angular velocity in body coordinate system
17 | t0 = 0;
18 | 
19 | x0 = [IC.inertial_position, IC.euler_angles, IC.body_velocity, IC.omega];
20 | u0 = [9000*lbf2N,0,0,0,0,0,0];
21 | 
22 | % [sys,x01,str,ts] = F16([],[],[],'compile'); % Uses x0 as initial condition. x01 and x0 should be the same.
23 | % y0 = F16(t0, x0, u0, 'outputs'); % Need this to update the dynamics with current state values
24 | % xdot = F16(t0,x0,u0,'derivs');
25 | % F16([],[],[],'term');
26 | % disp(xdot)
27 | 
28 | Tend = 5;
29 | simout = sim('F16Testing');
30 | plot_trajectories(simout);
31 | 


--------------------------------------------------------------------------------
/test_with_julia.m:
--------------------------------------------------------------------------------
 1 | clc; clear;
 2 | 
 3 | conversion % loads conversion constants. see conversion.m for defintions.
 4 | 
 5 | Param = load_F16_params(); % System Parameters
 6 | 
 7 | % Simulate with Arbitrary Initial Conditions
 8 | % ==========================================
 9 | h0 = -10000*ft2m; % 10 ft altitude
10 | Vt0 = 300*ft2m;
11 | 
12 | % Need to specify IC to initialize simulink.
13 | IC.inertial_position = [0,0,h0]; % At 10 Km altitude.
14 | IC.body_velocity = [Vt0,0,0];    % We may need to get this from Mach, alpha, beta
15 | IC.euler_angles = [0,0,0]*d2r;  % Euler angles
16 | IC.omega = [0,0,0] ;            % Angular velocity in body coordinate system
17 | t0 = 0;
18 | 
19 | x0 = [IC.inertial_position, IC.euler_angles, IC.body_velocity, IC.omega];
20 | u0 = [9000*lbf2N,2*d2r,2*d2r,2*d2r,2*d2r,0,0];
21 | 
22 | % [sys,x01,str,ts] = F16([],[],[],'compile'); % Uses x0 as initial condition. x01 and x0 should be the same.
23 | % y0 = F16(t0, x0, u0, 'outputs'); % Need this to update the dynamics with current state values
24 | % xdot = F16(t0,x0,u0,'derivs');
25 | % F16([],[],[],'term');
26 | % disp(xdot)
27 | 
28 | Tend = 10;
29 | simout = sim('F16Testing');
30 | 
31 | 
32 | %%
33 | plot_trajectories(simout);
34 | 
35 | % Load data from Julia implementation.
36 | data = load('F16_Julia_Dump.mat');
37 | 
38 | figure(1);
39 | subplot(4,3,1); hold on; plot(data.tout,data.xout(1,:)*ft2m,"r");
40 | subplot(4,3,2); hold on; plot(data.tout,data.xout(2,:)*ft2m,"r");
41 | subplot(4,3,3); hold on; plot(data.tout,-data.xout(3,:)*ft2m,"r");
42 | 
43 | subplot(4,3,7); hold on; plot(data.tout,data.xout(7,:)*ft2m,"r");
44 | subplot(4,3,8); hold on; plot(data.tout,data.xout(8,:)*r2d,"r");
45 | subplot(4,3,9); hold on; plot(data.tout,data.xout(9,:)*r2d,"r");
46 | 
47 |  
48 | figure(2);
49 | subplot(4,3,1); hold on; plot(data.tout,data.xout(4,:)*r2d,"r");
50 | subplot(4,3,2); hold on; plot(data.tout,data.xout(5,:)*r2d,"r");
51 | subplot(4,3,3); hold on; plot(data.tout,data.xout(6,:)*r2d,"r");
52 | subplot(4,3,4); hold on; plot(data.tout,data.xout(10,:)*r2d,"r");
53 | subplot(4,3,5); hold on; plot(data.tout,data.xout(11,:)*r2d,"r");
54 | subplot(4,3,6); hold on; plot(data.tout,data.xout(12,:)*r2d,"r");


--------------------------------------------------------------------------------
/trim_and_linearize.m:
--------------------------------------------------------------------------------
 1 | % =========================================================================
 2 | % Model of the F-16 Aircraft model.
 3 | %
 4 | % References:
 5 | %    NASA Technical Report 1538, Simulator Study of Stall/Post-Stall Characteristics of a Fighter Airplane with Relaxed Longitudinal Static Stability, 
 6 | %    by Nguyen, Ogburn, Gilbert, Kibler, Brown, and Deal, Dec 1979. 
 7 | % 
 8 | %    The model is based on Aircraft Control and Simulations, by Brian Stevens and Frank Lewis, Wiley Inter-Science, New York, 1992.
 9 | %
10 | % All units in this model are in SI SYSTEM.
11 | % 
12 | % Model developed by
13 | % Raktim Bhattacharya, 
14 | % Professor
15 | % Aerospace Engineering,
16 | % Texas A&M University.
17 | %
18 | % =========================================================================
19 | 
20 | % ============================= Model Details =============================
21 | % The 12 states of the system are as follows:
22 | % 
23 | % N: North position in ft
24 | % E: East position in ft
25 | % h: Altitude in ft, min: 5000 ft, max: 40000 ft
26 | % phi: Roll angle in rad
27 | % theta: Pitch angle in rad
28 | % psi: Yaw angle in rad
29 | % Vt: Magnitude of total velocity in ft/s, min: 300 ft/s, max: 900 ft/s
30 | % alpha: Angle of attack in rad, min: -20 deg, max: 45 deg
31 | % beta: Side slip angle in rad, min: -30 deg, max: 30 deg
32 | % p: Roll rate in rad/s
33 | % q: Pitch rate in rad/s
34 | % r: Yaw rate in rad/s
35 | % The 5 control variables are:
36 | % 
37 | % T: Thrust in lbf, min: 1000, max: 19000
38 | % dele: Elevator angle in deg, min:-25, max: 25
39 | % dail: Aileron angle in deg, min:-21.5, max: 21.5
40 | % drud: Rudder angle in deg, min: -30, max: 30
41 | % dlef: Leading edge flap in deg, min: 0, max: 25
42 | % Actuator models are defined as:
43 | %
44 | % T: max |rate|: 10,000 lbs/s
45 | % dele: max |rate|: 60 deg/s
46 | % dail: max |rate|: 80 deg/s
47 | % drud: max |rate|: 120 deg/s
48 | % dlef: max |rate|: 25 deg/s
49 | % =========================================================================
50 | clear;
51 | 
52 | conversion % loads conversion constants. see conversion.m for defintions.
53 | 
54 | Param = load_F16_params(); % System Parameters
55 | 
56 | % Simulate with Arbitrary Initial Conditions
57 | % ==========================================
58 | h0 = -10000*ft2m; % 10 ft altitude
59 | Vt0 = 300*ft2m;
60 | 
61 | % Need to specify IC to initialize simulink.
62 | IC.inertial_position = [0,0,h0]; % At 10 Km altitude.
63 | IC.body_velocity = [Vt0,0,0];    % We may need to get this from Mach, alpha, beta
64 | IC.euler_angles = [0,0,0]*d2r;  % Euler angles
65 | IC.omega = [0,0,0] ;            % Angular velocity in body coordinate system
66 | Tend = 2.0; % Simulation time in seconds.
67 | 
68 | % Trim F16.
69 | TrimF16; % Creates op, opreport
70 | linsys = linearize('F16',op); % Linearize about operating point op.
71 |  
72 | % Indices for states, inputs, and outputs for longitudinal model.
73 | % States are:
74 | ix = [5,7,9,11]; % th, U, w, q
75 | iu = [1,2,5,6,8]; % T, dele, lef, dx, dz (last two are dist in longi plane)
76 | iy = [7,8,13,15,17,19]; % Vt, alp, q, xbdd, zbdd
77 | 
78 | 
79 | A = linsys.A(ix,ix);
80 | eig(A) % Check eigen values and determine properties of Phugoid/SP modes
81 | 
82 | 
83 | 


--------------------------------------------------------------------------------