├── Accel_slow_fast.m
├── Controller.m
├── LeaderAcceleration.m
├── LeaderAcceleration0.m
├── README.md
├── TrackingError.m
├── affineManeuver.mdl
├── affineManeuver.mdl.r2010a
├── affineManeuver.slxc
├── f_sin.m
├── main.m
├── saturate.m
└── slprj
    └── sim
        └── varcache
            └── affineManeuver
                ├── checksumOfCache.mat
                ├── tmwinternal
                    └── simulink_cache.xml
                └── varInfo.mat


/Accel_slow_fast.m:
--------------------------------------------------------------------------------
1 | function acceleration=Accel_slow_fast(time_start, time_span, currentTime, distance_change)
2 | 
3 | mu=time_start+time_span/2;
4 | sigma=time_span/8;
5 | acceleration=-distance_change*1/(sqrt(2*pi*sigma^2))*exp(-(currentTime-mu)^2/2/sigma^2)*(-currentTime+mu)/sigma^2;


--------------------------------------------------------------------------------
/Controller.m:
--------------------------------------------------------------------------------
 1 | function output = Controller(u)
 2 | global nodenum neighborMat stressMat dim kp kv
 3 | u_all = reshape(u,dim,3*nodenum);
 4 | p_all=u_all(:,1:nodenum);
 5 | v_all=u_all(:,nodenum+1:2*nodenum);
 6 | v_dot_all_previous=u_all(:,2*nodenum+1:end);
 7 | %output
 8 | v_dot_all=zeros(dim,nodenum);
 9 | for i=1:nodenum % for agent i
10 |     for j=1:nodenum % for the neighbors of agent i
11 |         if neighborMat(i,j)==1 && j~=i% the agent j is the neighbor of agent i
12 |             omegaij=stressMat(i,j);
13 |             % control law 1: no accelaration
14 |             v_dot_all(:,i)=v_dot_all(:,i) - kp*omegaij*(p_all(:,i)-p_all(:,j)) - kv*omegaij*(v_all(:,i)-v_all(:,j));
15 |         end
16 |     end
17 | %     v_dot_all(:,i)=saturate(v_dot_all(:,i));
18 | end
19 | 
20 | %% based on control law 1, compute control law 2
21 | ifAcceleration=1;
22 | if ifAcceleration==1
23 |     % compute sum omega_ij
24 |     omegaSumAll=zeros(nodenum,1);
25 |     for i=1:nodenum
26 |         for j=1:nodenum
27 |             if neighborMat(i,j)==1 && j~=i
28 |                 omegaSumAll(i)=omegaSumAll(i)+stressMat(i,j);
29 |             end
30 |         end
31 |     end
32 |     % add the acceleration term
33 |     for i=1:nodenum
34 |         for j=1:nodenum 
35 |             if neighborMat(i,j)==1 && j~=i
36 |                 omegaij=stressMat(i,j);
37 |                 v_dot_all(:,i)=v_dot_all(:,i)+omegaij*v_dot_all_previous(:,j); 
38 |             end
39 |         end
40 |         v_dot_all(:,i) = v_dot_all(:,i)/omegaSumAll(i);
41 |     end
42 | end
43 | 
44 | %%
45 | output=reshape(v_dot_all,dim*nodenum,1);
46 | 


--------------------------------------------------------------------------------
/LeaderAcceleration.m:
--------------------------------------------------------------------------------
  1 | function output=LeaderAcceleration(u)
  2 | global leaderNum dim nodenum simTime
  3 | 
  4 | u_all = reshape(u(1:dim*nodenum*3),dim,nodenum*3);
  5 | v_all=u_all(:,1:nodenum);
  6 | p_all=u_all(:,nodenum+1:2*nodenum);
  7 | control_all=u_all(:,2*nodenum+1:3*nodenum);
  8 | currentTime=u(end);
  9 | if currentTime-floor(currentTime)==0
 10 |     disp(strcat('Completed %', num2str(currentTime/simTime*100,'%.1f')))
 11 | end
 12 | %output
 13 | a_leader_all=zeros(dim,leaderNum);
 14 | 
 15 | % speed up to speed=1
 16 | time_start_speedup=0;
 17 | time_span_speedup=15;
 18 | if currentTime>time_start_speedup && currentTime<time_start_speedup+time_span_speedup
 19 |     ax=f_sin(time_start_speedup,time_span_speedup,currentTime)/pi;
 20 |     a_leader_all(:,1)=[ax,0]';
 21 |     a_leader_all(:,2)=[ax,0]';
 22 |     a_leader_all(:,3)=[ax,0]';
 23 | end
 24 | 
 25 | % scale down to pass through obstacles
 26 | time_start_scaledown=time_start_speedup+time_span_speedup;
 27 | time_span_scaledown=10;
 28 | if currentTime>=time_start_scaledown && currentTime<=time_start_scaledown+time_span_scaledown
 29 |     % agent 3
 30 |     a_leader_all(2,3)=-Accel_slow_fast(time_start_scaledown, time_span_scaledown, currentTime, 1);
 31 |     % agent 3
 32 |     a_leader_all(2,2)=Accel_slow_fast(time_start_scaledown, time_span_scaledown, currentTime, 1);
 33 | end
 34 | % scale up after passing through obstacles
 35 | time_start_scaleup=time_start_scaledown+time_span_scaledown+5;
 36 | time_span_scaleup=10;
 37 | if currentTime>=time_start_scaleup && currentTime<=time_start_scaleup+time_span_scaleup
 38 |     % agent 3
 39 |     a_leader_all(2,3)=Accel_slow_fast(time_start_scaleup, time_span_scaleup, currentTime, 1);
 40 |     % agent 3
 41 |     a_leader_all(2,2)=-Accel_slow_fast(time_start_scaleup, time_span_scaleup, currentTime, 1);
 42 | end
 43 | 
 44 | % slow down to speed=0
 45 | time_start_slowdown=time_start_scaleup+time_span_scaleup+5;
 46 | time_span_slowdown=5;
 47 | if currentTime>time_start_slowdown && currentTime<time_start_slowdown+time_span_slowdown
 48 |     %ax=fcn_normalDistribution(time_start_slowdown,time_span_slowdown, 2, currentTime);
 49 |     ax=-f_sin(time_start_slowdown,time_span_slowdown,currentTime)/pi;
 50 |     a_leader_all(:,1)=[ax,0]';
 51 |     a_leader_all(:,2)=[ax,0]';
 52 |     a_leader_all(:,3)=[ax,0]';
 53 | end
 54 | 
 55 | % rotate
 56 | time_start_rotate=time_start_slowdown+time_span_slowdown;
 57 | time_span_rotate=10;
 58 | if currentTime>=time_start_rotate && currentTime<=time_start_rotate+time_span_rotate
 59 |     % agent 2
 60 |     acce_mag=-Accel_slow_fast(time_start_rotate, time_span_rotate, currentTime, 4);
 61 |     acce_vec=[1 0]';
 62 |     a_leader_all(:,2)=acce_mag*acce_vec;
 63 |     % agent 3
 64 |     acce_mag=-Accel_slow_fast(time_start_rotate, time_span_rotate, currentTime, 4);
 65 |     acce_vec=[0 1]';
 66 |     a_leader_all(:,3)=acce_mag*acce_vec;
 67 | end
 68 | 
 69 | % move downward
 70 | time_start_downward=time_start_rotate;
 71 | time_span_downward=time_span_rotate;
 72 | if currentTime>=time_start_downward && currentTime<=time_start_downward+time_span_downward
 73 |     % agent 1
 74 |     ay=f_sin(time_start_downward,time_span_downward,currentTime)/pi;
 75 |     a_leader_all(:,1)=[0,-ay]';
 76 |     % agent 2
 77 |     a_leader_all(:,2)=a_leader_all(:,2)+[0,-ay]';
 78 |     % agent 3
 79 |     a_leader_all(:,3)=a_leader_all(:,3)+[0,-ay]';
 80 | end
 81 | 
 82 | % slow down to speed=0
 83 | time_start_slowdown2=time_start_rotate+time_span_downward+10;
 84 | time_span_slowdown2=5;
 85 | if currentTime>time_start_slowdown2 && currentTime<time_start_slowdown2+time_span_slowdown2
 86 |     %ax=fcn_normalDistribution(time_start_slowdown,time_span_slowdown, 2, currentTime);
 87 |     ay=-f_sin(time_start_slowdown2,time_span_slowdown2,currentTime)/pi;
 88 |     a_leader_all(:,1)=[0,-ay]';
 89 |     a_leader_all(:,2)=[0,-ay]';
 90 |     a_leader_all(:,3)=[0,-ay]';
 91 | end
 92 | 
 93 | % rotate
 94 | time_start_rotate2=time_start_slowdown2+time_span_slowdown2;
 95 | time_span_rotate2=10;
 96 | if currentTime>=time_start_rotate2 && currentTime<=time_start_rotate2+time_span_rotate2
 97 |     % agent 2
 98 |     acce_mag=-Accel_slow_fast(time_start_rotate2, time_span_rotate2, currentTime, 4);
 99 |     acce_vec=[0 -1]';
100 |     a_leader_all(:,2)=acce_mag*acce_vec;
101 |     % agent 3
102 |     acce_mag=-Accel_slow_fast(time_start_rotate2, time_span_rotate2, currentTime, 4);
103 |     acce_vec=[1 0]';
104 |     a_leader_all(:,3)=acce_mag*acce_vec;
105 | end
106 | 
107 | % speed up to move leftward
108 | time_start_leftward=time_start_rotate2;
109 | time_span_leftward=time_span_rotate2;
110 | if currentTime>=time_start_leftward && currentTime<=time_start_leftward+time_span_leftward
111 |     % agent 1
112 |     ax=-f_sin(time_start_leftward,time_span_leftward,currentTime)/pi;
113 |     a_leader_all(:,1)=[ax,0]';
114 |     % agent 2
115 |     a_leader_all(:,2)=a_leader_all(:,2)+[ax,0]';
116 |     % agent 3
117 |     a_leader_all(:,3)=a_leader_all(:,3)+[ax,0]';
118 | end
119 | 
120 | % affine transformation: agent 3 move forward+scale down in the vertical direction
121 | time_start_affineVertical=time_start_leftward+time_span_leftward+5;
122 | time_span_affineVertical=20;
123 | if currentTime>=time_start_affineVertical && currentTime<=time_start_affineVertical+time_span_affineVertical
124 |     % agent 3
125 |     a_leader_all(1,3)=-Accel_slow_fast(time_start_affineVertical, time_span_affineVertical, currentTime, 1.5);
126 |     %
127 |     a_leader_all(2,3)=Accel_slow_fast(time_start_affineVertical, time_span_affineVertical, currentTime, 2);
128 |     % agent 3
129 |     a_leader_all(2,2)=-Accel_slow_fast(time_start_affineVertical, time_span_affineVertical, currentTime, 2);
130 | end
131 | 
132 | % affine transformation: back to normal formation
133 | time_start_backtonormal=time_start_affineVertical+time_span_affineVertical+10;
134 | time_span_backtonormal=5;
135 | if currentTime>=time_start_backtonormal && currentTime<=time_start_backtonormal+time_span_backtonormal
136 |     % x-direction: agent 3
137 |     a_leader_all(1,3)=Accel_slow_fast(time_start_backtonormal, time_span_backtonormal, currentTime, 1.5);
138 |     % y-direction
139 |     % agent 3
140 |     a_leader_all(2,3)=-Accel_slow_fast(time_start_backtonormal, time_span_backtonormal, currentTime, 2);
141 |     % agent 2
142 |     a_leader_all(2,2)=Accel_slow_fast(time_start_backtonormal, time_span_backtonormal, currentTime, 2);
143 | end
144 | 
145 | % output: replace the leaders' velocity with the one prescribed above
146 | control_all(:,1:leaderNum) = a_leader_all;
147 | output=reshape(control_all, dim*nodenum, 1);
148 | 
149 | 
150 | 
151 | 


--------------------------------------------------------------------------------
/LeaderAcceleration0.m:
--------------------------------------------------------------------------------
 1 | function output=LeaderAcceleration0(u)
 2 | global leaderNum dim nodenum 
 3 | global rotateFlag tempp2 tempp3
 4 | 
 5 | u_all = reshape(u(1:dim*nodenum*3),dim,nodenum*3);
 6 | v_all=u_all(:,1:nodenum);
 7 | p_all=u_all(:,nodenum+1:2*nodenum);
 8 | control_all=u_all(:,2*nodenum+1:3*nodenum);
 9 | currentTime=u(end);
10 | %output
11 | a_leader_all=zeros(dim,leaderNum);
12 | 
13 | % speed up to speed=1
14 | time_start_speedup=0;
15 | time_span_speedup=5;
16 | if currentTime>time_start_speedup && currentTime<time_start_speedup+time_span_speedup
17 |     ax=f_sin(time_start_speedup,time_span_speedup,currentTime)/pi;
18 |     a_leader_all(:,1)=[ax,0]';
19 |     a_leader_all(:,2)=[ax,0]';
20 |     a_leader_all(:,3)=[ax,0]';
21 | end
22 | 
23 | % slow down to speed=0
24 | time_start_slowdown=10;
25 | time_span_slowdown=5;
26 | if currentTime>time_start_slowdown && currentTime<time_start_slowdown+time_span_slowdown
27 |     %ax=fcn_normalDistribution(time_start_slowdown,time_span_slowdown, 2, currentTime);
28 |     ax=-f_sin(time_start_slowdown,time_span_slowdown,currentTime)/pi;
29 |     a_leader_all(:,1)=[ax,0]';
30 |     a_leader_all(:,2)=[ax,0]';
31 |     a_leader_all(:,3)=[ax,0]';
32 | end
33 | 
34 | % rotate
35 | v3=v_all(:,3);
36 | v2=v_all(:,2);
37 | v1=v_all(:,1);
38 | p3=p_all(:,3);
39 | p2=p_all(:,2);
40 | p1=p_all(:,1);
41 | R90=[cos(pi/2),-sin(pi/2);
42 |      sin(pi/2),cos(pi/2)];
43 | time_start_rotate=20;
44 | time_span_rotate=10;
45 | if currentTime>=time_start_rotate && currentTime<=time_start_rotate+time_span_rotate
46 |     if rotateFlag==1
47 |         tempp2=p2;
48 |         tempp3=p3;
49 |         rotateFlag=0;
50 |     end
51 |     % agent 2
52 |     acce_mag=-Accel_slow_fast(time_start_rotate, time_span_rotate, currentTime, 4);
53 | %     acce_vec=(p1+R90'*(tempp2-p1))-tempp2;
54 | %     acce_vec=acce_vec/norm(acce_vec);
55 |     acce_vec=[1 0]';
56 |     a_leader_all(:,2)=acce_mag*acce_vec;
57 |     % agent 3
58 |     acce_mag=-Accel_slow_fast(time_start_rotate, time_span_rotate, currentTime, 4);
59 | %     acce_vec=(p1+R90'*(tempp3-p1))-tempp3;
60 | %     acce_vec=acce_vec/norm(acce_vec);
61 |     acce_vec=[0 1]';
62 |     a_leader_all(:,3)=acce_mag*acce_vec;
63 | end
64 | 
65 | % move downward
66 | time_start_downward=time_start_rotate;
67 | time_span_downward=time_span_rotate;
68 | if currentTime>=time_start_downward && currentTime<=time_start_downward+time_span_downward
69 |     % agent 1
70 |     ay=f_sin(time_start_downward,time_span_downward,currentTime)/pi;
71 |     a_leader_all(:,1)=[0,-ay]';
72 |     % agent 2
73 |     a_leader_all(:,2)=a_leader_all(:,2)+[0,-ay]';
74 |     % agent 3
75 |     a_leader_all(:,3)=a_leader_all(:,3)+[0,-ay]';
76 | end
77 | 
78 | % slow down to speed=0
79 | time_start_slowdown2=time_start_downward+time_span_downward+5;
80 | time_span_slowdown2=5;
81 | if currentTime>time_start_slowdown2 && currentTime<time_start_slowdown2+time_span_slowdown2
82 |     %ax=fcn_normalDistribution(time_start_slowdown,time_span_slowdown, 2, currentTime);
83 |     ay=-f_sin(time_start_slowdown2,time_span_slowdown2,currentTime)/pi;
84 |     a_leader_all(:,1)=[0,-ay]';
85 |     a_leader_all(:,2)=[0,-ay]';
86 |     a_leader_all(:,3)=[0,-ay]';
87 | end
88 | 
89 | % output: replace the leaders' velocity with the one prescribed above
90 | control_all(:,1:leaderNum) = a_leader_all;
91 | output=reshape(control_all, dim*nodenum, 1);
92 | 
93 | 
94 | 
95 | 


--------------------------------------------------------------------------------
/README.md:
--------------------------------------------------------------------------------
1 | # Maneuver-Control-of-Multirobot-Systems-Using-Affine-Formation
2 | 


--------------------------------------------------------------------------------
/TrackingError.m:
--------------------------------------------------------------------------------
 1 | function output = TrackingError(u)
 2 | global stressMat dim leaderNum
 3 | 
 4 | p_all = u; %reshape(u,dim,nodenum);
 5 | 
 6 | p_ell=p_all(1:dim*leaderNum);
 7 | p_f=p_all(dim*leaderNum+1:end);
 8 | stressMat_ff=stressMat(leaderNum+1:end,leaderNum+1:end);
 9 | stressMat_fl=stressMat(leaderNum+1:end,1:leaderNum);
10 | delta_pf=p_f+inv(kron(stressMat_ff,eye(dim)))*kron(stressMat_fl,eye(dim))*p_ell;
11 | output=norm(delta_pf);


--------------------------------------------------------------------------------
/affineManeuver.mdl:
--------------------------------------------------------------------------------
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  97 |   </AnnotationDefaults>
  98 |   <MaskDefaults SelfModifiable="off">
  99 |     <Display IconFrame="on" IconOpaque="opaque" RunInitForIconRedraw="analyze" IconRotate="none" PortRotate="default" IconUnits="autoscale"/>
 100 |     <MaskParameter Evaluate="on" Tunable="on" NeverSave="off" Internal="off" ReadOnly="off" Enabled="on" Visible="on" ToolTip="on"/>
 101 |     <DialogControl>
 102 |       <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"/>
 103 |     </DialogControl>
 104 |   </MaskDefaults>
 105 |   <BlockParameterDefaults>
 106 |     <Block BlockType="Clock">
 107 |       <P Name="DisplayTime">off</P>
 108 |       <P Name="Decimation">10</P>
 109 |     </Block>
 110 |     <Block BlockType="Integrator">
 111 |       <P Name="ExternalReset">none</P>
 112 |       <P Name="InitialConditionSource">internal</P>
 113 |       <P Name="InitialCondition">0</P>
 114 |       <P Name="LimitOutput">off</P>
 115 |       <P Name="UpperSaturationLimit">inf</P>
 116 |       <P Name="LowerSaturationLimit">-inf</P>
 117 |       <P Name="WrapState">off</P>
 118 |       <P Name="WrappedStateUpperValue">pi</P>
 119 |       <P Name="WrappedStateLowerValue">-pi</P>
 120 |       <P Name="ShowSaturationPort">off</P>
 121 |       <P Name="ShowStatePort">off</P>
 122 |       <P Name="AbsoluteTolerance">auto</P>
 123 |       <P Name="IgnoreLimit">off</P>
 124 |       <P Name="ZeroCross">on</P>
 125 |       <P Name="ContinuousStateAttributes">&apos;&apos;</P>
 126 |     </Block>
 127 |     <Block BlockType="MATLABFcn">
 128 |       <P Name="MATLABFcn">sin</P>
 129 |       <P Name="OutputDimensions">-1</P>
 130 |       <P Name="OutputSignalType">auto</P>
 131 |       <P Name="Output1D">on</P>
 132 |       <P Name="SampleTime">-1</P>
 133 |     </Block>
 134 |     <Block BlockType="Mux">
 135 |       <P Name="Inputs">4</P>
 136 |       <P Name="DisplayOption">none</P>
 137 |       <P Name="UseBusObject">off</P>
 138 |       <P Name="BusObject">BusObject</P>
 139 |       <P Name="NonVirtualBus">off</P>
 140 |     </Block>
 141 |     <Block BlockType="Scope">
 142 |       <P Name="DefaultConfigurationName">Simulink.scopes.TimeScopeBlockCfg</P>
 143 |     </Block>
 144 |     <Block BlockType="Sum">
 145 |       <P Name="IconShape">round</P>
 146 |       <P Name="Inputs">++</P>
 147 |       <P Name="CollapseMode">All dimensions</P>
 148 |       <P Name="CollapseDim">1</P>
 149 |       <P Name="InputSameDT">off</P>
 150 |       <P Name="AccumDataTypeStr">Inherit: Inherit via internal rule</P>
 151 |       <P Name="OutMin">[]</P>
 152 |       <P Name="OutMax">[]</P>
 153 |       <P Name="OutDataTypeStr">Inherit: Inherit via internal rule</P>
 154 |       <P Name="LockScale">off</P>
 155 |       <P Name="RndMeth">Floor</P>
 156 |       <P Name="SaturateOnIntegerOverflow">off</P>
 157 |       <P Name="SampleTime">-1</P>
 158 |     </Block>
 159 |     <Block BlockType="TransportDelay">
 160 |       <P Name="DelayTime">1</P>
 161 |       <P Name="InitialOutput">0</P>
 162 |       <P Name="BufferSize">1024</P>
 163 |       <P Name="FixedBuffer">off</P>
 164 |       <P Name="TransDelayFeedthrough">off</P>
 165 |       <P Name="PadeOrder">0</P>
 166 |     </Block>
 167 |   </BlockParameterDefaults>
 168 | </BlockDiagramDefaults>
 169 | 
 170 | __MWOPC_PART_BEGIN__ /simulink/blockdiagram.xml
 171 | <?xml version="1.0" encoding="utf-8"?>
 172 | <ModelInformation Version="1.0">
 173 |   <Model>
 174 |     <P Name="ModelUUID">eb5b465b-5598-4004-bca5-bb6163a0bedf</P>
 175 |     <P Name="LastSavedArchitecture">win64</P>
 176 |     <ConfigManagerSettings>
 177 |       <P Name="ModifiedByFormat">%&lt;Auto&gt;</P>
 178 |       <P Name="ModifiedDateFormat">%&lt;Auto&gt;</P>
 179 |       <P Name="RTWModifiedTimeStamp">591912800</P>
 180 |       <P Name="ModelVersionFormat">%&lt;AutoIncrement:24.0&gt;</P>
 181 |     </ConfigManagerSettings>
 182 |     <EditorSettings>
 183 |       <P Name="LibraryLinkDisplay">none</P>
 184 |     </EditorSettings>
 185 |     <SimulationSettings>
 186 |       <P Name="SimulationMode">normal</P>
 187 |       <Object PropName="DataLoggingOverride" ObjectID="1" ClassName="Simulink.SimulationData.ModelLoggingInfo">
 188 |         <P Name="model_" Class="char">$bdroot</P>
 189 |         <Array PropName="logAsSpecifiedByModels_" Type="Cell" Dimension="1*1">
 190 |           <Cell Class="char">$bdroot</Cell>
 191 |         </Array>
 192 |         <Array PropName="logAsSpecifiedByModelsSSIDs_" Type="Cell" Dimension="1*1">
 193 |           <Cell Class="char"/>
 194 |         </Array>
 195 |       </Object>
 196 |     </SimulationSettings>
 197 |     <EngineSettings>
 198 |       <P Name="ConfigurableSubsystemUsage">warning</P>
 199 |     </EngineSettings>
 200 |     <ConcurrentExecutionSettings>
 201 |       <Object PropName="DataTransfer" ObjectID="2" ClassName="Simulink.GlobalDataTransfer">
 202 |         <P Name="DefaultTransitionBetweenSyncTasks" Class="char">Ensure deterministic transfer (maximum delay)</P>
 203 |         <P Name="DefaultTransitionBetweenAsyncTasks" Class="char">Ensure data integrity only</P>
 204 |         <P Name="DefaultTransitionBetweenContTasks" Class="char">Ensure deterministic transfer (minimum delay)</P>
 205 |         <P Name="DefaultExtrapolationMethodBetweenContTasks" Class="char">None</P>
 206 |       </Object>
 207 |     </ConcurrentExecutionSettings>
 208 |     <System Ref="system_root"/>
 209 |   </Model>
 210 | </ModelInformation>
 211 | 
 212 | __MWOPC_PART_BEGIN__ /simulink/configSet0.xml
 213 | <?xml version="1.0" encoding="utf-8"?>
 214 | <ConfigSet>
 215 |   <Object Version="21.1.1" ClassName="Simulink.ConfigSet">
 216 |     <P Name="DisabledProps" Class="double">[]</P>
 217 |     <P Name="Description"/>
 218 |     <Array PropName="Components" Type="Handle" Dimension="1*9">
 219 |       <Object ObjectID="2" Version="21.1.1" ClassName="Simulink.SolverCC">
 220 |         <P Name="DisabledProps" Class="double">[]</P>
 221 |         <P Name="Description"/>
 222 |         <P Name="Components" Class="double">[]</P>
 223 |         <P Name="StartTime">0.0</P>
 224 |         <P Name="StopTime">10.0</P>
 225 |         <P Name="AbsTol">auto</P>
 226 |         <P Name="AutoScaleAbsTol">on</P>
 227 |         <P Name="FixedStep">0.01</P>
 228 |         <P Name="InitialStep">auto</P>
 229 |         <P Name="MaxOrder">5</P>
 230 |         <P Name="ZcThreshold">auto</P>
 231 |         <P Name="ConsecutiveZCsStepRelTol">10*128*eps</P>
 232 |         <P Name="MaxConsecutiveZCs">1000</P>
 233 |         <P Name="ExtrapolationOrder">4</P>
 234 |         <P Name="NumberNewtonIterations">1</P>
 235 |         <P Name="MaxStep">0.02</P>
 236 |         <P Name="MinStep">auto</P>
 237 |         <P Name="MaxConsecutiveMinStep">1</P>
 238 |         <P Name="RelTol">1e-3</P>
 239 |         <P Name="EnableMultiTasking">on</P>
 240 |         <P Name="AllowMultiTaskInputOutput">off</P>
 241 |         <P Name="ConcurrentTasks">off</P>
 242 |         <P Name="SolverName">ode4</P>
 243 |         <P Name="SolverJacobianMethodControl">auto</P>
 244 |         <P Name="DaesscMode">auto</P>
 245 |         <P Name="ShapePreserveControl">DisableAll</P>
 246 |         <P Name="ZeroCrossControl">UseLocalSettings</P>
 247 |         <P Name="ZeroCrossAlgorithm">Nonadaptive</P>
 248 |         <P Name="AlgebraicLoopSolver">TrustRegion</P>
 249 |         <P Name="SolverInfoToggleStatus">off</P>
 250 |         <P Name="IsAutoAppliedInSIP">off</P>
 251 |         <P Name="SolverResetMethod">Fast</P>
 252 |         <P Name="PositivePriorityOrder">off</P>
 253 |         <P Name="AutoInsertRateTranBlk">off</P>
 254 |         <P Name="SampleTimeConstraint">Unconstrained</P>
 255 |         <P Name="InsertRTBMode">Whenever possible</P>
 256 |         <P Name="SampleTimeProperty" Class="double">[]</P>
 257 |         <P Name="DecoupledContinuousIntegration">off</P>
 258 |         <P Name="MinimalZcImpactIntegration">off</P>
 259 |         <P Name="ODENIntegrationMethod">ode3</P>
 260 |       </Object>
 261 |       <Object ObjectID="3" Version="21.1.1" ClassName="Simulink.DataIOCC">
 262 |         <P Name="DisabledProps" Class="double">[]</P>
 263 |         <P Name="Description"/>
 264 |         <P Name="Components" Class="double">[]</P>
 265 |         <P Name="Decimation">1</P>
 266 |         <P Name="ExternalInput">[t, u]</P>
 267 |         <P Name="FinalStateName">xFinal</P>
 268 |         <P Name="InitialState">xInitial</P>
 269 |         <P Name="LimitDataPoints">on</P>
 270 |         <P Name="MaxDataPoints">1000</P>
 271 |         <P Name="LoadExternalInput">off</P>
 272 |         <P Name="LoadInitialState">off</P>
 273 |         <P Name="SaveFinalState">off</P>
 274 |         <P Name="SaveOperatingPoint">off</P>
 275 |         <P Name="SaveFormat">Array</P>
 276 |         <P Name="SignalLoggingSaveFormat">ModelDataLogs</P>
 277 |         <P Name="SaveOutput">on</P>
 278 |         <P Name="SaveState">off</P>
 279 |         <P Name="SignalLogging">on</P>
 280 |         <P Name="DSMLogging">on</P>
 281 |         <P Name="InspectSignalLogs">off</P>
 282 |         <P Name="VisualizeSimOutput">on</P>
 283 |         <P Name="StreamToWorkspace">off</P>
 284 |         <P Name="StreamVariableName">streamout</P>
 285 |         <P Name="SaveTime">on</P>
 286 |         <P Name="ReturnWorkspaceOutputs">off</P>
 287 |         <P Name="StateSaveName">xout</P>
 288 |         <P Name="TimeSaveName">tout</P>
 289 |         <P Name="OutputSaveName">yout</P>
 290 |         <P Name="SignalLoggingName">logsout</P>
 291 |         <P Name="DSMLoggingName">dsmout</P>
 292 |         <P Name="OutputOption">RefineOutputTimes</P>
 293 |         <P Name="OutputTimes">[]</P>
 294 |         <P Name="ReturnWorkspaceOutputsName">out</P>
 295 |         <P Name="Refine">1</P>
 296 |         <P Name="LoggingToFile">off</P>
 297 |         <P Name="DatasetSignalFormat">timeseries</P>
 298 |         <P Name="LoggingFileName">out.mat</P>
 299 |         <P Name="LoggingIntervals">[-inf, inf]</P>
 300 |       </Object>
 301 |       <Object ObjectID="4" Version="21.1.1" ClassName="Simulink.OptimizationCC">
 302 |         <Array PropName="DisabledProps" Type="Cell" Dimension="1*9">
 303 |           <Cell Class="char">BooleansAsBitfields</Cell>
 304 |           <Cell Class="char">PassReuseOutputArgsAs</Cell>
 305 |           <Cell Class="char">PassReuseOutputArgsThreshold</Cell>
 306 |           <Cell Class="char">ZeroExternalMemoryAtStartup</Cell>
 307 |           <Cell Class="char">ZeroInternalMemoryAtStartup</Cell>
 308 |           <Cell Class="char">OptimizeModelRefInitCode</Cell>
 309 |           <Cell Class="char">NoFixptDivByZeroProtection</Cell>
 310 |           <Cell Class="char">UseSpecifiedMinMax</Cell>
 311 |           <Cell Class="char">EfficientTunableParamExpr</Cell>
 312 |         </Array>
 313 |         <P Name="Description"/>
 314 |         <P Name="Components" Class="double">[]</P>
 315 |         <P Name="BlockReduction">on</P>
 316 |         <P Name="BooleanDataType">on</P>
 317 |         <P Name="ConditionallyExecuteInputs">on</P>
 318 |         <P Name="DefaultParameterBehavior">Tunable</P>
 319 |         <P Name="UseDivisionForNetSlopeComputation">off</P>
 320 |         <P Name="GainParamInheritBuiltInType">off</P>
 321 |         <P Name="UseFloatMulNetSlope">off</P>
 322 |         <P Name="InheritOutputTypeSmallerThanSingle">off</P>
 323 |         <P Name="DefaultUnderspecifiedDataType">double</P>
 324 |         <P Name="UseSpecifiedMinMax">off</P>
 325 |         <P Name="InlineInvariantSignals">off</P>
 326 |         <P Name="OptimizeBlockIOStorage">on</P>
 327 |         <P Name="BufferReuse">on</P>
 328 |         <P Name="EnhancedBackFolding">off</P>
 329 |         <P Name="CachingGlobalReferences">off</P>
 330 |         <P Name="GlobalBufferReuse">on</P>
 331 |         <P Name="StrengthReduction">off</P>
 332 |         <P Name="AdvancedOptControl"/>
 333 |         <P Name="ExpressionFolding">on</P>
 334 |         <P Name="BooleansAsBitfields">off</P>
 335 |         <P Name="BitfieldContainerType">uint_T</P>
 336 |         <P Name="BitwiseOrLogicalOp">Same as modeled</P>
 337 |         <P Name="EnableMemcpy">on</P>
 338 |         <P Name="MemcpyThreshold">64</P>
 339 |         <P Name="PassReuseOutputArgsAs">Structure reference</P>
 340 |         <P Name="PassReuseOutputArgsThreshold">12</P>
 341 |         <P Name="ExpressionDepthLimit">2147483647</P>
 342 |         <P Name="LocalBlockOutputs">on</P>
 343 |         <P Name="RollThreshold">5</P>
 344 |         <P Name="StateBitsets">off</P>
 345 |         <P Name="DataBitsets">off</P>
 346 |         <P Name="ActiveStateOutputEnumStorageType">Native Integer</P>
 347 |         <P Name="ZeroExternalMemoryAtStartup">on</P>
 348 |         <P Name="ZeroInternalMemoryAtStartup">on</P>
 349 |         <P Name="InitFltsAndDblsToZero">off</P>
 350 |         <P Name="NoFixptDivByZeroProtection">off</P>
 351 |         <P Name="EfficientFloat2IntCast">off</P>
 352 |         <P Name="EfficientMapNaN2IntZero">on</P>
 353 |         <P Name="LifeSpan">inf</P>
 354 |         <P Name="MaxStackSize">Inherit from target</P>
 355 |         <P Name="BufferReusableBoundary">on</P>
 356 |         <P Name="SimCompilerOptimization">off</P>
 357 |         <P Name="AccelVerboseBuild">off</P>
 358 |         <P Name="OptimizeBlockOrder">off</P>
 359 |         <P Name="OptimizeDataStoreBuffers">on</P>
 360 |         <P Name="BusAssignmentInplaceUpdate">on</P>
 361 |         <P Name="DifferentSizesBufferReuse">off</P>
 362 |         <P Name="UseRowMajorAlgorithm">off</P>
 363 |         <P Name="OptimizationLevel">level2</P>
 364 |         <P Name="OptimizationPriority">Balanced</P>
 365 |         <P Name="OptimizationCustomize">on</P>
 366 |         <P Name="LabelGuidedReuse">off</P>
 367 |         <P Name="MultiThreadedLoops">off</P>
 368 |         <P Name="DenormalBehavior">GradualUnderflow</P>
 369 |         <P Name="EfficientTunableParamExpr">off</P>
 370 |       </Object>
 371 |       <Object ObjectID="5" Version="21.1.1" ClassName="Simulink.DebuggingCC">
 372 |         <Array PropName="DisabledProps" Type="Cell" Dimension="1*1">
 373 |           <Cell Class="char">UseOnlyExistingSharedCode</Cell>
 374 |         </Array>
 375 |         <P Name="Description"/>
 376 |         <P Name="Components" Class="double">[]</P>
 377 |         <P Name="RTPrefix">error</P>
 378 |         <P Name="ConsistencyChecking">none</P>
 379 |         <P Name="ArrayBoundsChecking">none</P>
 380 |         <P Name="SignalInfNanChecking">none</P>
 381 |         <P Name="StringTruncationChecking">error</P>
 382 |         <P Name="SignalRangeChecking">none</P>
 383 |         <P Name="ReadBeforeWriteMsg">UseLocalSettings</P>
 384 |         <P Name="WriteAfterWriteMsg">UseLocalSettings</P>
 385 |         <P Name="WriteAfterReadMsg">UseLocalSettings</P>
 386 |         <P Name="AlgebraicLoopMsg">warning</P>
 387 |         <P Name="ArtificialAlgebraicLoopMsg">warning</P>
 388 |         <P Name="SaveWithDisabledLinksMsg">warning</P>
 389 |         <P Name="SaveWithParameterizedLinksMsg">warning</P>
 390 |         <P Name="CheckSSInitialOutputMsg">on</P>
 391 |         <P Name="UnderspecifiedInitializationDetection">Classic</P>
 392 |         <P Name="MergeDetectMultiDrivingBlocksExec">none</P>
 393 |         <P Name="CheckExecutionContextPreStartOutputMsg">off</P>
 394 |         <P Name="SignalResolutionControl">UseLocalSettings</P>
 395 |         <P Name="BlockPriorityViolationMsg">warning</P>
 396 |         <P Name="MinStepSizeMsg">warning</P>
 397 |         <P Name="TimeAdjustmentMsg">none</P>
 398 |         <P Name="MaxConsecutiveZCsMsg">error</P>
 399 |         <P Name="MaskedZcDiagnostic">warning</P>
 400 |         <P Name="IgnoredZcDiagnostic">warning</P>
 401 |         <P Name="SolverPrmCheckMsg">warning</P>
 402 |         <P Name="InheritedTsInSrcMsg">warning</P>
 403 |         <P Name="MultiTaskDSMMsg">error</P>
 404 |         <P Name="MultiTaskCondExecSysMsg">error</P>
 405 |         <P Name="MultiTaskRateTransMsg">error</P>
 406 |         <P Name="SingleTaskRateTransMsg">none</P>
 407 |         <P Name="TasksWithSamePriorityMsg">warning</P>
 408 |         <P Name="ExportedTasksRateTransMsg">none</P>
 409 |         <P Name="SigSpecEnsureSampleTimeMsg">warning</P>
 410 |         <P Name="CheckMatrixSingularityMsg">none</P>
 411 |         <P Name="IntegerOverflowMsg">warning</P>
 412 |         <P Name="Int32ToFloatConvMsg">warning</P>
 413 |         <P Name="ParameterDowncastMsg">error</P>
 414 |         <P Name="ParameterOverflowMsg">error</P>
 415 |         <P Name="ParameterUnderflowMsg">none</P>
 416 |         <P Name="ParameterPrecisionLossMsg">warning</P>
 417 |         <P Name="ParameterTunabilityLossMsg">warning</P>
 418 |         <P Name="FixptConstUnderflowMsg">none</P>
 419 |         <P Name="FixptConstOverflowMsg">none</P>
 420 |         <P Name="FixptConstPrecisionLossMsg">none</P>
 421 |         <P Name="UnderSpecifiedDataTypeMsg">none</P>
 422 |         <P Name="UnnecessaryDatatypeConvMsg">none</P>
 423 |         <P Name="VectorMatrixConversionMsg">none</P>
 424 |         <P Name="FcnCallInpInsideContextMsg">warning</P>
 425 |         <P Name="SignalLabelMismatchMsg">none</P>
 426 |         <P Name="UnconnectedInputMsg">warning</P>
 427 |         <P Name="UnconnectedOutputMsg">warning</P>
 428 |         <P Name="UnconnectedLineMsg">warning</P>
 429 |         <P Name="UseOnlyExistingSharedCode">error</P>
 430 |         <P Name="SFcnCompatibilityMsg">none</P>
 431 |         <P Name="FrameProcessingCompatibilityMsg">error</P>
 432 |         <P Name="UniqueDataStoreMsg">none</P>
 433 |         <P Name="BusObjectLabelMismatch">warning</P>
 434 |         <P Name="RootOutportRequireBusObject">warning</P>
 435 |         <P Name="AssertControl">UseLocalSettings</P>
 436 |         <P Name="AllowSymbolicDim">on</P>
 437 |         <P Name="RowMajorDimensionSupport">off</P>
 438 |         <P Name="ModelReferenceIOMsg">none</P>
 439 |         <P Name="ModelReferenceMultiInstanceNormalModeStructChecksumCheck">error</P>
 440 |         <P Name="ModelReferenceVersionMismatchMessage">none</P>
 441 |         <P Name="ModelReferenceIOMismatchMessage">none</P>
 442 |         <P Name="UnknownTsInhSupMsg">warning</P>
 443 |         <P Name="ModelReferenceDataLoggingMessage">warning</P>
 444 |         <P Name="ModelReferenceNoExplicitFinalValueMsg">none</P>
 445 |         <P Name="ModelReferenceSymbolNameMessage">warning</P>
 446 |         <P Name="ModelReferenceExtraNoncontSigs">error</P>
 447 |         <P Name="StateNameClashWarn">warning</P>
 448 |         <P Name="OperatingPointInterfaceChecksumMismatchMsg">warning</P>
 449 |         <P Name="NonCurrentReleaseOperatingPointMsg">error</P>
 450 |         <P Name="ChecksumConsistencyForSSReuse">none</P>
 451 |         <P Name="PregeneratedLibrarySubsystemCodeDiagnostic">warning</P>
 452 |         <P Name="MatchCodeGenerationContextForUpdateDiagram">none</P>
 453 |         <P Name="InitInArrayFormatMsg">warning</P>
 454 |         <P Name="StrictBusMsg">ErrorLevel1</P>
 455 |         <P Name="BusNameAdapt">WarnAndRepair</P>
 456 |         <P Name="NonBusSignalsTreatedAsBus">none</P>
 457 |         <P Name="SymbolicDimMinMaxWarning">warning</P>
 458 |         <P Name="LossOfSymbolicDimsSimulationWarning">warning</P>
 459 |         <P Name="LossOfSymbolicDimsCodeGenerationWarning">error</P>
 460 |         <P Name="SymbolicDimsDataTypeCodeGenerationDiagnostic">error</P>
 461 |         <P Name="BlockIODiagnostic">none</P>
 462 |         <P Name="SFUnusedDataAndEventsDiag">warning</P>
 463 |         <P Name="SFUnexpectedBacktrackingDiag">warning</P>
 464 |         <P Name="SFInvalidInputDataAccessInChartInitDiag">warning</P>
 465 |         <P Name="SFNoUnconditionalDefaultTransitionDiag">warning</P>
 466 |         <P Name="SFTransitionOutsideNaturalParentDiag">warning</P>
 467 |         <P Name="SFUnreachableExecutionPathDiag">warning</P>
 468 |         <P Name="SFUndirectedBroadcastEventsDiag">warning</P>
 469 |         <P Name="SFTransitionActionBeforeConditionDiag">warning</P>
 470 |         <P Name="SFOutputUsedAsStateInMooreChartDiag">error</P>
 471 |         <P Name="SFTemporalDelaySmallerThanSampleTimeDiag">warning</P>
 472 |         <P Name="SFSelfTransitionDiag">warning</P>
 473 |         <P Name="SFExecutionAtInitializationDiag">none</P>
 474 |         <P Name="SFMachineParentedDataDiag">warning</P>
 475 |         <P Name="IntegerSaturationMsg">warning</P>
 476 |         <P Name="AllowedUnitSystems">all</P>
 477 |         <P Name="UnitsInconsistencyMsg">warning</P>
 478 |         <P Name="AllowAutomaticUnitConversions">on</P>
 479 |         <P Name="RCSCRenamedMsg">warning</P>
 480 |         <P Name="RCSCObservableMsg">warning</P>
 481 |         <P Name="ForceCombineOutputUpdateInSim">off</P>
 482 |         <P Name="UnitDatabase"/>
 483 |         <P Name="UnderSpecifiedDimensionMsg">none</P>
 484 |         <P Name="DebugExecutionForFMUViaOutOfProcess">off</P>
 485 |         <P Name="ArithmeticOperatorsInVariantConditions">warning</P>
 486 |         <P Name="VariantConditionMismatch">none</P>
 487 |       </Object>
 488 |       <Object ObjectID="6" Version="21.1.1" ClassName="Simulink.HardwareCC">
 489 |         <P Name="DisabledProps" Class="double">[]</P>
 490 |         <P Name="Description"/>
 491 |         <P Name="Components" Class="double">[]</P>
 492 |         <P Name="ProdBitPerChar">8</P>
 493 |         <P Name="ProdBitPerShort">16</P>
 494 |         <P Name="ProdBitPerInt">32</P>
 495 |         <P Name="ProdBitPerLong">32</P>
 496 |         <P Name="ProdBitPerLongLong">64</P>
 497 |         <P Name="ProdBitPerFloat">32</P>
 498 |         <P Name="ProdBitPerDouble">64</P>
 499 |         <P Name="ProdBitPerPointer">32</P>
 500 |         <P Name="ProdBitPerSizeT">32</P>
 501 |         <P Name="ProdBitPerPtrDiffT">32</P>
 502 |         <P Name="ProdLargestAtomicInteger">Char</P>
 503 |         <P Name="ProdLargestAtomicFloat">None</P>
 504 |         <P Name="ProdIntDivRoundTo">Undefined</P>
 505 |         <P Name="ProdEndianess">Unspecified</P>
 506 |         <P Name="ProdWordSize">32</P>
 507 |         <P Name="ProdShiftRightIntArith">on</P>
 508 |         <P Name="ProdLongLongMode">off</P>
 509 |         <P Name="ProdHWDeviceType">32-bit Generic</P>
 510 |         <P Name="TargetBitPerChar">8</P>
 511 |         <P Name="TargetBitPerShort">16</P>
 512 |         <P Name="TargetBitPerInt">32</P>
 513 |         <P Name="TargetBitPerLong">32</P>
 514 |         <P Name="TargetBitPerLongLong">64</P>
 515 |         <P Name="TargetBitPerFloat">32</P>
 516 |         <P Name="TargetBitPerDouble">64</P>
 517 |         <P Name="TargetBitPerPointer">32</P>
 518 |         <P Name="TargetBitPerSizeT">32</P>
 519 |         <P Name="TargetBitPerPtrDiffT">32</P>
 520 |         <P Name="TargetLargestAtomicInteger">Char</P>
 521 |         <P Name="TargetLargestAtomicFloat">None</P>
 522 |         <P Name="TargetShiftRightIntArith">on</P>
 523 |         <P Name="TargetLongLongMode">off</P>
 524 |         <P Name="TargetIntDivRoundTo">Undefined</P>
 525 |         <P Name="TargetEndianess">Unspecified</P>
 526 |         <P Name="TargetWordSize">32</P>
 527 |         <P Name="TargetPreprocMaxBitsSint">32</P>
 528 |         <P Name="TargetPreprocMaxBitsUint">32</P>
 529 |         <P Name="TargetHWDeviceType">Specified</P>
 530 |         <P Name="TargetUnknown">off</P>
 531 |         <P Name="ProdEqTarget">on</P>
 532 |         <P Name="UseEmbeddedCoderFeatures">on</P>
 533 |         <P Name="UseSimulinkCoderFeatures">on</P>
 534 |         <P Name="HardwareBoardFeatureSet">EmbeddedCoderHSP</P>
 535 |       </Object>
 536 |       <Object ObjectID="7" Version="21.1.1" ClassName="Simulink.ModelReferenceCC">
 537 |         <P Name="DisabledProps" Class="double">[]</P>
 538 |         <P Name="Description"/>
 539 |         <P Name="Components" Class="double">[]</P>
 540 |         <P Name="UpdateModelReferenceTargets">IfOutOfDateOrStructuralChange</P>
 541 |         <P Name="EnableRefExpFcnMdlSchedulingChecks">on</P>
 542 |         <P Name="CheckModelReferenceTargetMessage">error</P>
 543 |         <P Name="EnableParallelModelReferenceBuilds">off</P>
 544 |         <P Name="ParallelModelReferenceErrorOnInvalidPool">on</P>
 545 |         <P Name="ParallelModelReferenceMATLABWorkerInit">None</P>
 546 |         <P Name="ModelReferenceNumInstancesAllowed">Multi</P>
 547 |         <P Name="PropagateVarSize">Infer from blocks in model</P>
 548 |         <P Name="ModelDependencies"/>
 549 |         <P Name="ModelReferencePassRootInputsByReference">on</P>
 550 |         <P Name="ModelReferenceMinAlgLoopOccurrences">off</P>
 551 |         <P Name="PropagateSignalLabelsOutOfModel">off</P>
 552 |         <P Name="SupportModelReferenceSimTargetCustomCode">off</P>
 553 |       </Object>
 554 |       <Object ObjectID="8" Version="21.1.1" ClassName="Simulink.SFSimCC">
 555 |         <P Name="DisabledProps" Class="double">[]</P>
 556 |         <P Name="Description"/>
 557 |         <P Name="Components" Class="double">[]</P>
 558 |         <P Name="SimCustomSourceCode"/>
 559 |         <P Name="SimCustomHeaderCode"/>
 560 |         <P Name="SimCustomInitializer"/>
 561 |         <P Name="SimCustomTerminator"/>
 562 |         <P Name="SimReservedNameArray" Class="double">[]</P>
 563 |         <P Name="SimUserSources"/>
 564 |         <P Name="SimUserIncludeDirs"/>
 565 |         <P Name="SimUserLibraries"/>
 566 |         <P Name="SimUserDefines"/>
 567 |         <P Name="SimCustomCompilerFlags"/>
 568 |         <P Name="SimCustomLinkerFlags"/>
 569 |         <P Name="SFSimEcho">on</P>
 570 |         <P Name="SimCtrlC">on</P>
 571 |         <P Name="SimIntegrity">on</P>
 572 |         <P Name="SimUseLocalCustomCode">off</P>
 573 |         <P Name="SimParseCustomCode">on</P>
 574 |         <P Name="SimAnalyzeCustomCode">off</P>
 575 |         <P Name="SimDebugExecutionForCustomCode">off</P>
 576 |         <P Name="SimGenImportedTypeDefs">off</P>
 577 |         <P Name="ModelFunctionsGlobalVisibility">on</P>
 578 |         <P Name="CompileTimeRecursionLimit">50</P>
 579 |         <P Name="EnableRuntimeRecursion">on</P>
 580 |         <P Name="EnableImplicitExpansion">on</P>
 581 |         <P Name="MATLABDynamicMemAlloc">on</P>
 582 |         <P Name="MATLABDynamicMemAllocThreshold">65536</P>
 583 |         <P Name="LegacyBehaviorForPersistentVarInContinuousTime">off</P>
 584 |         <P Name="CustomCodeFunctionArrayLayout" Class="double">[]</P>
 585 |         <P Name="DefaultCustomCodeFunctionArrayLayout">NotSpecified</P>
 586 |         <P Name="CustomCodeUndefinedFunction">UseInterfaceOnly</P>
 587 |         <P Name="CustomCodeGlobalsAsFunctionIO">off</P>
 588 |         <P Name="DefaultCustomCodeDeterministicFunctions">None</P>
 589 |         <P Name="CustomCodeDeterministicFunctions"/>
 590 |         <P Name="SimHardwareAcceleration">generic</P>
 591 |         <P Name="SimTargetLang">C</P>
 592 |         <P Name="GPUAcceleration">off</P>
 593 |         <P Name="SimGPUMallocThreshold">200</P>
 594 |         <P Name="SimGPUStackLimitPerThread">1024</P>
 595 |         <P Name="SimGPUErrorChecks">off</P>
 596 |         <P Name="SimGPUCustomComputeCapability"/>
 597 |         <P Name="SimGPUCompilerFlags"/>
 598 |         <P Name="SimDLTargetLibrary">mkl-dnn</P>
 599 |         <P Name="SimDLAutoTuning">on</P>
 600 |       </Object>
 601 |       <Object BackupClass="Simulink.RTWCC" ObjectID="9" Version="21.1.1" ClassName="Simulink.RTWCC">
 602 |         <Array PropName="DisabledProps" Type="Cell" Dimension="1*17">
 603 |           <Cell Class="char">IncludeHyperlinkInReport</Cell>
 604 |           <Cell Class="char">GenerateTraceInfo</Cell>
 605 |           <Cell Class="char">GenerateTraceReport</Cell>
 606 |           <Cell Class="char">GenerateTraceReportSl</Cell>
 607 |           <Cell Class="char">GenerateTraceReportSf</Cell>
 608 |           <Cell Class="char">GenerateTraceReportEml</Cell>
 609 |           <Cell Class="char">PortableWordSizes</Cell>
 610 |           <Cell Class="char">GenerateWebview</Cell>
 611 |           <Cell Class="char">GenerateCodeMetricsReport</Cell>
 612 |           <Cell Class="char">GenerateCodeReplacementReport</Cell>
 613 |           <Cell Class="char">GenerateMissedCodeReplacementReport</Cell>
 614 |           <Cell Class="char">GenerateErtSFunction</Cell>
 615 |           <Cell Class="char">CreateSILPILBlock</Cell>
 616 |           <Cell Class="char">CodeExecutionProfiling</Cell>
 617 |           <Cell Class="char">CodeProfilingSaveOptions</Cell>
 618 |           <Cell Class="char">CodeProfilingInstrumentation</Cell>
 619 |           <Cell Class="char">CodeStackProfiling</Cell>
 620 |         </Array>
 621 |         <P Name="Description"/>
 622 |         <P Name="SystemTargetFile">grt.tlc</P>
 623 |         <P Name="HardwareBoard">None</P>
 624 |         <P Name="ShowCustomHardwareApp">off</P>
 625 |         <P Name="ShowEmbeddedHardwareApp">off</P>
 626 |         <P Name="TLCOptions"/>
 627 |         <P Name="GenCodeOnly">off</P>
 628 |         <P Name="MakeCommand">make_rtw</P>
 629 |         <P Name="GenerateMakefile">on</P>
 630 |         <P Name="PackageGeneratedCodeAndArtifacts">off</P>
 631 |         <P Name="PackageName"/>
 632 |         <P Name="TemplateMakefile">grt_default_tmf</P>
 633 |         <P Name="PostCodeGenCommand"/>
 634 |         <P Name="GenerateReport">off</P>
 635 |         <P Name="RTWVerbose">on</P>
 636 |         <P Name="RetainRTWFile">off</P>
 637 |         <P Name="RTWBuildHooks" Class="double">[]</P>
 638 |         <P Name="ProfileTLC">off</P>
 639 |         <P Name="TLCDebug">off</P>
 640 |         <P Name="TLCCoverage">off</P>
 641 |         <P Name="TLCAssert">off</P>
 642 |         <P Name="RTWUseLocalCustomCode">off</P>
 643 |         <P Name="RTWUseSimCustomCode">off</P>
 644 |         <P Name="CustomSourceCode"/>
 645 |         <P Name="CustomHeaderCode"/>
 646 |         <P Name="CustomInclude"/>
 647 |         <P Name="CustomSource"/>
 648 |         <P Name="CustomLibrary"/>
 649 |         <P Name="CustomDefine"/>
 650 |         <P Name="CustomBLASCallback"/>
 651 |         <P Name="CustomLAPACKCallback"/>
 652 |         <P Name="CustomFFTCallback"/>
 653 |         <P Name="CustomInitializer"/>
 654 |         <P Name="CustomTerminator"/>
 655 |         <P Name="Toolchain">Automatically locate an installed toolchain</P>
 656 |         <P Name="BuildConfiguration">Faster Builds</P>
 657 |         <P Name="CustomToolchainOptions" Class="double">[]</P>
 658 |         <P Name="IncludeHyperlinkInReport">off</P>
 659 |         <P Name="LaunchReport">off</P>
 660 |         <P Name="PortableWordSizes">off</P>
 661 |         <P Name="CreateSILPILBlock">None</P>
 662 |         <P Name="CodeExecutionProfiling">off</P>
 663 |         <P Name="CodeExecutionProfileVariable">executionProfile</P>
 664 |         <P Name="CodeProfilingSaveOptions">SummaryOnly</P>
 665 |         <P Name="CodeProfilingInstrumentation">off</P>
 666 |         <P Name="SILDebugging">off</P>
 667 |         <P Name="TargetLang">C</P>
 668 |         <P Name="GenerateGPUCode">None</P>
 669 |         <P Name="IncludeBusHierarchyInRTWFileBlockHierarchyMap">off</P>
 670 |         <P Name="GenerateTraceInfo">off</P>
 671 |         <P Name="GenerateTraceReport">off</P>
 672 |         <P Name="GenerateTraceReportSl">off</P>
 673 |         <P Name="GenerateTraceReportSf">off</P>
 674 |         <P Name="GenerateTraceReportEml">off</P>
 675 |         <P Name="GenerateWebview">off</P>
 676 |         <P Name="GenerateCodeMetricsReport">off</P>
 677 |         <P Name="GenerateCodeReplacementReport">off</P>
 678 |         <P Name="GenerateMissedCodeReplacementReport">off</P>
 679 |         <P Name="RTWCompilerOptimization">off</P>
 680 |         <P Name="ObjectivePriorities" Class="double">[]</P>
 681 |         <P Name="RTWCustomCompilerOptimizations"/>
 682 |         <P Name="CheckMdlBeforeBuild">Off</P>
 683 |         <P Name="SharedConstantsCachingThreshold">1024</P>
 684 |         <P Name="GPUKernelNamePrefix"/>
 685 |         <P Name="GPUDeviceID">-1</P>
 686 |         <P Name="GPUMallocMode">discrete</P>
 687 |         <P Name="GPUMallocThreshold">200</P>
 688 |         <P Name="GPUEnableMemoryManager">off</P>
 689 |         <P Name="GPUStackLimitPerThread">1024</P>
 690 |         <P Name="GPUcuBLAS">on</P>
 691 |         <P Name="GPUcuSOLVER">on</P>
 692 |         <P Name="GPUcuFFT">on</P>
 693 |         <P Name="GPUErrorChecks">off</P>
 694 |         <P Name="GPUComputeCapability">3.5</P>
 695 |         <P Name="GPUCustomComputeCapability"/>
 696 |         <P Name="GPUCompilerFlags"/>
 697 |         <P Name="GPUMaximumBlocksPerKernel">0</P>
 698 |         <P Name="DLTargetLibrary">none</P>
 699 |         <P Name="DLAutoTuning">on</P>
 700 |         <P Name="DLArmComputeVersion">19.05</P>
 701 |         <P Name="DLArmComputeArch">unspecified</P>
 702 |         <Array PropName="Components" Type="Handle" Dimension="1*2">
 703 |           <Object ObjectID="10" Version="21.1.1" ClassName="Simulink.CodeAppCC">
 704 |             <Array PropName="DisabledProps" Type="Cell" Dimension="1*28">
 705 |               <Cell Class="char">IgnoreCustomStorageClasses</Cell>
 706 |               <Cell Class="char">IgnoreTestpoints</Cell>
 707 |               <Cell Class="char">InsertBlockDesc</Cell>
 708 |               <Cell Class="char">SFDataObjDesc</Cell>
 709 |               <Cell Class="char">SimulinkDataObjDesc</Cell>
 710 |               <Cell Class="char">DefineNamingRule</Cell>
 711 |               <Cell Class="char">SignalNamingRule</Cell>
 712 |               <Cell Class="char">ParamNamingRule</Cell>
 713 |               <Cell Class="char">InlinedPrmAccess</Cell>
 714 |               <Cell Class="char">CustomSymbolStr</Cell>
 715 |               <Cell Class="char">CustomSymbolStrGlobalVar</Cell>
 716 |               <Cell Class="char">CustomSymbolStrType</Cell>
 717 |               <Cell Class="char">CustomSymbolStrField</Cell>
 718 |               <Cell Class="char">CustomSymbolStrFcn</Cell>
 719 |               <Cell Class="char">CustomSymbolStrFcnArg</Cell>
 720 |               <Cell Class="char">CustomSymbolStrBlkIO</Cell>
 721 |               <Cell Class="char">CustomSymbolStrTmpVar</Cell>
 722 |               <Cell Class="char">CustomSymbolStrMacro</Cell>
 723 |               <Cell Class="char">ReqsInCode</Cell>
 724 |               <Cell Class="char">BlockCommentType</Cell>
 725 |               <Cell Class="char">InsertPolySpaceComments</Cell>
 726 |               <Cell Class="char">MATLABFcnDesc</Cell>
 727 |               <Cell Class="char">InternalIdentifier</Cell>
 728 |               <Cell Class="char">CustomSymbolStrModelFcn</Cell>
 729 |               <Cell Class="char">CustomSymbolStrUtil</Cell>
 730 |               <Cell Class="char">CustomSymbolStrEmxType</Cell>
 731 |               <Cell Class="char">CustomSymbolStrEmxFcn</Cell>
 732 |               <Cell Class="char">CustomUserTokenString</Cell>
 733 |             </Array>
 734 |             <P Name="Description"/>
 735 |             <P Name="Components" Class="double">[]</P>
 736 |             <P Name="Comment"/>
 737 |             <P Name="ForceParamTrailComments">off</P>
 738 |             <P Name="GenerateComments">on</P>
 739 |             <P Name="CommentStyle">Auto</P>
 740 |             <P Name="IgnoreCustomStorageClasses">on</P>
 741 |             <P Name="IgnoreTestpoints">off</P>
 742 |             <P Name="MaxIdLength">31</P>
 743 |             <P Name="PreserveName">off</P>
 744 |             <P Name="PreserveNameWithParent">off</P>
 745 |             <P Name="ShowEliminatedStatement">off</P>
 746 |             <P Name="OperatorAnnotations">off</P>
 747 |             <P Name="SimulinkDataObjDesc">off</P>
 748 |             <P Name="SFDataObjDesc">off</P>
 749 |             <P Name="MATLABFcnDesc">off</P>
 750 |             <P Name="MangleLength">1</P>
 751 |             <P Name="SharedChecksumLength">8</P>
 752 |             <P Name="CustomSymbolStrGlobalVar">$R$N$M</P>
 753 |             <P Name="CustomSymbolStrType">$N$R$M_T</P>
 754 |             <P Name="CustomSymbolStrField">$N$M</P>
 755 |             <P Name="CustomSymbolStrFcn">$R$N$M$F</P>
 756 |             <P Name="CustomSymbolStrModelFcn">$R$N</P>
 757 |             <P Name="CustomSymbolStrFcnArg">rt$I$N$M</P>
 758 |             <P Name="CustomSymbolStrBlkIO">rtb_$N$M</P>
 759 |             <P Name="CustomSymbolStrTmpVar">$N$M</P>
 760 |             <P Name="CustomSymbolStrMacro">$R$N$M</P>
 761 |             <P Name="CustomSymbolStrUtil">$N$C</P>
 762 |             <P Name="CustomSymbolStrEmxType">emxArray_$M$N</P>
 763 |             <P Name="CustomSymbolStrEmxFcn">emx$M$N</P>
 764 |             <P Name="CustomUserTokenString"/>
 765 |             <P Name="CustomCommentsFcn"/>
 766 |             <P Name="DefineNamingRule">None</P>
 767 |             <P Name="DefineNamingFcn"/>
 768 |             <P Name="ParamNamingRule">None</P>
 769 |             <P Name="ParamNamingFcn"/>
 770 |             <P Name="SignalNamingRule">None</P>
 771 |             <P Name="SignalNamingFcn"/>
 772 |             <P Name="InsertBlockDesc">off</P>
 773 |             <P Name="InsertPolySpaceComments">off</P>
 774 |             <P Name="SimulinkBlockComments">on</P>
 775 |             <P Name="BlockCommentType">BlockPathComment</P>
 776 |             <P Name="StateflowObjectComments">on</P>
 777 |             <P Name="MATLABSourceComments">off</P>
 778 |             <P Name="EnableCustomComments">off</P>
 779 |             <P Name="InternalIdentifierFile"/>
 780 |             <P Name="InternalIdentifier">Shortened</P>
 781 |             <P Name="InlinedPrmAccess">Literals</P>
 782 |             <P Name="ReqsInCode">off</P>
 783 |             <P Name="UseSimReservedNames">off</P>
 784 |             <P Name="ReservedNameArray" Class="double">[]</P>
 785 |             <P Name="EnumMemberNameClash">error</P>
 786 |           </Object>
 787 |           <Object BackupClass="Simulink.TargetCC" ObjectID="11" Version="21.1.1" ClassName="Simulink.GRTTargetCC">
 788 |             <Array PropName="DisabledProps" Type="Cell" Dimension="1*22">
 789 |               <Cell Class="char">GeneratePreprocessorConditionals</Cell>
 790 |               <Cell Class="char">IncludeMdlTerminateFcn</Cell>
 791 |               <Cell Class="char">PreserveStateflowLocalDataDimensions</Cell>
 792 |               <Cell Class="char">SuppressErrorStatus</Cell>
 793 |               <Cell Class="char">ERTCustomFileBanners</Cell>
 794 |               <Cell Class="char">GenerateSampleERTMain</Cell>
 795 |               <Cell Class="char">GenerateTestInterfaces</Cell>
 796 |               <Cell Class="char">ModelStepFunctionPrototypeControlCompliant</Cell>
 797 |               <Cell Class="char">CPPClassGenCompliant</Cell>
 798 |               <Cell Class="char">PortableWordSizes</Cell>
 799 |               <Cell Class="char">PurelyIntegerCode</Cell>
 800 |               <Cell Class="char">GenerateAllocFcn</Cell>
 801 |               <Cell Class="char">SupportComplex</Cell>
 802 |               <Cell Class="char">SupportAbsoluteTime</Cell>
 803 |               <Cell Class="char">SupportContinuousTime</Cell>
 804 |               <Cell Class="char">SupportNonInlinedSFcns</Cell>
 805 |               <Cell Class="char">ExistingSharedCode</Cell>
 806 |               <Cell Class="char">ParenthesesLevel</Cell>
 807 |               <Cell Class="char">ERTMultiwordTypeDef</Cell>
 808 |               <Cell Class="char">MultiwordTypeDef</Cell>
 809 |               <Cell Class="char">RemoveDisableFunc</Cell>
 810 |               <Cell Class="char">RemoveResetFunc</Cell>
 811 |             </Array>
 812 |             <P Name="Description"/>
 813 |             <P Name="Components" Class="double">[]</P>
 814 |             <P Name="TargetFcnLib">ansi_tfl_table_tmw.mat</P>
 815 |             <P Name="TargetLibSuffix"/>
 816 |             <P Name="TargetPreCompLibLocation"/>
 817 |             <P Name="GenFloatMathFcnCalls">NOT IN USE</P>
 818 |             <P Name="TargetLangStandard">C89/C90 (ANSI)</P>
 819 |             <P Name="CodeReplacementLibrary">None</P>
 820 |             <P Name="UtilityFuncGeneration">Auto</P>
 821 |             <P Name="MultiwordTypeDef">System defined</P>
 822 |             <P Name="MultiwordLength">2048</P>
 823 |             <P Name="DynamicStringBufferSize">256</P>
 824 |             <P Name="GenerateFullHeader">on</P>
 825 |             <P Name="InferredTypesCompatibility">off</P>
 826 |             <P Name="ExistingSharedCode"/>
 827 |             <P Name="GenerateSampleERTMain">off</P>
 828 |             <P Name="GenerateTestInterfaces">off</P>
 829 |             <P Name="ModelReferenceCompliant">on</P>
 830 |             <P Name="ParMdlRefBuildCompliant">on</P>
 831 |             <P Name="CompOptLevelCompliant">on</P>
 832 |             <P Name="ConcurrentExecutionCompliant">on</P>
 833 |             <P Name="IncludeMdlTerminateFcn">on</P>
 834 |             <P Name="CombineOutputUpdateFcns">off</P>
 835 |             <P Name="CombineSignalStateStructs">off</P>
 836 |             <P Name="GroupInternalDataByFunction">off</P>
 837 |             <P Name="SuppressErrorStatus">off</P>
 838 |             <P Name="IncludeFileDelimiter">Auto</P>
 839 |             <P Name="ERTCustomFileBanners">off</P>
 840 |             <P Name="SupportAbsoluteTime">on</P>
 841 |             <P Name="LogVarNameModifier">rt_</P>
 842 |             <P Name="MatFileLogging">on</P>
 843 |             <P Name="CodeInterfacePackaging">Nonreusable function</P>
 844 |             <P Name="PurelyIntegerCode">off</P>
 845 |             <P Name="SupportNonFinite">on</P>
 846 |             <P Name="SupportComplex">on</P>
 847 |             <P Name="SupportContinuousTime">on</P>
 848 |             <P Name="SupportNonInlinedSFcns">on</P>
 849 |             <P Name="RemoveDisableFunc">off</P>
 850 |             <P Name="RemoveResetFunc">off</P>
 851 |             <P Name="SupportVariableSizeSignals">off</P>
 852 |             <P Name="ParenthesesLevel">Nominal</P>
 853 |             <P Name="CastingMode">Nominal</P>
 854 |             <P Name="MATLABClassNameForMDSCustomization">Simulink.SoftwareTarget.GRTCustomization</P>
 855 |             <P Name="ModelStepFunctionPrototypeControlCompliant">off</P>
 856 |             <P Name="CPPClassGenCompliant">on</P>
 857 |             <P Name="AutosarCompliant">off</P>
 858 |             <P Name="MDXCompliant">off</P>
 859 |             <P Name="GRTInterface">on</P>
 860 |             <P Name="GenerateAllocFcn">off</P>
 861 |             <P Name="UseToolchainInfoCompliant">on</P>
 862 |             <P Name="GenerateSharedConstants">on</P>
 863 |             <P Name="CoderGroups" Class="double">[]</P>
 864 |             <P Name="AccessMethods" Class="double">[]</P>
 865 |             <P Name="LookupTableObjectStructAxisOrder">1,2,3,4,...</P>
 866 |             <P Name="LUTObjectStructOrderExplicitValues">Size,Breakpoints,Table</P>
 867 |             <P Name="LUTObjectStructOrderEvenSpacing">Size,Breakpoints,Table</P>
 868 |             <P Name="ArrayLayout">Column-major</P>
 869 |             <P Name="UnsupportedSFcnMsg">error</P>
 870 |             <P Name="ERTHeaderFileRootName">$R$E</P>
 871 |             <P Name="ERTSourceFileRootName">$R$E</P>
 872 |             <P Name="ERTDataFileRootName">$R_data</P>
 873 |             <Array PropName="InstructionSetExtensions" Type="Cell" Dimension="1*1">
 874 |               <Cell Class="char">None</Cell>
 875 |             </Array>
 876 |             <P Name="UseMalloc">off</P>
 877 |             <P Name="ExtMode">off</P>
 878 |             <P Name="ExtModeStaticAlloc">off</P>
 879 |             <P Name="ExtModeTesting">off</P>
 880 |             <P Name="ExtModeStaticAllocSize">1000000</P>
 881 |             <P Name="ExtModeTransport">0</P>
 882 |             <P Name="ExtModeMexFile">ext_comm</P>
 883 |             <P Name="ExtModeMexArgs"/>
 884 |             <P Name="ExtModeIntrfLevel">Level1</P>
 885 |             <P Name="RTWCAPISignals">off</P>
 886 |             <P Name="RTWCAPIParams">off</P>
 887 |             <P Name="RTWCAPIStates">off</P>
 888 |             <P Name="RTWCAPIRootIO">off</P>
 889 |             <P Name="GenerateASAP2">off</P>
 890 |             <P Name="MultiInstanceErrorCode">Error</P>
 891 |           </Object>
 892 |         </Array>
 893 |       </Object>
 894 |       <Object ObjectID="12" Version="21.1.1" ClassName="SlCovCC.ConfigComp">
 895 |         <P Name="DisabledProps" Class="double">[]</P>
 896 |         <P Name="Description">Simulink Coverage Configuration Component</P>
 897 |         <P Name="Components" Class="double">[]</P>
 898 |         <P Name="Name">Simulink Coverage</P>
 899 |         <P Name="CovEnable">off</P>
 900 |         <P Name="CovScope">EntireSystem</P>
 901 |         <P Name="CovIncludeTopModel">on</P>
 902 |         <P Name="RecordCoverage">off</P>
 903 |         <P Name="CovPath">/</P>
 904 |         <P Name="CovSaveName">covdata</P>
 905 |         <P Name="CovCompData"/>
 906 |         <P Name="CovMetricSettings">dw</P>
 907 |         <P Name="CovFilter"/>
 908 |         <P Name="CovHTMLOptions"/>
 909 |         <P Name="CovNameIncrementing">off</P>
 910 |         <P Name="CovForceBlockReductionOff">on</P>
 911 |         <P Name="CovEnableCumulative">on</P>
 912 |         <P Name="CovSaveCumulativeToWorkspaceVar">on</P>
 913 |         <P Name="CovSaveSingleToWorkspaceVar">on</P>
 914 |         <P Name="CovCumulativeVarName">covCumulativeData</P>
 915 |         <P Name="CovCumulativeReport">off</P>
 916 |         <P Name="CovSaveOutputData">on</P>
 917 |         <P Name="CovOutputDir">slcov_output/$ModelName$</P>
 918 |         <P Name="CovDataFileName">$ModelName$_cvdata</P>
 919 |         <P Name="CovReportOnPause">on</P>
 920 |         <P Name="CovModelRefEnable">off</P>
 921 |         <P Name="CovModelRefExcluded"/>
 922 |         <P Name="CovExternalEMLEnable">off</P>
 923 |         <P Name="CovSFcnEnable">on</P>
 924 |         <P Name="CovBoundaryAbsTol">1e-05</P>
 925 |         <P Name="CovBoundaryRelTol">0.01</P>
 926 |         <P Name="CovUseTimeInterval">off</P>
 927 |         <P Name="CovStartTime">0</P>
 928 |         <P Name="CovStopTime">0</P>
 929 |         <P Name="CovMcdcMode">Masking</P>
 930 |       </Object>
 931 |     </Array>
 932 |     <P Name="Name">Configuration</P>
 933 |     <P Name="CurrentDlgPage">Solver</P>
 934 |     <P Name="ConfigPrmDlgPosition">[ 94, 25, 1186, 731 ]</P>
 935 |     <P Name="ExtraOptions"/>
 936 |   </Object>
 937 | </ConfigSet>
 938 | 
 939 | __MWOPC_PART_BEGIN__ /simulink/configSetInfo.xml
 940 | <?xml version="1.0" encoding="utf-8"?>
 941 | <ConfigSetInfo>
 942 |   <ConfigSet PartName="/simulink/configSet0.xml" Active="true">Configuration</ConfigSet>
 943 | </ConfigSetInfo>
 944 | 
 945 | __MWOPC_PART_BEGIN__ /simulink/graphicalInterface.xml
 946 | <?xml version="1.0" encoding="utf-8"?>
 947 | <GraphicalInterface>
 948 |   <P Name="NumRootInports">0</P>
 949 |   <P Name="NumRootOutports">0</P>
 950 |   <P Name="ParameterArgumentNames"/>
 951 |   <P Name="NumModelReferences">0</P>
 952 |   <P Name="NumTestPointedSignals">0</P>
 953 |   <P Name="NumProvidedFunctions">0</P>
 954 |   <P Name="NumRequiredFunctions">0</P>
 955 |   <P Name="NumResetEvents">0</P>
 956 |   <P Name="HasInitializeEvent">0</P>
 957 |   <P Name="HasTerminateEvent">0</P>
 958 |   <P Name="PreCompExecutionDomainType">Unset</P>
 959 |   <P Name="IsExportFunctionModel">0</P>
 960 |   <P Name="SimulinkSubDomainType">Simulink</P>
 961 |   <P Name="NumParameterArguments">0</P>
 962 |   <P Name="NumExternalFileReferences">0</P>
 963 |   <P Name="OrderedModelArguments">1</P>
 964 | </GraphicalInterface>
 965 | 
 966 | __MWOPC_PART_BEGIN__ /simulink/modelDictionary.xml
 967 | <?xml version="1.0" encoding="UTF-8"?>
 968 | <MF0 version="1.1" defaultPackage="slid" packageUris="http://schema.mathworks.com/mf0/slid/R2020b_20191110">
 969 |   <System type="System" uuid="6d0c76fa-3aaa-4b4f-8798-3b477fbbdc01">
 970 |     <Interface type="Interface" uuid="54ad7d1f-5b72-485f-8c59-eee2b2ff77c1"/>
 971 |   </System>
 972 | </MF0>
 973 | __MWOPC_PART_BEGIN__ /simulink/ScheduleCore.xml
 974 | <?xml version="1.0" encoding="UTF-8"?>
 975 | <sltp_graph version="1.1" packageUris="http://schema.mathworks.com/mf0/sltp_mm/R2021b_202106150630">
 976 |   <sltp.mm.core.Context type="sltp.mm.core.Context" uuid="d9b7c512-9322-4627-837b-4f76051d6fae">
 977 |     <priorityDirection>HighNumberLast</priorityDirection>
 978 |     <editorState type="sltp.mm.core.EditorState" uuid="2f231167-d8f0-4582-b5ce-a8530e2b4e65">
 979 |       <isSynchronized>true</isSynchronized>
 980 |       <panelState type="sltp.mm.core.EditorPanelState" uuid="37bdfa70-6ce8-4061-bada-2a12acf63b0f"/>
 981 |     </editorState>
 982 |     <rootTask type="sltp.mm.core.Task" uuid="9db1edbf-1731-451e-b381-3ff75e1abd7f">
 983 |       <context type="sltp.mm.core.Context" uuid="d9b7c512-9322-4627-837b-4f76051d6fae"/>
 984 |       <explicit>false</explicit>
 985 |       <name>Default</name>
 986 |       <priority>-2147483648</priority>
 987 |       <subgraph type="sltp.mm.core.Graph" uuid="c73cac93-0120-46dd-a6cb-4e726b0fc7f4">
 988 |         <tasks type="sltp.mm.core.Task" uuid="c76f0630-02f8-4fe1-8372-a1421be8ffed">
 989 |           <baseTask>true</baseTask>
 990 |           <context type="sltp.mm.core.Context" uuid="d9b7c512-9322-4627-837b-4f76051d6fae"/>
 991 |           <explicit>false</explicit>
 992 |           <id>1</id>
 993 |           <isTimed>true</isTimed>
 994 |           <name>Cont</name>
 995 |           <priority>40</priority>
 996 |           <rates type="sltp.mm.core.Rate" uuid="96c0dc8c-87b8-4d78-b91b-ed1e41661408">
 997 |             <annotation>Cont</annotation>
 998 |             <color>255</color>
 999 |             <hasBlocks>true</hasBlocks>
1000 |             <identifier>Continuous00</identifier>
1001 |             <rateSpec type="sltp.mm.core.RateSpec">
1002 |               <period>0.0</period>
1003 |             </rateSpec>
1004 |             <sti>0</sti>
1005 |           </rates>
1006 |           <rates type="sltp.mm.core.Rate" uuid="7a58603f-ca5e-4a2e-a7a2-fcd1cadd45aa">
1007 |             <annotation>D1</annotation>
1008 |             <color>-436207361</color>
1009 |             <hasBlocks>true</hasBlocks>
1010 |             <rateSpec type="sltp.mm.core.RateSpec">
1011 |               <period>.005</period>
1012 |             </rateSpec>
1013 |             <sti>1</sti>
1014 |           </rates>
1015 |         </tasks>
1016 |       </subgraph>
1017 |     </rootTask>
1018 |   </sltp.mm.core.Context>
1019 | </sltp_graph>
1020 | __MWOPC_PART_BEGIN__ /simulink/ScheduleEditor.xml
1021 | <?xml version="1.0" encoding="UTF-8"?>
1022 | <sltp_editor version="1.1" packageUris="http://schema.mathworks.com/mf0/DiagramEditor/R2019a_20181107 http://schema.mathworks.com/mf0/SltpSyntax/R2021b_202101212121">
1023 |   <diagram.editor.model.Diagram type="diagram.editor.model.Diagram" uuid="9a263ec1-c274-4888-9acc-3f20d2c01456">
1024 |     <entities type="diagram.editor.model.Entity" uuid="51d0e6a4-6a00-4c99-8cf4-53735f9c418a">
1025 |       <position>0,0</position>
1026 |       <size>0,0,0,0</size>
1027 |       <syntaxElement type="sltp.mm.syntax.Node" uuid="0d719051-23c9-4baf-b00a-4909bff956ac"/>
1028 |       <title>Cont</title>
1029 |       <type>base</type>
1030 |       <subDiagram type="diagram.editor.model.Diagram" uuid="d73091c0-c27b-43c4-89ef-738d3377111a">
1031 |         <position>0,0</position>
1032 |         <syntaxElement type="sltp.mm.syntax.Graph" uuid="e60abe0a-7bea-4051-8714-f10a0c8b3e71"/>
1033 |         <title>Cont</title>
1034 |         <type>graph.Graph</type>
1035 |       </subDiagram>
1036 |     </entities>
1037 |     <syntaxElement type="sltp.mm.syntax.Graph" uuid="4bdf8094-2b0c-45e8-9800-0b7cb203543b"/>
1038 |     <title>Default</title>
1039 |     <type>graph.Graph</type>
1040 |   </diagram.editor.model.Diagram>
1041 |   <sltp.mm.syntax.Context type="sltp.mm.syntax.Context" uuid="f4c8f80f-5c35-400e-be3f-10acca2ff180">
1042 |     <rootGraph type="sltp.mm.syntax.Graph" uuid="4bdf8094-2b0c-45e8-9800-0b7cb203543b">
1043 |       <children type="sltp.mm.syntax.Node" uuid="0d719051-23c9-4baf-b00a-4909bff956ac">
1044 |         <priority>40</priority>
1045 |         <rates type="sltp.mm.syntax.RateData">
1046 |           <color>#000000</color>
1047 |           <hasBlocks>true</hasBlocks>
1048 |           <rate>0</rate>
1049 |           <title>Cont</title>
1050 |         </rates>
1051 |         <rates type="sltp.mm.syntax.RateData">
1052 |           <color>#e60000</color>
1053 |           <hasBlocks>true</hasBlocks>
1054 |           <rate>0.005</rate>
1055 |           <title>D1</title>
1056 |         </rates>
1057 |         <title>Cont</title>
1058 |         <type>base</type>
1059 |         <diagramElement type="diagram.editor.model.Entity" uuid="51d0e6a4-6a00-4c99-8cf4-53735f9c418a"/>
1060 |         <subgraph type="sltp.mm.syntax.Graph" uuid="e60abe0a-7bea-4051-8714-f10a0c8b3e71">
1061 |           <title>Cont</title>
1062 |           <diagramElement type="diagram.editor.model.Diagram" uuid="d73091c0-c27b-43c4-89ef-738d3377111a"/>
1063 |         </subgraph>
1064 |       </children>
1065 |       <title>Default</title>
1066 |       <diagramElement type="diagram.editor.model.Diagram" uuid="9a263ec1-c274-4888-9acc-3f20d2c01456"/>
1067 |     </rootGraph>
1068 |   </sltp.mm.syntax.Context>
1069 | </sltp_editor>
1070 | __MWOPC_PART_BEGIN__ /simulink/systems/system_root.xml
1071 | <?xml version="1.0" encoding="utf-8"?>
1072 | <System>
1073 |   <P Name="Location">[-7, -7, 1288, 688]</P>
1074 |   <P Name="SystemRect">[0.000000, 0.000000, 0.000000, 0.000000]</P>
1075 |   <P Name="Open">on</P>
1076 |   <P Name="SetExecutionDomain">off</P>
1077 |   <P Name="ExecutionDomainType">Deduce</P>
1078 |   <P Name="ReportName">simulink-default.rpt</P>
1079 |   <P Name="SIDHighWatermark">44</P>
1080 |   <P Name="SimulinkSubDomain">Simulink</P>
1081 |   <Block BlockType="Clock" Name="Clock" SID="30">
1082 |     <P Name="Position">[275, 297, 305, 323]</P>
1083 |     <P Name="ZOrder">-1</P>
1084 |     <P Name="BlockMirror">on</P>
1085 |     <P Name="NameLocation">top</P>
1086 |     <P Name="DisplayTime">on</P>
1087 |   </Block>
1088 |   <Block BlockType="Integrator" Name="Integrator" SID="2">
1089 |     <P Name="Ports">[1, 1]</P>
1090 |     <P Name="Position">[500, 125, 530, 155]</P>
1091 |     <P Name="ZOrder">-2</P>
1092 |     <P Name="InitialCondition">x_init</P>
1093 |   </Block>
1094 |   <Block BlockType="Integrator" Name="Integrator2" SID="19">
1095 |     <P Name="Ports">[1, 1]</P>
1096 |     <P Name="Position">[345, 125, 375, 155]</P>
1097 |     <P Name="ZOrder">-3</P>
1098 |     <P Name="InitialCondition">v_init</P>
1099 |   </Block>
1100 |   <Block BlockType="MATLABFcn" Name="Leader acceleration" SID="29">
1101 |     <P Name="Ports">[1, 1]</P>
1102 |     <P Name="Position">[140, 245, 200, 275]</P>
1103 |     <P Name="ZOrder">-4</P>
1104 |     <P Name="BlockMirror">on</P>
1105 |     <P Name="MATLABFcn">LeaderAcceleration</P>
1106 |   </Block>
1107 |   <Block BlockType="Mux" Name="Mux1" SID="15">
1108 |     <P Name="Ports">[3, 1]</P>
1109 |     <P Name="Position">[395, 209, 400, 291]</P>
1110 |     <P Name="ZOrder">-5</P>
1111 |     <P Name="BlockMirror">on</P>
1112 |     <P Name="NameLocation">top</P>
1113 |     <P Name="ShowName">off</P>
1114 |     <P Name="Inputs">3</P>
1115 |     <P Name="DisplayOption">bar</P>
1116 |   </Block>
1117 |   <Block BlockType="Mux" Name="Mux2" SID="31">
1118 |     <P Name="Ports">[2, 1]</P>
1119 |     <P Name="Position">[245, 240, 250, 280]</P>
1120 |     <P Name="ZOrder">-6</P>
1121 |     <P Name="BlockMirror">on</P>
1122 |     <P Name="NameLocation">top</P>
1123 |     <P Name="ShowName">off</P>
1124 |     <P Name="Inputs">2</P>
1125 |     <P Name="DisplayOption">bar</P>
1126 |   </Block>
1127 |   <Block BlockType="Mux" Name="Mux3" SID="37">
1128 |     <P Name="Ports">[2, 1]</P>
1129 |     <P Name="Position">[245, 190, 250, 230]</P>
1130 |     <P Name="ZOrder">-7</P>
1131 |     <P Name="BlockMirror">on</P>
1132 |     <P Name="NameLocation">top</P>
1133 |     <P Name="ShowName">off</P>
1134 |     <P Name="Inputs">2</P>
1135 |     <P Name="DisplayOption">bar</P>
1136 |   </Block>
1137 |   <Block BlockType="Mux" Name="Mux4" SID="38">
1138 |     <P Name="Ports">[2, 1]</P>
1139 |     <P Name="Position">[220, 240, 225, 280]</P>
1140 |     <P Name="ZOrder">-8</P>
1141 |     <P Name="BlockMirror">on</P>
1142 |     <P Name="NameLocation">top</P>
1143 |     <P Name="ShowName">off</P>
1144 |     <P Name="Inputs">2</P>
1145 |     <P Name="DisplayOption">bar</P>
1146 |   </Block>
1147 |   <Block BlockType="Scope" Name="Scope" SID="33">
1148 |     <P Name="Ports">[1]</P>
1149 |     <P Name="Position">[270, 69, 300, 101]</P>
1150 |     <P Name="ZOrder">-9</P>
1151 |     <P Name="ScopeSpecificationString">C++SS(StrPVP(&apos;Location&apos;,&apos;[1, 53, 1601, 851]&apos;),StrPVP(&apos;Open&apos;,&apos;off&apos;),StrPVP(&apos;ZoomMode&apos;,&apos;xonly&apos;),MxPVP(&apos;AxesTitles&apos;,54,&apos;struct(&apos;&apos;axes1&apos;&apos;,&apos;&apos;%&lt;SignalLabel&gt;&apos;&apos;)&apos;),StrPVP(&apos;SaveToWorkspace&apos;,&apos;on&apos;),StrPVP(&apos;SaveName&apos;,&apos;a_all&apos;),StrPVP(&apos;DataFormat&apos;,&apos;StructureWithTime&apos;),StrPVP(&apos;LimitDataPoints&apos;,&apos;off&apos;),StrPVP(&apos;BlockParamSampleTime&apos;,&apos;0&apos;),StrPVP(&apos;Decimation&apos;,&apos;1&apos;),StrPVP(&apos;BlockParamSampleInput&apos;,&apos;off&apos;))</P>
1152 |     <P Name="NumInputPorts">1</P>
1153 |     <P Name="Floating">off</P>
1154 |   </Block>
1155 |   <Block BlockType="Scope" Name="Scope1" SID="4">
1156 |     <P Name="Ports">[1]</P>
1157 |     <P Name="Position">[745, 124, 775, 156]</P>
1158 |     <P Name="ZOrder">-10</P>
1159 |     <P Name="ScopeSpecificationString">C++SS(StrPVP(&apos;Location&apos;,&apos;[6, 48, 1372, 727]&apos;),StrPVP(&apos;Open&apos;,&apos;off&apos;),StrPVP(&apos;ZoomMode&apos;,&apos;yonly&apos;),MxPVP(&apos;AxesTitles&apos;,54,&apos;struct(&apos;&apos;axes1&apos;&apos;,&apos;&apos;%&lt;SignalLabel&gt;&apos;&apos;)&apos;),StrPVP(&apos;SaveToWorkspace&apos;,&apos;on&apos;),StrPVP(&apos;SaveName&apos;,&apos;error_all&apos;),StrPVP(&apos;DataFormat&apos;,&apos;StructureWithTime&apos;),StrPVP(&apos;LimitDataPoints&apos;,&apos;off&apos;),StrPVP(&apos;BlockParamSampleTime&apos;,&apos;0&apos;),StrPVP(&apos;Decimation&apos;,&apos;1&apos;),StrPVP(&apos;BlockParamSampleInput&apos;,&apos;off&apos;))</P>
1160 |     <P Name="NumInputPorts">1</P>
1161 |     <P Name="Floating">off</P>
1162 |   </Block>
1163 |   <Block BlockType="Scope" Name="Scope2" SID="34">
1164 |     <P Name="Ports">[1]</P>
1165 |     <P Name="Position">[570, 324, 600, 356]</P>
1166 |     <P Name="ZOrder">-11</P>
1167 |     <P Name="ScopeSpecificationString">C++SS(StrPVP(&apos;Location&apos;,&apos;[687, 610, 1011, 849]&apos;),StrPVP(&apos;Open&apos;,&apos;off&apos;),StrPVP(&apos;ZoomMode&apos;,&apos;xonly&apos;),MxPVP(&apos;AxesTitles&apos;,54,&apos;struct(&apos;&apos;axes1&apos;&apos;,&apos;&apos;%&lt;SignalLabel&gt;&apos;&apos;)&apos;),StrPVP(&apos;SaveToWorkspace&apos;,&apos;on&apos;),StrPVP(&apos;SaveName&apos;,&apos;aDiff_all&apos;),StrPVP(&apos;DataFormat&apos;,&apos;StructureWithTime&apos;),StrPVP(&apos;LimitDataPoints&apos;,&apos;off&apos;),StrPVP(&apos;BlockParamSampleTime&apos;,&apos;0&apos;),StrPVP(&apos;Decimation&apos;,&apos;1&apos;),StrPVP(&apos;BlockParamSampleInput&apos;,&apos;off&apos;))</P>
1168 |     <P Name="NumInputPorts">1</P>
1169 |     <P Name="Floating">off</P>
1170 |   </Block>
1171 |   <Block BlockType="Sum" Name="Sum" SID="35">
1172 |     <P Name="Ports">[2, 1]</P>
1173 |     <P Name="Position">[470, 330, 490, 350]</P>
1174 |     <P Name="ZOrder">-12</P>
1175 |     <P Name="ShowName">off</P>
1176 |     <P Name="Inputs">|+-</P>
1177 |   </Block>
1178 |   <Block BlockType="TransportDelay" Name="Transport&#xA;Delay" SID="32">
1179 |     <P Name="Ports">[1, 1]</P>
1180 |     <P Name="Position">[320, 325, 350, 355]</P>
1181 |     <P Name="ZOrder">-13</P>
1182 |     <P Name="DelayTime">stepsize</P>
1183 |     <P Name="InitialOutput">zeros(dim*nodenum,1)</P>
1184 |   </Block>
1185 |   <Block BlockType="MATLABFcn" Name="control law" SID="14">
1186 |     <P Name="Ports">[1, 1]</P>
1187 |     <P Name="Position">[305, 235, 365, 265]</P>
1188 |     <P Name="ZOrder">-14</P>
1189 |     <P Name="BlockMirror">on</P>
1190 |     <P Name="MATLABFcn">Controller</P>
1191 |   </Block>
1192 |   <Block BlockType="Scope" Name="p_all_time" SID="3">
1193 |     <P Name="Ports">[1]</P>
1194 |     <P Name="Position">[625, 59, 655, 91]</P>
1195 |     <P Name="ZOrder">-15</P>
1196 |     <P Name="ScopeSpecificationString">C++SS(StrPVP(&apos;Location&apos;,&apos;[475, 264, 799, 579]&apos;),StrPVP(&apos;Open&apos;,&apos;off&apos;),StrPVP(&apos;ZoomMode&apos;,&apos;xonly&apos;),MxPVP(&apos;AxesTitles&apos;,54,&apos;struct(&apos;&apos;axes1&apos;&apos;,&apos;&apos;%&lt;SignalLabel&gt;&apos;&apos;)&apos;),StrPVP(&apos;SaveToWorkspace&apos;,&apos;on&apos;),StrPVP(&apos;SaveName&apos;,&apos;p_all_time&apos;),StrPVP(&apos;DataFormat&apos;,&apos;StructureWithTime&apos;),StrPVP(&apos;LimitDataPoints&apos;,&apos;off&apos;),StrPVP(&apos;BlockParamSampleTime&apos;,&apos;0&apos;),StrPVP(&apos;Decimation&apos;,&apos;1&apos;),StrPVP(&apos;BlockParamSampleInput&apos;,&apos;off&apos;))</P>
1197 |     <P Name="NumInputPorts">1</P>
1198 |     <P Name="Floating">off</P>
1199 |   </Block>
1200 |   <Block BlockType="MATLABFcn" Name="tracking error" SID="5">
1201 |     <P Name="Ports">[1, 1]</P>
1202 |     <P Name="Position">[645, 125, 705, 155]</P>
1203 |     <P Name="ZOrder">-16</P>
1204 |     <P Name="MATLABFcn">TrackingError</P>
1205 |   </Block>
1206 |   <Block BlockType="Scope" Name="v_all_time" SID="22">
1207 |     <P Name="Ports">[1]</P>
1208 |     <P Name="Position">[480, 49, 510, 81]</P>
1209 |     <P Name="ZOrder">-17</P>
1210 |     <P Name="ScopeSpecificationString">C++SS(StrPVP(&apos;Location&apos;,&apos;[475, 264, 799, 579]&apos;),StrPVP(&apos;Open&apos;,&apos;off&apos;),StrPVP(&apos;ZoomMode&apos;,&apos;xonly&apos;),MxPVP(&apos;AxesTitles&apos;,54,&apos;struct(&apos;&apos;axes1&apos;&apos;,&apos;&apos;%&lt;SignalLabel&gt;&apos;&apos;)&apos;),StrPVP(&apos;SaveToWorkspace&apos;,&apos;on&apos;),StrPVP(&apos;SaveName&apos;,&apos;v_all_time&apos;),StrPVP(&apos;DataFormat&apos;,&apos;StructureWithTime&apos;),StrPVP(&apos;LimitDataPoints&apos;,&apos;off&apos;),StrPVP(&apos;BlockParamSampleTime&apos;,&apos;0&apos;),StrPVP(&apos;Decimation&apos;,&apos;1&apos;),StrPVP(&apos;BlockParamSampleInput&apos;,&apos;off&apos;))</P>
1211 |     <P Name="NumInputPorts">1</P>
1212 |     <P Name="Floating">off</P>
1213 |   </Block>
1214 |   <Line>
1215 |     <P Name="ZOrder">1</P>
1216 |     <P Name="Src">5#out:1</P>
1217 |     <P Name="Dst">4#in:1</P>
1218 |   </Line>
1219 |   <Line>
1220 |     <P Name="ZOrder">2</P>
1221 |     <P Name="Src">15#out:1</P>
1222 |     <P Name="Dst">14#in:1</P>
1223 |   </Line>
1224 |   <Line>
1225 |     <P Name="ZOrder">3</P>
1226 |     <P Name="Src">2#out:1</P>
1227 |     <P Name="Points">[60, 0]</P>
1228 |     <Branch>
1229 |       <P Name="ZOrder">4</P>
1230 |       <P Name="Dst">5#in:1</P>
1231 |     </Branch>
1232 |     <Branch>
1233 |       <P Name="ZOrder">5</P>
1234 |       <P Name="Points">[0, -65]</P>
1235 |       <P Name="Dst">3#in:1</P>
1236 |     </Branch>
1237 |     <Branch>
1238 |       <P Name="ZOrder">6</P>
1239 |       <P Name="Points">[0, 50]</P>
1240 |       <Branch>
1241 |         <P Name="ZOrder">7</P>
1242 |         <P Name="Points">[0, 35]</P>
1243 |         <P Name="Dst">15#in:1</P>
1244 |       </Branch>
1245 |       <Branch>
1246 |         <P Name="ZOrder">8</P>
1247 |         <P Name="Points">[-315, 0; 0, 30]</P>
1248 |         <P Name="Dst">37#in:2</P>
1249 |       </Branch>
1250 |     </Branch>
1251 |   </Line>
1252 |   <Line>
1253 |     <P Name="ZOrder">9</P>
1254 |     <P Name="Src">19#out:1</P>
1255 |     <P Name="Points">[65, 0]</P>
1256 |     <Branch>
1257 |       <P Name="ZOrder">10</P>
1258 |       <P Name="Dst">2#in:1</P>
1259 |     </Branch>
1260 |     <Branch>
1261 |       <P Name="ZOrder">11</P>
1262 |       <P Name="Points">[0, -75]</P>
1263 |       <P Name="Dst">22#in:1</P>
1264 |     </Branch>
1265 |     <Branch>
1266 |       <P Name="ZOrder">12</P>
1267 |       <P Name="Points">[0, 30]</P>
1268 |       <Branch>
1269 |         <P Name="ZOrder">13</P>
1270 |         <P Name="Points">[0, 80]</P>
1271 |         <P Name="Dst">15#in:2</P>
1272 |       </Branch>
1273 |       <Branch>
1274 |         <P Name="ZOrder">14</P>
1275 |         <P Name="Points">[-180, 0]</P>
1276 |         <P Name="Dst">37#in:1</P>
1277 |       </Branch>
1278 |     </Branch>
1279 |   </Line>
1280 |   <Line>
1281 |     <P Name="ZOrder">15</P>
1282 |     <P Name="Src">14#out:1</P>
1283 |     <P Name="Dst">31#in:1</P>
1284 |   </Line>
1285 |   <Line>
1286 |     <P Name="ZOrder">16</P>
1287 |     <P Name="Src">30#out:1</P>
1288 |     <P Name="Points">[0, -40]</P>
1289 |     <P Name="Dst">31#in:2</P>
1290 |   </Line>
1291 |   <Line>
1292 |     <P Name="ZOrder">17</P>
1293 |     <P Name="Src">29#out:1</P>
1294 |     <P Name="Points">[-15, 0]</P>
1295 |     <Branch>
1296 |       <P Name="ZOrder">18</P>
1297 |       <P Name="Points">[0, -120]</P>
1298 |       <Branch>
1299 |         <P Name="ZOrder">19</P>
1300 |         <P Name="Dst">19#in:1</P>
1301 |       </Branch>
1302 |       <Branch>
1303 |         <P Name="ZOrder">20</P>
1304 |         <P Name="Points">[0, -55]</P>
1305 |         <P Name="Dst">33#in:1</P>
1306 |       </Branch>
1307 |     </Branch>
1308 |     <Branch>
1309 |       <P Name="ZOrder">21</P>
1310 |       <P Name="Points">[0, 80]</P>
1311 |       <Branch>
1312 |         <P Name="ZOrder">22</P>
1313 |         <P Name="Points">[0, 45; 360, 0]</P>
1314 |         <P Name="Dst">35#in:2</P>
1315 |       </Branch>
1316 |       <Branch>
1317 |         <P Name="ZOrder">23</P>
1318 |         <P Name="Dst">32#in:1</P>
1319 |       </Branch>
1320 |     </Branch>
1321 |   </Line>
1322 |   <Line>
1323 |     <P Name="ZOrder">24</P>
1324 |     <P Name="Src">32#out:1</P>
1325 |     <P Name="Points">[90, 0]</P>
1326 |     <Branch>
1327 |       <P Name="ZOrder">25</P>
1328 |       <P Name="Points">[0, -65]</P>
1329 |       <P Name="Dst">15#in:3</P>
1330 |     </Branch>
1331 |     <Branch>
1332 |       <P Name="ZOrder">26</P>
1333 |       <P Name="Dst">35#in:1</P>
1334 |     </Branch>
1335 |   </Line>
1336 |   <Line>
1337 |     <P Name="ZOrder">27</P>
1338 |     <P Name="Src">35#out:1</P>
1339 |     <P Name="Dst">34#in:1</P>
1340 |   </Line>
1341 |   <Line>
1342 |     <P Name="ZOrder">28</P>
1343 |     <P Name="Src">37#out:1</P>
1344 |     <P Name="Dst">38#in:1</P>
1345 |   </Line>
1346 |   <Line>
1347 |     <P Name="ZOrder">29</P>
1348 |     <P Name="Src">31#out:1</P>
1349 |     <P Name="Dst">38#in:2</P>
1350 |   </Line>
1351 |   <Line>
1352 |     <P Name="ZOrder">30</P>
1353 |     <P Name="Src">38#out:1</P>
1354 |     <P Name="Dst">29#in:1</P>
1355 |   </Line>
1356 |   <Annotation SID="39">
1357 |     <P Name="Name">a</P>
1358 |     <P Name="Position">[317, 125, 324, 139]</P>
1359 |     <P Name="InternalMargins">[0, 0, 0, 0]</P>
1360 |     <P Name="ZOrder">-1</P>
1361 |   </Annotation>
1362 |   <Annotation SID="40">
1363 |     <P Name="Name">p</P>
1364 |     <P Name="Position">[550, 127, 557, 141]</P>
1365 |     <P Name="InternalMargins">[0, 0, 0, 0]</P>
1366 |     <P Name="ZOrder">-2</P>
1367 |   </Annotation>
1368 |   <Annotation SID="41">
1369 |     <P Name="Name">v</P>
1370 |     <P Name="Position">[392, 125, 399, 139]</P>
1371 |     <P Name="InternalMargins">[0, 0, 0, 0]</P>
1372 |     <P Name="ZOrder">-3</P>
1373 |   </Annotation>
1374 |   <Annotation SID="42">
1375 |     <P Name="Name">p</P>
1376 |     <P Name="Position">[417, 210, 424, 224]</P>
1377 |     <P Name="InternalMargins">[0, 0, 0, 0]</P>
1378 |     <P Name="ZOrder">-4</P>
1379 |   </Annotation>
1380 |   <Annotation SID="43">
1381 |     <P Name="Name">v</P>
1382 |     <P Name="Position">[415, 235, 422, 249]</P>
1383 |     <P Name="InternalMargins">[0, 0, 0, 0]</P>
1384 |     <P Name="ZOrder">-5</P>
1385 |   </Annotation>
1386 |   <Annotation SID="44">
1387 |     <P Name="Name">a</P>
1388 |     <P Name="Position">[415, 260, 422, 274]</P>
1389 |     <P Name="InternalMargins">[0, 0, 0, 0]</P>
1390 |     <P Name="ZOrder">-6</P>
1391 |   </Annotation>
1392 | </System>
1393 | 
1394 | __MWOPC_PART_BEGIN__ /simulink/windowsInfo.xml
1395 | <?xml version="1.0" encoding="utf-8"?>
1396 | <WindowsInfo>
1397 |   <Object PropName="BdWindowsInfo" ObjectID="1" ClassName="Simulink.BDWindowsInfo">
1398 |     <Object PropName="WindowsInfo" ObjectID="2" ClassName="Simulink.WindowInfo">
1399 |       <P Name="IsActive" Class="logical">1</P>
1400 |       <P Name="Location" Class="double">[-7.0, -7.0, 1295.0, 695.0]</P>
1401 |       <Object PropName="ModelBrowserInfo" ObjectID="3" ClassName="Simulink.ModelBrowserInfo">
1402 |         <P Name="Visible" Class="logical">0</P>
1403 |         <P Name="DockPosition" Class="char">Left</P>
1404 |         <P Name="Width" Class="int32">50</P>
1405 |         <P Name="Height" Class="int32">50</P>
1406 |         <P Name="Filter" Class="int32">8</P>
1407 |         <P Name="Minimized" Class="char">Unset</P>
1408 |       </Object>
1409 |       <Object PropName="ExplorerBarInfo" ObjectID="4" ClassName="Simulink.ExplorerBarInfo">
1410 |         <P Name="Visible" Class="logical">1</P>
1411 |       </Object>
1412 |       <Object PropName="EditorsInfo" ObjectID="5" ClassName="Simulink.EditorInfo">
1413 |         <P Name="IsActive" Class="logical">1</P>
1414 |         <P Name="IsTabbed" Class="logical">1</P>
1415 |         <P Name="ViewObjType" Class="char">SimulinkTopLevel</P>
1416 |         <P Name="LoadSaveID" Class="char">0</P>
1417 |         <P Name="Extents" Class="double">[1864.0, 698.0]</P>
1418 |         <P Name="ZoomFactor" Class="double">1.0</P>
1419 |         <P Name="Offset" Class="double">[-216.02686703096606, 2.8533697632058761]</P>
1420 |         <P Name="SceneRectInView" Class="double">[-216.02686703096606, 2.8533697632058761, 1242.6666666666667, 465.33333333333331]</P>
1421 |       </Object>
1422 |       <Array PropName="DockComponentsInfo" Type="Simulink.DockComponentInfo" Dimension="1*2">
1423 |         <Object ObjectID="6">
1424 |           <P Name="Type" Class="char">Simulink:Editor:ReferencedFiles</P>
1425 |           <P Name="ID" Class="char">Referenced Files</P>
1426 |           <P Name="Visible" Class="logical">0</P>
1427 |           <P Name="CreateCallback" Class="char"/>
1428 |           <P Name="UserData" Class="char">{&quot;filterShowRefModels&quot;:&quot;true&quot;,&quot;filterShowRefSubs&quot;:&quot;true&quot;,&quot;filterShowOnlyDirtyFiles&quot;:&quot;false&quot;}
1429 | </P>
1430 |           <P Name="Floating" Class="logical">0</P>
1431 |           <P Name="DockPosition" Class="char">Left</P>
1432 |           <P Name="Width" Class="int32">426</P>
1433 |           <P Name="Height" Class="int32">320</P>
1434 |           <P Name="Minimized" Class="char">Unset</P>
1435 |         </Object>
1436 |         <Object ObjectID="7">
1437 |           <P Name="Type" Class="char">GLUE2:PropertyInspector</P>
1438 |           <P Name="ID" Class="char">Property Inspector</P>
1439 |           <P Name="Visible" Class="logical">0</P>
1440 |           <P Name="CreateCallback" Class="char"/>
1441 |           <P Name="UserData" Class="char"/>
1442 |           <P Name="Floating" Class="logical">0</P>
1443 |           <P Name="DockPosition" Class="char">Right</P>
1444 |           <P Name="Width" Class="int32">426</P>
1445 |           <P Name="Height" Class="int32">320</P>
1446 |           <P Name="Minimized" Class="char">Unset</P>
1447 |         </Object>
1448 |       </Array>
1449 |       <P Name="WindowState" Class="char">AAAA/wAAAAD9AAAAAwAAAAAAAAC9AAAB+PwCAAAABPsAAAAWAEQAbwBjAGsAVwBpAGQAZwBlAHQAMwEAAAAxAAAB+AAAAAAAAAAA+wAAABYARABvAGMAawBXAGkAZABnAGUAdAA0AAAAAAD/////AAAAAAAAAAD7AAAAUgBHAEwAVQBFADIAIAB0AHIAZQBlACAAYwBvAG0AcABvAG4AZQBuAHQALwBHAEwAVQBFADIAIAB0AHIAZQBlACAAYwBvAG0AcABvAG4AZQBuAHQAAAAAAP////8AAACTAP////sAAABgAFMAaQBtAHUAbABpAG4AawA6AEUAZABpAHQAbwByADoAUgBlAGYAZQByAGUAbgBjAGUAZABGAGkAbABlAHMALwBSAGUAZgBlAHIAZQBuAGMAZQBkACAARgBpAGwAZQBzAAAAAAD/////AAAAxwD///8AAAABAAAAAAAAAAD8AgAAAAH7AAAAVABHAEwAVQBFADIAOgBQAHIAbwBwAGUAcgB0AHkASQBuAHMAcABlAGMAdABvAHIALwBQAHIAbwBwAGUAcgB0AHkAIABJAG4AcwBwAGUAYwB0AG8AcgAAAAAA/////wAAAoAA////AAAAAwAAAAAAAAAA/AEAAAAB+/////8AAAAAAP////8AAAIDAP///wAAB4AAAAMIAAAAAQAAAAIAAAABAAAAAvwAAAAA</P>
1450 |       <Array PropName="PersistedApps" Type="Cell" Dimension="0*1"/>
1451 |       <P Name="WindowUuid" Class="char">77c1c20f-41ef-4e9b-9b4f-f821ef63b305</P>
1452 |     </Object>
1453 |     <P Name="BDUuid" Class="char"/>
1454 |   </Object>
1455 | </WindowsInfo>
1456 | 
1457 | __MWOPC_PACKAGE_END__
1458 | 


--------------------------------------------------------------------------------
/affineManeuver.mdl.r2010a:
--------------------------------------------------------------------------------
   1 | Model {
   2 |   Name			  "affineManeuver"
   3 |   Version		  7.5
   4 |   MdlSubVersion		  0
   5 |   GraphicalInterface {
   6 |     NumRootInports	    0
   7 |     NumRootOutports	    0
   8 |     ParameterArgumentNames  ""
   9 |     ComputedModelVersion    "1.117"
  10 |     NumModelReferences	    0
  11 |     NumTestPointedSignals   0
  12 |   }
  13 |   SavedCharacterEncoding  "windows-1252"
  14 |   SaveDefaultBlockParams  on
  15 |   ScopeRefreshTime	  0.035000
  16 |   OverrideScopeRefreshTime on
  17 |   DisableAllScopes	  off
  18 |   DataTypeOverride	  "UseLocalSettings"
  19 |   MinMaxOverflowLogging	  "UseLocalSettings"
  20 |   MinMaxOverflowArchiveMode "Overwrite"
  21 |   MaxMDLFileLineLength	  120
  22 |   Created		  "Thu Jul 11 21:55:49 2013"
  23 |   Creator		  "Shiyu Zhao"
  24 |   UpdateHistory		  "UpdateHistoryNever"
  25 |   ModifiedByFormat	  "%<Auto>"
  26 |   LastModifiedBy	  "uos"
  27 |   ModifiedDateFormat	  "%<Auto>"
  28 |   LastModifiedDate	  "Thu Jan 18 13:39:47 2018"
  29 |   RTWModifiedTimeStamp	  438183584
  30 |   ModelVersionFormat	  "1.%<AutoIncrement:117>"
  31 |   ConfigurationManager	  "None"
  32 |   SampleTimeColors	  off
  33 |   SampleTimeAnnotations	  off
  34 |   LibraryLinkDisplay	  "none"
  35 |   WideLines		  off
  36 |   ShowLineDimensions	  off
  37 |   ShowPortDataTypes	  off
  38 |   ShowLoopsOnError	  on
  39 |   IgnoreBidirectionalLines off
  40 |   ShowStorageClass	  off
  41 |   ShowTestPointIcons	  on
  42 |   ShowSignalResolutionIcons on
  43 |   ShowViewerIcons	  on
  44 |   SortedOrder		  off
  45 |   ExecutionContextIcon	  off
  46 |   ShowLinearizationAnnotations on
  47 |   BlockNameDataTip	  off
  48 |   BlockParametersDataTip  off
  49 |   BlockDescriptionStringDataTip	off
  50 |   ToolBar		  on
  51 |   StatusBar		  on
  52 |   BrowserShowLibraryLinks off
  53 |   BrowserLookUnderMasks	  off
  54 |   SimulationMode	  "normal"
  55 |   LinearizationMsg	  "none"
  56 |   Profile		  off
  57 |   ParamWorkspaceSource	  "MATLABWorkspace"
  58 |   AccelSystemTargetFile	  "accel.tlc"
  59 |   AccelTemplateMakefile	  "accel_default_tmf"
  60 |   AccelMakeCommand	  "make_rtw"
  61 |   TryForcingSFcnDF	  off
  62 |   RecordCoverage	  off
  63 |   CovPath		  "/"
  64 |   CovSaveName		  "covdata"
  65 |   CovMetricSettings	  "dw"
  66 |   CovNameIncrementing	  off
  67 |   CovHtmlReporting	  on
  68 |   CovForceBlockReductionOff on
  69 |   covSaveCumulativeToWorkspaceVar on
  70 |   CovSaveSingleToWorkspaceVar on
  71 |   CovCumulativeVarName	  "covCumulativeData"
  72 |   CovCumulativeReport	  off
  73 |   CovReportOnPause	  on
  74 |   CovModelRefEnable	  "Off"
  75 |   CovExternalEMLEnable	  off
  76 |   ExtModeBatchMode	  off
  77 |   ExtModeEnableFloating	  on
  78 |   ExtModeTrigType	  "manual"
  79 |   ExtModeTrigMode	  "normal"
  80 |   ExtModeTrigPort	  "1"
  81 |   ExtModeTrigElement	  "any"
  82 |   ExtModeTrigDuration	  1000
  83 |   ExtModeTrigDurationFloating "auto"
  84 |   ExtModeTrigHoldOff	  0
  85 |   ExtModeTrigDelay	  0
  86 |   ExtModeTrigDirection	  "rising"
  87 |   ExtModeTrigLevel	  0
  88 |   ExtModeArchiveMode	  "off"
  89 |   ExtModeAutoIncOneShot	  off
  90 |   ExtModeIncDirWhenArm	  off
  91 |   ExtModeAddSuffixToVar	  off
  92 |   ExtModeWriteAllDataToWs off
  93 |   ExtModeArmWhenConnect	  on
  94 |   ExtModeSkipDownloadWhenConnect off
  95 |   ExtModeLogAll		  on
  96 |   ExtModeAutoUpdateStatusClock on
  97 |   BufferReuse		  on
  98 |   ShowModelReferenceBlockVersion off
  99 |   ShowModelReferenceBlockIO off
 100 |   Array {
 101 |     Type		    "Handle"
 102 |     Dimension		    1
 103 |     Simulink.ConfigSet {
 104 |       $ObjectID		      1
 105 |       Version		      "1.10.0"
 106 |       Array {
 107 | 	Type			"Handle"
 108 | 	Dimension		8
 109 | 	Simulink.SolverCC {
 110 | 	  $ObjectID		  2
 111 | 	  Version		  "1.10.0"
 112 | 	  StartTime		  "0.0"
 113 | 	  StopTime		  "10.0"
 114 | 	  AbsTol		  "auto"
 115 | 	  FixedStep		  "0.01"
 116 | 	  InitialStep		  "auto"
 117 | 	  MaxNumMinSteps	  "-1"
 118 | 	  MaxOrder		  5
 119 | 	  ZcThreshold		  "auto"
 120 | 	  ConsecutiveZCsStepRelTol "10*128*eps"
 121 | 	  MaxConsecutiveZCs	  "1000"
 122 | 	  ExtrapolationOrder	  4
 123 | 	  NumberNewtonIterations  1
 124 | 	  MaxStep		  "0.02"
 125 | 	  MinStep		  "auto"
 126 | 	  MaxConsecutiveMinStep	  "1"
 127 | 	  RelTol		  "1e-3"
 128 | 	  SolverMode		  "Auto"
 129 | 	  Solver		  "ode4"
 130 | 	  SolverName		  "ode4"
 131 | 	  SolverJacobianMethodControl "auto"
 132 | 	  ShapePreserveControl	  "DisableAll"
 133 | 	  ZeroCrossControl	  "UseLocalSettings"
 134 | 	  ZeroCrossAlgorithm	  "Nonadaptive"
 135 | 	  AlgebraicLoopSolver	  "TrustRegion"
 136 | 	  SolverResetMethod	  "Fast"
 137 | 	  PositivePriorityOrder	  off
 138 | 	  AutoInsertRateTranBlk	  off
 139 | 	  SampleTimeConstraint	  "Unconstrained"
 140 | 	  InsertRTBMode		  "Whenever possible"
 141 | 	}
 142 | 	Simulink.DataIOCC {
 143 | 	  $ObjectID		  3
 144 | 	  Version		  "1.10.0"
 145 | 	  Decimation		  "1"
 146 | 	  ExternalInput		  "[t, u]"
 147 | 	  FinalStateName	  "xFinal"
 148 | 	  InitialState		  "xInitial"
 149 | 	  LimitDataPoints	  on
 150 | 	  MaxDataPoints		  "1000"
 151 | 	  LoadExternalInput	  off
 152 | 	  LoadInitialState	  off
 153 | 	  SaveFinalState	  off
 154 | 	  SaveCompleteFinalSimState off
 155 | 	  SaveFormat		  "Array"
 156 | 	  SaveOutput		  on
 157 | 	  SaveState		  off
 158 | 	  SignalLogging		  on
 159 | 	  DSMLogging		  on
 160 | 	  InspectSignalLogs	  off
 161 | 	  SaveTime		  on
 162 | 	  ReturnWorkspaceOutputs  off
 163 | 	  StateSaveName		  "xout"
 164 | 	  TimeSaveName		  "tout"
 165 | 	  OutputSaveName	  "yout"
 166 | 	  SignalLoggingName	  "logsout"
 167 | 	  DSMLoggingName	  "dsmout"
 168 | 	  OutputOption		  "RefineOutputTimes"
 169 | 	  OutputTimes		  "[]"
 170 | 	  ReturnWorkspaceOutputsName "out"
 171 | 	  Refine		  "1"
 172 | 	}
 173 | 	Simulink.OptimizationCC {
 174 | 	  $ObjectID		  4
 175 | 	  Version		  "1.10.0"
 176 | 	  Array {
 177 | 	    Type		    "Cell"
 178 | 	    Dimension		    7
 179 | 	    Cell		    "BooleansAsBitfields"
 180 | 	    Cell		    "PassReuseOutputArgsAs"
 181 | 	    Cell		    "PassReuseOutputArgsThreshold"
 182 | 	    Cell		    "ZeroExternalMemoryAtStartup"
 183 | 	    Cell		    "ZeroInternalMemoryAtStartup"
 184 | 	    Cell		    "OptimizeModelRefInitCode"
 185 | 	    Cell		    "NoFixptDivByZeroProtection"
 186 | 	    PropName		    "DisabledProps"
 187 | 	  }
 188 | 	  BlockReduction	  on
 189 | 	  BooleanDataType	  on
 190 | 	  ConditionallyExecuteInputs on
 191 | 	  InlineParams		  off
 192 | 	  UseIntDivNetSlope	  off
 193 | 	  InlineInvariantSignals  off
 194 | 	  OptimizeBlockIOStorage  on
 195 | 	  BufferReuse		  on
 196 | 	  EnhancedBackFolding	  off
 197 | 	  StrengthReduction	  off
 198 | 	  EnforceIntegerDowncast  on
 199 | 	  ExpressionFolding	  on
 200 | 	  BooleansAsBitfields	  off
 201 | 	  BitfieldContainerType	  "uint_T"
 202 | 	  EnableMemcpy		  on
 203 | 	  MemcpyThreshold	  64
 204 | 	  PassReuseOutputArgsAs	  "Structure reference"
 205 | 	  ExpressionDepthLimit	  2147483647
 206 | 	  FoldNonRolledExpr	  on
 207 | 	  LocalBlockOutputs	  on
 208 | 	  RollThreshold		  5
 209 | 	  SystemCodeInlineAuto	  off
 210 | 	  StateBitsets		  off
 211 | 	  DataBitsets		  off
 212 | 	  UseTempVars		  off
 213 | 	  ZeroExternalMemoryAtStartup on
 214 | 	  ZeroInternalMemoryAtStartup on
 215 | 	  InitFltsAndDblsToZero	  off
 216 | 	  NoFixptDivByZeroProtection off
 217 | 	  EfficientFloat2IntCast  off
 218 | 	  EfficientMapNaN2IntZero on
 219 | 	  OptimizeModelRefInitCode off
 220 | 	  LifeSpan		  "inf"
 221 | 	  MaxStackSize		  "Inherit from target"
 222 | 	  BufferReusableBoundary  on
 223 | 	  SimCompilerOptimization "Off"
 224 | 	  AccelVerboseBuild	  off
 225 | 	}
 226 | 	Simulink.DebuggingCC {
 227 | 	  $ObjectID		  5
 228 | 	  Version		  "1.10.0"
 229 | 	  RTPrefix		  "error"
 230 | 	  ConsistencyChecking	  "none"
 231 | 	  ArrayBoundsChecking	  "none"
 232 | 	  SignalInfNanChecking	  "none"
 233 | 	  SignalRangeChecking	  "none"
 234 | 	  ReadBeforeWriteMsg	  "UseLocalSettings"
 235 | 	  WriteAfterWriteMsg	  "UseLocalSettings"
 236 | 	  WriteAfterReadMsg	  "UseLocalSettings"
 237 | 	  AlgebraicLoopMsg	  "warning"
 238 | 	  ArtificialAlgebraicLoopMsg "warning"
 239 | 	  SaveWithDisabledLinksMsg "warning"
 240 | 	  SaveWithParameterizedLinksMsg	"warning"
 241 | 	  CheckSSInitialOutputMsg on
 242 | 	  UnderspecifiedInitializationDetection	"Classic"
 243 | 	  MergeDetectMultiDrivingBlocksExec "none"
 244 | 	  CheckExecutionContextPreStartOutputMsg off
 245 | 	  CheckExecutionContextRuntimeOutputMsg	off
 246 | 	  SignalResolutionControl "UseLocalSettings"
 247 | 	  BlockPriorityViolationMsg "warning"
 248 | 	  MinStepSizeMsg	  "warning"
 249 | 	  TimeAdjustmentMsg	  "none"
 250 | 	  MaxConsecutiveZCsMsg	  "error"
 251 | 	  SolverPrmCheckMsg	  "warning"
 252 | 	  InheritedTsInSrcMsg	  "warning"
 253 | 	  DiscreteInheritContinuousMsg "warning"
 254 | 	  MultiTaskDSMMsg	  "error"
 255 | 	  MultiTaskCondExecSysMsg "error"
 256 | 	  MultiTaskRateTransMsg	  "error"
 257 | 	  SingleTaskRateTransMsg  "none"
 258 | 	  TasksWithSamePriorityMsg "warning"
 259 | 	  SigSpecEnsureSampleTimeMsg "warning"
 260 | 	  CheckMatrixSingularityMsg "none"
 261 | 	  IntegerOverflowMsg	  "warning"
 262 | 	  Int32ToFloatConvMsg	  "warning"
 263 | 	  ParameterDowncastMsg	  "error"
 264 | 	  ParameterOverflowMsg	  "error"
 265 | 	  ParameterUnderflowMsg	  "none"
 266 | 	  ParameterPrecisionLossMsg "warning"
 267 | 	  ParameterTunabilityLossMsg "warning"
 268 | 	  FixptConstUnderflowMsg  "none"
 269 | 	  FixptConstOverflowMsg	  "none"
 270 | 	  FixptConstPrecisionLossMsg "none"
 271 | 	  UnderSpecifiedDataTypeMsg "none"
 272 | 	  UnnecessaryDatatypeConvMsg "none"
 273 | 	  VectorMatrixConversionMsg "none"
 274 | 	  InvalidFcnCallConnMsg	  "error"
 275 | 	  FcnCallInpInsideContextMsg "Use local settings"
 276 | 	  SignalLabelMismatchMsg  "none"
 277 | 	  UnconnectedInputMsg	  "warning"
 278 | 	  UnconnectedOutputMsg	  "warning"
 279 | 	  UnconnectedLineMsg	  "warning"
 280 | 	  SFcnCompatibilityMsg	  "none"
 281 | 	  UniqueDataStoreMsg	  "none"
 282 | 	  BusObjectLabelMismatch  "warning"
 283 | 	  RootOutportRequireBusObject "warning"
 284 | 	  AssertControl		  "UseLocalSettings"
 285 | 	  EnableOverflowDetection off
 286 | 	  ModelReferenceIOMsg	  "none"
 287 | 	  ModelReferenceVersionMismatchMessage "none"
 288 | 	  ModelReferenceIOMismatchMessage "none"
 289 | 	  ModelReferenceCSMismatchMessage "none"
 290 | 	  UnknownTsInhSupMsg	  "warning"
 291 | 	  ModelReferenceDataLoggingMessage "warning"
 292 | 	  ModelReferenceSymbolNameMessage "warning"
 293 | 	  ModelReferenceExtraNoncontSigs "error"
 294 | 	  StateNameClashWarn	  "warning"
 295 | 	  SimStateInterfaceChecksumMismatchMsg "warning"
 296 | 	  StrictBusMsg		  "ErrorLevel1"
 297 | 	  BusNameAdapt		  "WarnAndRepair"
 298 | 	  NonBusSignalsTreatedAsBus "none"
 299 | 	  LoggingUnavailableSignals "error"
 300 | 	  BlockIODiagnostic	  "none"
 301 | 	}
 302 | 	Simulink.HardwareCC {
 303 | 	  $ObjectID		  6
 304 | 	  Version		  "1.10.0"
 305 | 	  ProdBitPerChar	  8
 306 | 	  ProdBitPerShort	  16
 307 | 	  ProdBitPerInt		  32
 308 | 	  ProdBitPerLong	  32
 309 | 	  ProdIntDivRoundTo	  "Undefined"
 310 | 	  ProdEndianess		  "Unspecified"
 311 | 	  ProdWordSize		  32
 312 | 	  ProdShiftRightIntArith  on
 313 | 	  ProdHWDeviceType	  "32-bit Generic"
 314 | 	  TargetBitPerChar	  8
 315 | 	  TargetBitPerShort	  16
 316 | 	  TargetBitPerInt	  32
 317 | 	  TargetBitPerLong	  32
 318 | 	  TargetShiftRightIntArith on
 319 | 	  TargetIntDivRoundTo	  "Undefined"
 320 | 	  TargetEndianess	  "Unspecified"
 321 | 	  TargetWordSize	  32
 322 | 	  TargetTypeEmulationWarnSuppressLevel 0
 323 | 	  TargetPreprocMaxBitsSint 32
 324 | 	  TargetPreprocMaxBitsUint 32
 325 | 	  TargetHWDeviceType	  "Specified"
 326 | 	  TargetUnknown		  off
 327 | 	  ProdEqTarget		  on
 328 | 	}
 329 | 	Simulink.ModelReferenceCC {
 330 | 	  $ObjectID		  7
 331 | 	  Version		  "1.10.0"
 332 | 	  UpdateModelReferenceTargets "IfOutOfDateOrStructuralChange"
 333 | 	  CheckModelReferenceTargetMessage "error"
 334 | 	  EnableParallelModelReferenceBuilds off
 335 | 	  ParallelModelReferenceMATLABWorkerInit "None"
 336 | 	  ModelReferenceNumInstancesAllowed "Multi"
 337 | 	  PropagateVarSize	  "Infer from blocks in model"
 338 | 	  ModelReferencePassRootInputsByReference on
 339 | 	  ModelReferenceMinAlgLoopOccurrences off
 340 | 	  PropagateSignalLabelsOutOfModel off
 341 | 	  SupportModelReferenceSimTargetCustomCode off
 342 | 	}
 343 | 	Simulink.SFSimCC {
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 346 | 	  SFSimEnableDebug	  on
 347 | 	  SFSimOverflowDetection  on
 348 | 	  SFSimEcho		  on
 349 | 	  SimBlas		  on
 350 | 	  SimCtrlC		  on
 351 | 	  SimExtrinsic		  on
 352 | 	  SimIntegrity		  on
 353 | 	  SimUseLocalCustomCode	  off
 354 | 	  SimBuildMode		  "sf_incremental_build"
 355 | 	}
 356 | 	Simulink.RTWCC {
 357 | 	  $BackupClass		  "Simulink.RTWCC"
 358 | 	  $ObjectID		  9
 359 | 	  Version		  "1.10.0"
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 362 | 	    Dimension		    6
 363 | 	    Cell		    "IncludeHyperlinkInReport"
 364 | 	    Cell		    "GenerateTraceInfo"
 365 | 	    Cell		    "GenerateTraceReport"
 366 | 	    Cell		    "GenerateTraceReportSl"
 367 | 	    Cell		    "GenerateTraceReportSf"
 368 | 	    Cell		    "GenerateTraceReportEml"
 369 | 	    PropName		    "DisabledProps"
 370 | 	  }
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 372 | 	  GenCodeOnly		  off
 373 | 	  MakeCommand		  "make_rtw"
 374 | 	  GenerateMakefile	  on
 375 | 	  TemplateMakefile	  "grt_default_tmf"
 376 | 	  GenerateReport	  off
 377 | 	  SaveLog		  off
 378 | 	  RTWVerbose		  on
 379 | 	  RetainRTWFile		  off
 380 | 	  ProfileTLC		  off
 381 | 	  TLCDebug		  off
 382 | 	  TLCCoverage		  off
 383 | 	  TLCAssert		  off
 384 | 	  ProcessScriptMode	  "Default"
 385 | 	  ConfigurationMode	  "Optimized"
 386 | 	  ConfigAtBuild		  off
 387 | 	  RTWUseLocalCustomCode	  off
 388 | 	  RTWUseSimCustomCode	  off
 389 | 	  IncludeHyperlinkInReport off
 390 | 	  LaunchReport		  off
 391 | 	  TargetLang		  "C"
 392 | 	  IncludeBusHierarchyInRTWFileBlockHierarchyMap	off
 393 | 	  IncludeERTFirstTime	  off
 394 | 	  GenerateTraceInfo	  off
 395 | 	  GenerateTraceReport	  off
 396 | 	  GenerateTraceReportSl	  off
 397 | 	  GenerateTraceReportSf	  off
 398 | 	  GenerateTraceReportEml  off
 399 | 	  GenerateCodeInfo	  off
 400 | 	  RTWCompilerOptimization "Off"
 401 | 	  CheckMdlBeforeBuild	  "Off"
 402 | 	  CustomRebuildMode	  "OnUpdate"
 403 | 	  Array {
 404 | 	    Type		    "Handle"
 405 | 	    Dimension		    2
 406 | 	    Simulink.CodeAppCC {
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 408 | 	      Version		      "1.10.0"
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 411 | 		Dimension		19
 412 | 		Cell			"IgnoreCustomStorageClasses"
 413 | 		Cell			"IgnoreTestpoints"
 414 | 		Cell			"InsertBlockDesc"
 415 | 		Cell			"SFDataObjDesc"
 416 | 		Cell			"SimulinkDataObjDesc"
 417 | 		Cell			"DefineNamingRule"
 418 | 		Cell			"SignalNamingRule"
 419 | 		Cell			"ParamNamingRule"
 420 | 		Cell			"InlinedPrmAccess"
 421 | 		Cell			"CustomSymbolStr"
 422 | 		Cell			"CustomSymbolStrGlobalVar"
 423 | 		Cell			"CustomSymbolStrType"
 424 | 		Cell			"CustomSymbolStrField"
 425 | 		Cell			"CustomSymbolStrFcn"
 426 | 		Cell			"CustomSymbolStrFcnArg"
 427 | 		Cell			"CustomSymbolStrBlkIO"
 428 | 		Cell			"CustomSymbolStrTmpVar"
 429 | 		Cell			"CustomSymbolStrMacro"
 430 | 		Cell			"ReqsInCode"
 431 | 		PropName		"DisabledProps"
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 433 | 	      ForceParamTrailComments off
 434 | 	      GenerateComments	      on
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 436 | 	      IgnoreTestpoints	      off
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 438 | 	      MaxIdLength	      31
 439 | 	      PreserveName	      off
 440 | 	      PreserveNameWithParent  off
 441 | 	      ShowEliminatedStatement off
 442 | 	      IncAutoGenComments      off
 443 | 	      SimulinkDataObjDesc     off
 444 | 	      SFDataObjDesc	      off
 445 | 	      IncDataTypeInIds	      off
 446 | 	      MangleLength	      1
 447 | 	      CustomSymbolStrGlobalVar "$R$N$M"
 448 | 	      CustomSymbolStrType     "$N$R$M_T"
 449 | 	      CustomSymbolStrField    "$N$M"
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 451 | 	      CustomSymbolStrFcnArg   "rt$I$N$M"
 452 | 	      CustomSymbolStrBlkIO    "rtb_$N$M"
 453 | 	      CustomSymbolStrTmpVar   "$N$M"
 454 | 	      CustomSymbolStrMacro    "$R$N$M"
 455 | 	      DefineNamingRule	      "None"
 456 | 	      ParamNamingRule	      "None"
 457 | 	      SignalNamingRule	      "None"
 458 | 	      InsertBlockDesc	      off
 459 | 	      SimulinkBlockComments   on
 460 | 	      EnableCustomComments    off
 461 | 	      InlinedPrmAccess	      "Literals"
 462 | 	      ReqsInCode	      off
 463 | 	      UseSimReservedNames     off
 464 | 	    }
 465 | 	    Simulink.GRTTargetCC {
 466 | 	      $BackupClass	      "Simulink.TargetCC"
 467 | 	      $ObjectID		      11
 468 | 	      Version		      "1.10.0"
 469 | 	      Array {
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 471 | 		Dimension		16
 472 | 		Cell			"GeneratePreprocessorConditionals"
 473 | 		Cell			"IncludeMdlTerminateFcn"
 474 | 		Cell			"CombineOutputUpdateFcns"
 475 | 		Cell			"SuppressErrorStatus"
 476 | 		Cell			"ERTCustomFileBanners"
 477 | 		Cell			"GenerateSampleERTMain"
 478 | 		Cell			"GenerateTestInterfaces"
 479 | 		Cell			"ModelStepFunctionPrototypeControlCompliant"
 480 | 		Cell			"CPPClassGenCompliant"
 481 | 		Cell			"PortableWordSizes"
 482 | 		Cell			"PurelyIntegerCode"
 483 | 		Cell			"GenerateAllocFcn"
 484 | 		Cell			"SupportComplex"
 485 | 		Cell			"SupportAbsoluteTime"
 486 | 		Cell			"SupportContinuousTime"
 487 | 		Cell			"SupportNonInlinedSFcns"
 488 | 		PropName		"DisabledProps"
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 491 | 	      TargetLibSuffix	      ""
 492 | 	      TargetPreCompLibLocation ""
 493 | 	      TargetFunctionLibrary   "ANSI_C"
 494 | 	      UtilityFuncGeneration   "Auto"
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 496 | 	      ERTCodeCoverageTool     "None"
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 498 | 	      MultiwordLength	      2048
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 500 | 	      GenerateSampleERTMain   off
 501 | 	      GenerateTestInterfaces  off
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 504 | 	      ParMdlRefBuildCompliant on
 505 | 	      CompOptLevelCompliant   on
 506 | 	      IncludeMdlTerminateFcn  on
 507 | 	      GeneratePreprocessorConditionals "Disable all"
 508 | 	      CombineOutputUpdateFcns off
 509 | 	      SuppressErrorStatus     off
 510 | 	      ERTFirstTimeCompliant   off
 511 | 	      IncludeFileDelimiter    "Auto"
 512 | 	      ERTCustomFileBanners    off
 513 | 	      SupportAbsoluteTime     on
 514 | 	      LogVarNameModifier      "rt_"
 515 | 	      MatFileLogging	      on
 516 | 	      MultiInstanceERTCode    off
 517 | 	      SupportNonFinite	      on
 518 | 	      SupportComplex	      on
 519 | 	      PurelyIntegerCode	      off
 520 | 	      SupportContinuousTime   on
 521 | 	      SupportNonInlinedSFcns  on
 522 | 	      SupportVariableSizeSignals off
 523 | 	      EnableShiftOperators    on
 524 | 	      ParenthesesLevel	      "Nominal"
 525 | 	      PortableWordSizes	      off
 526 | 	      ModelStepFunctionPrototypeControlCompliant off
 527 | 	      CPPClassGenCompliant    off
 528 | 	      AutosarCompliant	      off
 529 | 	      UseMalloc		      off
 530 | 	      ExtMode		      off
 531 | 	      ExtModeStaticAlloc      off
 532 | 	      ExtModeTesting	      off
 533 | 	      ExtModeStaticAllocSize  1000000
 534 | 	      ExtModeTransport	      0
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 536 | 	      ExtModeIntrfLevel	      "Level1"
 537 | 	      RTWCAPISignals	      off
 538 | 	      RTWCAPIParams	      off
 539 | 	      RTWCAPIStates	      off
 540 | 	      GenerateASAP2	      off
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 542 | 	    PropName		    "Components"
 543 | 	  }
 544 | 	}
 545 | 	PropName		"Components"
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 547 |       Name		      "Configuration"
 548 |       CurrentDlgPage	      "Solver"
 549 |       ConfigPrmDlgPosition    " [ 94, 25, 1186, 731 ] "
 550 |     }
 551 |     PropName		    "ConfigurationSets"
 552 |   }
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 554 |     $PropName		    "ActiveConfigurationSet"
 555 |     $ObjectID		    1
 556 |   }
 557 |   BlockDefaults {
 558 |     ForegroundColor	    "black"
 559 |     BackgroundColor	    "white"
 560 |     DropShadow		    off
 561 |     NamePlacement	    "normal"
 562 |     FontName		    "Helvetica"
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 564 |     FontWeight		    "normal"
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 566 |     ShowName		    on
 567 |     BlockRotation	    0
 568 |     BlockMirror		    off
 569 |   }
 570 |   AnnotationDefaults {
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 572 |     VerticalAlignment	    "middle"
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 577 |     FontSize		    10
 578 |     FontWeight		    "normal"
 579 |     FontAngle		    "normal"
 580 |     UseDisplayTextAsClickCallback off
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 584 |     FontSize		    9
 585 |     FontWeight		    "normal"
 586 |     FontAngle		    "normal"
 587 |   }
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 589 |     Block {
 590 |       BlockType		      Clock
 591 |       DisplayTime	      off
 592 |     }
 593 |     Block {
 594 |       BlockType		      Integrator
 595 |       ExternalReset	      "none"
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 599 |       UpperSaturationLimit    "inf"
 600 |       LowerSaturationLimit    "-inf"
 601 |       ShowSaturationPort      off
 602 |       ShowStatePort	      off
 603 |       AbsoluteTolerance	      "auto"
 604 |       IgnoreLimit	      off
 605 |       ZeroCross		      on
 606 |       ContinuousStateAttributes	"''"
 607 |     }
 608 |     Block {
 609 |       BlockType		      MATLABFcn
 610 |       MATLABFcn		      "sin"
 611 |       OutputDimensions	      "-1"
 612 |       OutputSignalType	      "auto"
 613 |       Output1D		      on
 614 |       SampleTime	      "-1"
 615 |     }
 616 |     Block {
 617 |       BlockType		      Mux
 618 |       Inputs		      "4"
 619 |       DisplayOption	      "none"
 620 |       UseBusObject	      off
 621 |       BusObject		      "BusObject"
 622 |       NonVirtualBus	      off
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 624 |     Block {
 625 |       BlockType		      Scope
 626 |       ModelBased	      off
 627 |       TickLabels	      "OneTimeTick"
 628 |       ZoomMode		      "on"
 629 |       Grid		      "on"
 630 |       TimeRange		      "auto"
 631 |       YMin		      "-5"
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 634 |       SaveName		      "ScopeData"
 635 |       LimitDataPoints	      on
 636 |       MaxDataPoints	      "5000"
 637 |       Decimation	      "1"
 638 |       SampleInput	      off
 639 |       SampleTime	      "-1"
 640 |     }
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 643 |       IconShape		      "rectangular"
 644 |       Inputs		      "++"
 645 |       CollapseMode	      "All dimensions"
 646 |       CollapseDim	      "1"
 647 |       InputSameDT	      on
 648 |       AccumDataTypeStr	      "Inherit: Inherit via internal rule"
 649 |       OutMin		      "[]"
 650 |       OutMax		      "[]"
 651 |       OutDataTypeMode	      "Same as first input"
 652 |       OutDataType	      "fixdt(1,16,0)"
 653 |       OutScaling	      "[]"
 654 |       OutDataTypeStr	      "Inherit: Same as first input"
 655 |       LockScale		      off
 656 |       RndMeth		      "Floor"
 657 |       SaturateOnIntegerOverflow	on
 658 |       SampleTime	      "-1"
 659 |     }
 660 |     Block {
 661 |       BlockType		      TransportDelay
 662 |       DelayTime		      "1"
 663 |       InitialOutput	      "0"
 664 |       BufferSize	      "1024"
 665 |       FixedBuffer	      off
 666 |       TransDelayFeedthrough   off
 667 |       PadeOrder		      "0"
 668 |     }
 669 |   }
 670 |   System {
 671 |     Name		    "affineManeuver"
 672 |     Location		    [2, 83, 1902, 1027]
 673 |     Open		    on
 674 |     ModelBrowserVisibility  off
 675 |     ModelBrowserWidth	    200
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 677 |     PaperOrientation	    "landscape"
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 692 |       BlockMirror	      on
 693 |       NamePlacement	      "alternate"
 694 |       DisplayTime	      on
 695 |       Decimation	      "10"
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 699 |       Name		      "Integrator"
 700 |       SID		      2
 701 |       Ports		      [1, 1]
 702 |       Position		      [500, 125, 530, 155]
 703 |       InitialCondition	      "x_init"
 704 |     }
 705 |     Block {
 706 |       BlockType		      Integrator
 707 |       Name		      "Integrator2"
 708 |       SID		      19
 709 |       Ports		      [1, 1]
 710 |       Position		      [345, 125, 375, 155]
 711 |       InitialCondition	      "v_init"
 712 |     }
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 714 |       BlockType		      MATLABFcn
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 719 |       BlockMirror	      on
 720 |       MATLABFcn		      "fcn_LeaderAcceleration"
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 729 |       NamePlacement	      "alternate"
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 768 |       DisplayOption	      "bar"
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 780 |       ZoomMode		      "xonly"
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 783 | 	axes1			"%<SignalLabel>"
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 800 |       NumInputPorts	      "1"
 801 |       ZoomMode		      "yonly"
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 804 | 	axes1			"%<SignalLabel>"
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 816 |       Ports		      [1]
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 818 |       Floating		      off
 819 |       Location		      [687, 610, 1011, 849]
 820 |       Open		      off
 821 |       NumInputPorts	      "1"
 822 |       ZoomMode		      "xonly"
 823 |       List {
 824 | 	ListType		AxesTitles
 825 | 	axes1			"%<SignalLabel>"
 826 |       }
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 828 |       SaveName		      "aDiff_all"
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 841 |       Inputs		      "|+-"
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 863 |       BlockMirror	      on
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 876 |       ZoomMode		      "xonly"
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 879 | 	axes1			"%<SignalLabel>"
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 905 |       ZoomMode		      "xonly"
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 908 | 	axes1			"%<SignalLabel>"
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 918 |       SrcPort		      1
 919 |       DstBlock		      "Scope1"
 920 |       DstPort		      1
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 922 |     Line {
 923 |       SrcBlock		      "Mux1"
 924 |       SrcPort		      1
 925 |       DstBlock		      "control law"
 926 |       DstPort		      1
 927 |     }
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 930 |       SrcPort		      1
 931 |       Points		      [60, 0]
 932 |       Branch {
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 934 | 	DstPort			1
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 939 | 	DstPort			1
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 950 | 	  DstBlock		  "Mux3"
 951 | 	  DstPort		  2
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 961 | 	DstPort			1
 962 |       }
 963 |       Branch {
 964 | 	Points			[0, -75]
 965 | 	DstBlock		"v_all_time"
 966 | 	DstPort			1
 967 |       }
 968 |       Branch {
 969 | 	Points			[0, 30]
 970 | 	Branch {
 971 | 	  Points		  [0, 80]
 972 | 	  DstBlock		  "Mux1"
 973 | 	  DstPort		  2
 974 | 	}
 975 | 	Branch {
 976 | 	  Points		  [-180, 0]
 977 | 	  DstBlock		  "Mux3"
 978 | 	  DstPort		  1
 979 | 	}
 980 |       }
 981 |     }
 982 |     Line {
 983 |       SrcBlock		      "control law"
 984 |       SrcPort		      1
 985 |       DstBlock		      "Mux2"
 986 |       DstPort		      1
 987 |     }
 988 |     Line {
 989 |       SrcBlock		      "Clock"
 990 |       SrcPort		      1
 991 |       Points		      [0, -40]
 992 |       DstBlock		      "Mux2"
 993 |       DstPort		      2
 994 |     }
 995 |     Line {
 996 |       SrcBlock		      "Leader acceleration"
 997 |       SrcPort		      1
 998 |       Points		      [-15, 0]
 999 |       Branch {
1000 | 	Points			[0, -120]
1001 | 	Branch {
1002 | 	  DstBlock		  "Integrator2"
1003 | 	  DstPort		  1
1004 | 	}
1005 | 	Branch {
1006 | 	  Points		  [0, -55]
1007 | 	  DstBlock		  "Scope"
1008 | 	  DstPort		  1
1009 | 	}
1010 |       }
1011 |       Branch {
1012 | 	Points			[0, 80]
1013 | 	Branch {
1014 | 	  Points		  [0, 45; 360, 0]
1015 | 	  DstBlock		  "Sum"
1016 | 	  DstPort		  2
1017 | 	}
1018 | 	Branch {
1019 | 	  DstBlock		  "Transport\nDelay"
1020 | 	  DstPort		  1
1021 | 	}
1022 |       }
1023 |     }
1024 |     Line {
1025 |       SrcBlock		      "Transport\nDelay"
1026 |       SrcPort		      1
1027 |       Points		      [85, 0]
1028 |       Branch {
1029 | 	Points			[5, 0; 0, -65]
1030 | 	DstBlock		"Mux1"
1031 | 	DstPort			3
1032 |       }
1033 |       Branch {
1034 | 	DstBlock		"Sum"
1035 | 	DstPort			1
1036 |       }
1037 |     }
1038 |     Line {
1039 |       SrcBlock		      "Sum"
1040 |       SrcPort		      1
1041 |       DstBlock		      "Scope2"
1042 |       DstPort		      1
1043 |     }
1044 |     Line {
1045 |       SrcBlock		      "Mux3"
1046 |       SrcPort		      1
1047 |       DstBlock		      "Mux4"
1048 |       DstPort		      1
1049 |     }
1050 |     Line {
1051 |       SrcBlock		      "Mux2"
1052 |       SrcPort		      1
1053 |       DstBlock		      "Mux4"
1054 |       DstPort		      2
1055 |     }
1056 |     Line {
1057 |       SrcBlock		      "Mux4"
1058 |       SrcPort		      1
1059 |       DstBlock		      "Leader acceleration"
1060 |       DstPort		      1
1061 |     }
1062 |     Annotation {
1063 |       Name		      "a"
1064 |       Position		      [320, 132]
1065 |     }
1066 |     Annotation {
1067 |       Name		      "p"
1068 |       Position		      [553, 134]
1069 |     }
1070 |     Annotation {
1071 |       Name		      "v"
1072 |       Position		      [395, 132]
1073 |     }
1074 |     Annotation {
1075 |       Name		      "p"
1076 |       Position		      [420, 217]
1077 |     }
1078 |     Annotation {
1079 |       Name		      "v"
1080 |       Position		      [418, 242]
1081 |     }
1082 |     Annotation {
1083 |       Name		      "a"
1084 |       Position		      [418, 267]
1085 |     }
1086 |   }
1087 | }
1088 | 


--------------------------------------------------------------------------------
/affineManeuver.slxc:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/siddahant/Maneuver-Control-of-Multirobot-Systems-Using-Affine-Formation/1b549dad89cbb2aca9b98d6035d16160df97f0ee/affineManeuver.slxc


--------------------------------------------------------------------------------
/f_sin.m:
--------------------------------------------------------------------------------
 1 | function output=f_sin(time_start,time_span,currentTime)
 2 | 
 3 | % integral this function from 0 to time_span, it equals pi, so the agent
 4 | % rotate for pi angle
 5 | if currentTime<time_start || currentTime>time_start+time_span
 6 |     output=0;
 7 | else
 8 |     magnitude=pi^2/2/time_span;
 9 |     beta=pi/time_span;
10 |     t=currentTime-time_start;
11 |     output=magnitude*sin(beta*t);
12 | end


--------------------------------------------------------------------------------
/main.m:
--------------------------------------------------------------------------------
  1 | clc; clear; close all
  2 | global nodenum neighborMat stressMat dim simTime leaderNum ifLeaderFollower kp kv samplePos_all
  3 | global rotateFlag tempp1 tempp2
  4 | %
  5 | ifLeaderFollower=1;
  6 | leaderNum=3; % number of Leaders
  7 | dim=2;
  8 | % configuration matrix
  9 | P=2*[2 0;1 1;1 -1;0 1;0 -1;-1 1;-1 -1];
 10 | nodenum=size(P,1); % number of nodes
 11 | % adjacent matrix:- tells about all the connections between the agents for
 12 | % information
 13 | neighborMat=zeros(nodenum,nodenum);
 14 | neighborMat(1,2)=1;neighborMat(1,3)=1;neighborMat(1,4)=1;neighborMat(1,5)=1;
 15 | neighborMat(2,4)=1;
 16 | neighborMat(3,5)=1;neighborMat(3,6)=1;
 17 | neighborMat(4,5)=1;neighborMat(4,6)=1;neighborMat(2,7)=1;
 18 | neighborMat(5,7)=1;
 19 | neighborMat(6,7)=1;
 20 | m=sum(sum(neighborMat)); % number of edges
 21 | neighborMat=neighborMat+neighborMat';
 22 | stressMat=StressMatrix(dim,nodenum,m,P,neighborMat); 
 23 | 
 24 | kv=2;kp=0.5; 
 25 | samplePos_all=P';
 26 | p=reshape(P',dim*nodenum,1);
 27 | x_init=p+[0 0 0 0 0 0 1 1 0 1 -1 1 -2 -1]'; 
 28 | for k=1:leaderNum
 29 | 	x_init(dim*(k-1)+1:dim*k)=samplePos_all(:,k); % initial position of all leaders
 30 | end
 31 | v_leader_init=zeros(dim*leaderNum,1); % Initializing zero velocity for all the leaders and followers
 32 | v_init=zeros(dim*nodenum,1);
 33 | v_init(1:dim*leaderNum,1)=v_leader_init; 
 34 | 
 35 | rotateFlag=1; % Flag variable for rotation
 36 | tempp1=zeros(dim,1);
 37 | tempp2=zeros(dim,1);
 38 | %% SIMULINK
 39 | simTime=125;
 40 | stepsize=0.005 ;
 41 | option=simset('fixedstep',stepsize);
 42 | sim('affineManeuver.mdl', [0, simTime], option)
 43 | 
 44 | 
 45 | %% ANIMATION REQUEST PLOT RESULTS
 46 | simulation = 0;
 47 | 
 48 | if simulation==1
 49 |     Animate_Maneuver(p_all_time, error_all) % Animate the simulation
 50 | elseif simulation==0
 51 |     Plot_Results(p_all_time, v_all_time, a_all, error_all, aDiff_all) % Plot the results
 52 | end
 53 | 
 54 | %% FUNCTION STRESS MATRIX
 55 | function stressMat=StressMatrix(d,n,m,P,adjMat)
 56 | % incidence matrix
 57 | H=zeros(m,n);
 58 | pointer=1;
 59 | for i=1:n
 60 |     for j=i+1:n
 61 |         if adjMat(i,j)~=0
 62 |             H(pointer,i)=-1;
 63 |             H(pointer,j)=1;
 64 |             pointer=pointer+1;
 65 |         end
 66 |     end
 67 | end
 68 | 
 69 | % Single value decomposition of Configuration Matrix
 70 | Pbar=[ones(n,1),P];
 71 | [U,S,V]=svd(Pbar);
 72 | U2=U(:,d+1+1:end);
 73 | Q=U2';
 74 | 
 75 | % Plot the formation
 76 | hold on; axis equal
 77 | % plot edges
 78 | for i=1:n
 79 |     for j=1:n
 80 |         if adjMat(i,j)~=0
 81 |             pi=P(i,:);
 82 |             pj=P(j,:);
 83 |             line([pi(1),pj(1)], [pi(2),pj(2)], 'linewidth', 2, 'color', 'b');
 84 |         end
 85 |     end
 86 | end
 87 | % plot nodes
 88 | for i=1:n
 89 |     pi=P(i,:);
 90 |     plot(pi(1), pi(2), 'o', ...
 91 |         'MarkerSize', 15,...
 92 |         'linewidth', 2,...
 93 |         'MarkerEdgeColor', 'r',...
 94 |         'markerFaceColor', 'white');
 95 |     text(pi(1), pi(2), num2str(i),...
 96 |         'color', 'r', 'FontSize', 13, 'horizontalAlignment', 'center', 'FontName', 'times');
 97 | end
 98 | % numbering edges
 99 | pointer=1;
100 | for i=1:n
101 |     for j=i+1:n
102 |         if adjMat(i,j)~=0
103 |             pi=P(i,:);
104 |             pj=P(j,:);
105 |             text((pi(1)+pj(1))/2, (pi(2)+pj(2))/2, num2str(pointer),...
106 |                 'color', 'k', 'FontSize', 12, 'horizontalAlignment', 'center');
107 |             pointer=pointer+1;
108 |         end
109 |     end
110 | end
111 | 
112 | E=zeros(d*n,m);
113 | for i=1:n
114 |     hi=H(:,i);
115 |     E((i-1)*d+1:(i-1)*d+d,:)=P'*H'*diag(hi);
116 | end
117 | % Single Value Decomposition of Energy Matrix
118 | [U,S,V]=svd(E);
119 | B=V(:,rank(S)+1:end); 
120 | num=size(B,2);
121 | 
122 | % if num>1 -> LMI
123 | M=zeros(n-d-1,n-d-1,num);
124 | for i=1:num
125 |     bi=B(:,i);
126 |     M(:,:,i)=Q*H'*diag(bi)*H*Q';
127 | end
128 | setlmis([]);
129 | LMI=newlmi;
130 | if num==0
131 |     return;
132 | elseif num==1
133 |     x1=lmivar(1,[1 0]);
134 |     lmiterm([-LMI 1 1 x1],M(:,:,1),1); % right hand side
135 |     LMIsys=getlmis;
136 |     [tmin,x] = feasp(LMIsys,[0 0 1 0 0]);
137 | elseif num==2
138 |     x1=lmivar(1,[1 0]);
139 |     x2=lmivar(1,[1 0]);
140 |     lmiterm([-LMI 1 1 x1],M(:,:,1),1); % right hand side
141 |     lmiterm([-LMI 1 1 x2],M(:,:,2),1); % right hand side
142 |     LMIsys=getlmis;
143 |     [tmin,x] = feasp(LMIsys,[0 0 1 0 0]); 
144 | elseif num>2
145 |     return;
146 | end
147 | % calculate omega and stress matrix
148 | omega=B*x;
149 | omega=omega/norm(omega);
150 | stressMat=H'*diag(omega)*H;
151 | if max(eig(stressMat))>0
152 |     omega=-omega;
153 |     stressMat=-stressMat;
154 | end
155 | end
156 | 
157 | 
158 | %% FUNCTION PLOT RESULTS
159 | function Plot_Results(p_all_time, v_all_time, a_all_time, error_all, aDiff_all)
160 | close all
161 | 
162 | global nodenum neighborMat dim simTime leaderNum
163 | 
164 | delta=50;
165 | time_all=v_all_time.time(1:delta:end);
166 | p_all=p_all_time.signals.values(1:delta:end,:);
167 | v_all=v_all_time.signals.values(1:delta:end,:);
168 | a_all=a_all_time.signals.values(1:delta:end,:);
169 | error_all=error_all.signals.values(1:delta:end,:);
170 | aDiff_all=aDiff_all.signals.values(1:delta:end,:);
171 | 
172 | linewidth=0.5;
173 | dotsize=7;
174 | fontsize=7;%15;
175 | formationColor=0*[0 0 1];
176 | faceColorList=zeros(nodenum,3);
177 | for i=1:nodenum
178 |     if i<=leaderNum
179 |         faceColorList(i,:)=[1,0,0];
180 |     else
181 |         faceColorList(i,:)=[0,0,1];
182 |     end
183 | end
184 | for i=1:nodenum
185 |     if i<=leaderNum
186 |         markerList(i)={'o'};
187 |     else
188 |         markerList(i)={'o'};
189 |     end
190 | end
191 | for i=1:nodenum
192 |     if i<=leaderNum
193 |         linestyleList(i)={'-'};
194 |     else
195 |         linestyleList(i)={'--'};
196 |     end
197 | end
198 | 
199 | % plot trajectory
200 | figure; 
201 | subplot(4,1,[1,2,3]); % to make the axis short
202 | hold on; box on; 
203 | set(gca, 'fontSize', fontsize)
204 | set(get(gca, 'xlabel'), 'String', 'x (m)', 'fontSize', fontsize);
205 | set(get(gca, 'ylabel'), 'String', 'y (m)', 'fontSize', fontsize);
206 | axis equal
207 | set(gca, 'fontsize', fontsize);
208 | 
209 | %plot trajectory
210 | for i=1:nodenum
211 |     if dim==2
212 |         xi_all=p_all(:,2*i-1);
213 |         yi_all=p_all(:,2*i);
214 |         plot(xi_all, yi_all, ':', 'linewidth', linewidth, 'color', faceColorList(i,:));
215 |     else
216 |         xi_all=p_all(:,3*i-2);
217 |         yi_all=p_all(:,3*i-1);
218 |         zi_all=p_all(:,3*i);
219 |         plot3(xi_all, yi_all, zi_all, ':', 'linewidth', linewidth, 'color', faceColorList(i,:));
220 |     end
221 | end
222 | 
223 | % plot obstacle
224 | leftx=18;
225 | width=5;
226 | h=rectangle('Position', [leftx, 1.8, width, 15]);
227 | set(h, 'faceColor', 0.4*ones(1,3))
228 | h=rectangle('Position', [leftx, -16.5, width, 14.5]);
229 | set(h, 'faceColor', 0.4*ones(1,3))
230 | h=rectangle('Position', [leftx, -25, width, 6.5]);
231 | set(h, 'faceColor', 0.4*ones(1,3))
232 | text(20.5, -9, 'Obstacle','color', 'w', 'FontSize', 8, 'horizontalAlignment', 'center', 'FontWeight', 'normal', 'Rotation', 0, 'fontname', 'Times');
233 | 
234 | axis tight
235 | xlim=get(gca,'xlim');
236 | set(gca,'xlim', xlim+[-5,5]);
237 | ylim=get(gca,'ylim');
238 | set(gca,'ylim', ylim+[-4,3]);
239 | 
240 | % plot intermediate formations
241 | dataNum=size(p_all,1);
242 | hMarkerAll=zeros(nodenum,1);
243 | index=[1,floor(dataNum/10*1.4),floor(dataNum/10*2.2),floor(dataNum/10*3.2),floor(dataNum/10*4.47),...
244 |     floor(dataNum/10*5.3),floor(dataNum/10*6.45),floor(dataNum/10*7.2),floor(dataNum/10*8),floor(dataNum/10*9),floor(dataNum/10*10)]; % for 2D scale big example
245 | 
246 | for k=1:size(index,2)
247 |     idx=index(k);
248 |     for i=1:nodenum
249 |         for j=1:nodenum
250 |             if neighborMat(i,j)==1
251 |                 if dim==2
252 |                     pi=p_all(idx,2*i-1:2*i)';
253 |                     pj=p_all(idx,2*j-1:2*j)';
254 |                     line([pi(1),pj(1)], [pi(2),pj(2)], 'linewidth', 0.5, 'color', formationColor);  
255 |                 else
256 |                     pi=p_all(idx,3*i-2:3*i)';
257 |                     pj=p_all(idx,3*j-2:3*j)';
258 |                     line([pi(1),pj(1)], [pi(2),pj(2)], [pi(3),pj(3)], 'linewidth', 0.5, 'color', formationColor);
259 |                 end
260 |             end
261 |         end
262 |     end    
263 |     for i=1:nodenum
264 |         if dim==2
265 |             xi=p_all(idx,2*i-1);
266 |             yi=p_all(idx,2*i);
267 |             hMarkerAll(i)=plot(xi, yi, char(markerList(i)), 'MarkerEdgeColor', 'k', 'MarkerFaceColor', faceColorList(i,:), 'markersize', dotsize, 'linewidth', 0.5);
268 |             text(xi, yi, num2str(i),'color', 'w', 'FontSize', 5, 'horizontalAlignment', 'center', 'FontWeight', 'bold');
269 |         else
270 |             xi=p_all(idx,3*i-2);
271 |             yi=p_all(idx,3*i-1);
272 |             zi=p_all(idx,3*i);
273 |             hMarkerAll(i)=plot3(xi, yi, zi, char(markerList(i)), 'MarkerEdgeColor', 'k', 'MarkerFaceColor', faceColorList(i,:), 'markersize', dotsize, 'linewidth', 1);
274 |         end
275 |     end
276 | end
277 | hLegendTraj=legend([hMarkerAll(1),hMarkerAll(leaderNum+1)], 'Leader', 'Follower', 'location', 'West');
278 | 
279 | % plot time for corresponding formation
280 | text(0, 5, strcat('t=',num2str(time_all(index(1)),'%.1f'),'s'),'color', 'k', 'FontSize', fontsize+1, 'horizontalAlignment', 'center', 'FontName', 'times');
281 | text(10, 5, strcat('t=',num2str(time_all(index(2)),'%.1f'),'s'),'color', 'k', 'FontSize', fontsize+1, 'horizontalAlignment', 'center', 'FontName', 'times');
282 | text(33, 5, strcat('t=',num2str(time_all(index(4)),'%.1f'),'s'),'color', 'k', 'FontSize', fontsize+1, 'horizontalAlignment', 'center', 'FontName', 'times');
283 | text(45, 5, strcat('t=',num2str(time_all(index(5)),'%.1f'),'s'),'color', 'k', 'FontSize', fontsize+1, 'horizontalAlignment', 'center', 'FontName', 'times');
284 | text(50, -7, strcat('t=',num2str(time_all(index(6)),'%.1f'),'s'),'color', 'k', 'FontSize', fontsize+1, 'horizontalAlignment', 'center', 'FontName', 'times');
285 | text(50, -17, strcat('t=',num2str(time_all(index(7)),'%.1f'),'s'),'color', 'k', 'FontSize', fontsize+1, 'horizontalAlignment', 'center', 'FontName', 'times');
286 | text(38, -22, strcat('t=',num2str(time_all(index(8)),'%.1f'),'s'),'color', 'k', 'FontSize', fontsize+1, 'horizontalAlignment', 'center', 'FontName', 'times');
287 | text(28, -22, strcat('t=',num2str(time_all(index(9)),'%.1f'),'s'),'color', 'k', 'FontSize', fontsize+1, 'horizontalAlignment', 'center', 'FontName', 'times');
288 | text(14, -22, strcat('t=',num2str(time_all(index(10)),'%.1f'),'s'),'color', 'k', 'FontSize', fontsize+1, 'horizontalAlignment', 'center', 'FontName', 'times');
289 | text(3, -22, strcat('t=',num2str(time_all(index(11)),'%.1f'),'s'),'color', 'k', 'FontSize', fontsize+1, 'horizontalAlignment', 'center', 'FontName', 'times');
290 | 
291 | % plot error
292 | figure
293 | subplot(5,1,1) % to make the axis short
294 | hold on; box on
295 | % set the format of the axis
296 | set(gca, 'fontSize', fontsize)
297 | % set(get(gca, 'xlabel'), 'String', 'Time (s)', 'fontSize', fontsize);
298 | set(get(gca, 'ylabel'), 'String', 'Tracking error', 'fontSize', fontsize);
299 | set(gca, 'xlim', [0,simTime])
300 | % set(gca, 'ylim', [0,10])
301 | plot(time_all, error_all, 'color', 'm', 'linewidth', 1)
302 | % set(get(gca, 'title'), 'String', strcat('Tracking error: kp=',num2str(kp),', kv=',num2str(kv)), 'fontsize', fontsize);
303 | 
304 | % plot velocity
305 | hLineAll=zeros(nodenum,1);
306 | if dim==2
307 |     % x velocity
308 |     subplot(5,1,2)
309 |     hold on; box on;
310 |     for i=1:nodenum
311 |         hLineAll(i)=plot(time_all, v_all(:,2*i-1), 'color', faceColorList(i,:), 'linestyle', char(linestyleList(i)), 'linewidth', 1);
312 |     end
313 |     set(gca, 'fontSize', fontsize)
314 |     set(get(gca, 'ylabel'), 'String', 'x-velocity (m/s)', 'fontSize', fontsize);
315 |     set(gca, 'xlim', [0,simTime])
316 |     set(gca, 'ylim', [-3,3])
317 |     hLegend=legend([hLineAll(1),hLineAll(leaderNum+1)], 'Leader', 'Follower', 'location', 'southwest');
318 |     set(hLegend, 'fontsize', fontsize);
319 |     % y velocity
320 |     subplot(5,1,3)
321 |     hold on; box on;
322 |     for i=1:nodenum
323 |         hLineAll(i)=plot(time_all, v_all(:,2*i), 'color', faceColorList(i,:), 'linestyle', char(linestyleList(i)), 'linewidth', 1);
324 |     end
325 |     set(gca, 'fontSize', fontsize)
326 |     set(get(gca, 'ylabel'), 'String', 'y-velocity (m/s)', 'fontSize', fontsize);
327 |     set(gca, 'xlim', [0,simTime])
328 |     set(gca, 'ylim', [-3,3])
329 |     hLegend=legend([hLineAll(1),hLineAll(leaderNum+1)], 'Leader', 'Follower', 'location', 'southwest');
330 |     set(hLegend, 'fontsize', fontsize);
331 | elseif dim==3 % plot vx and vy
332 |     % x velocity
333 |     subplot(3,1,1)
334 |     hold on; box on;
335 |     for i=1:nodenum
336 |         hLineAll(i)=plot(time_all, v_all(:,3*i-2), 'color', faceColorList(i,:), 'linestyle', char(linestyleList(i)), 'linewidth', 1);
337 |     end
338 |     set(gca, 'fontSize', fontsize)
339 |     set(get(gca, 'ylabel'), 'String', 'x-velocity (m/s)', 'fontSize', fontsize);
340 |     set(gca, 'xlim', [0,simTime])
341 |     hLegend=legend([hLineAll(1),hLineAll(leaderNum+1)], 'Leader', 'Follower', 'location', 'southwest');
342 |     set(hLegend, 'fontsize', fontsize);
343 |     % title
344 |     set(get(gca, 'title'), 'String', 'Velocity', 'fontsize', fontsize);
345 |     % y velocity
346 |     subplot(3,1,2)
347 |     hold on; box on;
348 |     for i=1:nodenum
349 |         hLineAll(i)=plot(time_all, v_all(:,3*i-1), 'color', faceColorList(i,:), 'linestyle', char(linestyleList(i)), 'linewidth', 1);
350 |     end
351 |     set(gca, 'fontSize', fontsize)
352 |     set(get(gca, 'ylabel'), 'String', 'y-velocity (m/s)', 'fontSize', fontsize);
353 |     set(gca, 'xlim', [0,simTime])
354 |     hLegend=legend([hLineAll(1),hLineAll(3)], 'Leader', 'Follower', 'location', 'southwest');
355 |     set(hLegend, 'fontsize', fontsize);
356 |     % z velocity
357 |     subplot(3,1,3)
358 |     hold on; box on;
359 |     for i=1:nodenum
360 |         hLineAll(i)=plot(time_all, v_all(:,3*i), 'color', faceColorList(i,:), 'linestyle', char(linestyleList(i)), 'linewidth', 1);
361 |     end
362 |     set(gca, 'fontSize', fontsize)
363 |     set(get(gca, 'xlabel'), 'String', 'Time (sec)', 'fontSize', fontsize);
364 |     set(get(gca, 'ylabel'), 'String', 'z-velocity (m/s)', 'fontSize', fontsize);
365 |     set(gca, 'xlim', [0,simTime])
366 |     hLegend=legend([hLineAll(1),hLineAll(3)], 'Leader', 'Follower', 'location', 'southwest');
367 |     set(hLegend, 'fontsize', fontsize);
368 | end
369 | 
370 | % plot acceleration
371 | hLineAll=zeros(nodenum,1);
372 | if dim==2
373 |     % x velocity
374 |     subplot(5,1,4)
375 |     hold on; box on;
376 |     for i=1:nodenum
377 |         hLineAll(i)=plot(time_all, a_all(:,2*i-1), 'color', faceColorList(i,:), 'linestyle', char(linestyleList(i)), 'linewidth', 1);
378 |     end
379 |     set(gca, 'fontSize', fontsize)
380 |     set(get(gca, 'ylabel'), 'String', 'x-acceleration (m^2/s)', 'fontSize', fontsize);
381 |     set(gca, 'xlim', [0,simTime])
382 |     hLegend=legend([hLineAll(1),hLineAll(leaderNum+1)], 'Leader', 'Follower', 'location', 'southwest');
383 |     set(hLegend, 'fontsize', fontsize);
384 |     % title
385 | %     set(get(gca, 'title'), 'String', 'Acceleration', 'fontsize', fontsize);
386 |     % y velocity
387 |     subplot(5,1,5)
388 |     hold on; box on;
389 |     for i=1:nodenum
390 |         hLineAll(i)=plot(time_all, a_all(:,2*i), 'color', faceColorList(i,:), 'linestyle', char(linestyleList(i)), 'linewidth', 1);
391 |     end
392 |     set(gca, 'fontSize', fontsize)
393 |     set(get(gca, 'ylabel'), 'String', 'y-acceleration (m^2/s)', 'fontSize', fontsize);
394 |     set(get(gca, 'xlabel'), 'String', 'Time (s)', 'fontSize', fontsize);
395 |     set(gca, 'xlim', [0,simTime])
396 |     hLegend=legend([hLineAll(1),hLineAll(leaderNum+1)], 'Leader', 'Follower', 'location', 'southwest');
397 |     set(hLegend, 'fontsize', fontsize);
398 | end
399 | 
400 | % plot acceleration error
401 | figure
402 | hLineAll=zeros(nodenum,1);
403 | if dim==2
404 |     % x velocity
405 |     subplot(5,1,1)
406 |     hold on; box on;
407 |     for i=1:nodenum
408 |         hLineAll(i)=plot(time_all, aDiff_all(:,2*i-1), 'color', faceColorList(i,:), 'linestyle', char(linestyleList(i)), 'linewidth', 1);
409 |     end
410 |     set(gca, 'fontSize', fontsize)
411 |     set(get(gca, 'ylabel'), 'String', 'x-aDiff (m^2/s)', 'fontSize', fontsize);
412 |     set(gca, 'xlim', [0,simTime])
413 |     hLegend=legend([hLineAll(1),hLineAll(leaderNum+1)], 'Leader', 'Follower', 'location', 'southwest');
414 |     set(hLegend, 'fontsize', fontsize);
415 |     hLegend=legend([hLineAll(1),hLineAll(leaderNum+1)], 'Leader', 'Follower', 'location', 'southwest');
416 |     % y velocity
417 |     subplot(5,1,2)
418 |     hold on; box on;
419 |     for i=1:nodenum
420 |         hLineAll(i)=plot(time_all, aDiff_all(:,2*i), 'color', faceColorList(i,:), 'linestyle', char(linestyleList(i)), 'linewidth', 1);
421 |     end
422 |     set(gca, 'fontSize', fontsize)
423 |     set(get(gca, 'ylabel'), 'String', 'y-aDiff (m^2/s)', 'fontSize', fontsize);
424 |     set(gca, 'xlim', [0,simTime])
425 |     set(get(gca, 'xlabel'), 'String', 'Time (s)', 'fontSize', fontsize);
426 |     hLegend=legend([hLineAll(1),hLineAll(leaderNum+1)], 'Leader', 'Follower', 'location', 'southwest');
427 |     set(hLegend, 'fontsize', fontsize);
428 | end
429 | end
430 | 
431 | %% FUNCTION ANIMATE THE RESULTS
432 | function Animate_Maneuver(p_all_time, error_all)
433 | global nodenum edgenum neighborMat dim simTime leaderNum ki kp
434 | close all;
435 | figure;
436 | set(gcf, 'unit', 'norm', 'pos', [0.1,0.1,0.72,0.8])
437 | hAxisTraj=subplot(4,1,1:3);
438 | hold on; box on; axis equal
439 | xlim([-10,55])
440 | ylim([-25,6])
441 | delta=50;
442 | time_all=p_all_time.time(1:delta:end);
443 | p_all=p_all_time.signals.values(1:delta:end,:);
444 | error_all=error_all.signals.values(1:delta:end,:);
445 | 
446 | linewidth=0.5;
447 | fontsize=7;
448 | dotsize=9;
449 | formationColor=0*[0 0 1];
450 | 
451 | for i=1:nodenum
452 |     if i<=leaderNum
453 |         edgeColorList(i,:)=[1,0,0];
454 |     else
455 |         edgeColorList(i,:)=[0,0,1];
456 |     end
457 | end
458 | faceColorList=edgeColorList;
459 | set(gca, 'fontSize', fontsize)
460 | set(get(gca, 'xlabel'), 'String', 'x (meter)', 'fontSize', fontsize);
461 | set(get(gca, 'ylabel'), 'String', 'y (meter)', 'fontSize', fontsize);
462 | 
463 | for i=1:nodenum
464 |     for j=1:nodenum
465 |         if neighborMat(i,j)==1
466 |             pi=p_all(1,2*i-1:2*i)';
467 |             pj=p_all(1,2*j-1:2*j)';
468 |             line([pi(1),pj(1)], [pi(2),pj(2)], 'linewidth', 1, 'color', formationColor);
469 |         end
470 |     end
471 |     xi=p_all(1,2*i-1);
472 |     yi=p_all(1,2*i);
473 |     plot(xi, yi, 'o', 'MarkerEdgeColor', 'k', 'MarkerFaceColor', faceColorList(i,:), 'markersize', dotsize-2, 'linewidth', 1)
474 | end
475 | 
476 | % plot obstacle
477 | leftx=18;
478 | width=5;
479 | h=rectangle('Position', [leftx, 1.8, width, 15]);
480 | set(h, 'faceColor', 0.4*ones(1,3))
481 | h=rectangle('Position', [leftx, -16.5, width, 14.5]);
482 | set(h, 'faceColor', 0.4*ones(1,3))
483 | h=rectangle('Position', [leftx, -25, width, 6.5]);
484 | set(h, 'faceColor', 0.4*ones(1,3))
485 | text(20.5, -9, 'Obstacle','color', 'w', 'FontSize', 8, 'horizontalAlignment', 'center', 'FontWeight', 'normal', 'Rotation', 0, 'fontname', 'Times');
486 | 
487 | 
488 | % objects of the lines
489 | hLine=zeros(nodenum,nodenum);
490 | for i=1:nodenum
491 |     for j=i+1:nodenum
492 |         if neighborMat(i,j)==1
493 |             pi=p_all(1,2*i-1:2*i)';
494 |             pj=p_all(1,2*j-1:2*j)';
495 |             hLine(i,j)=line([pi(1),pj(1)], [pi(2),pj(2)], 'linewidth', linewidth, 'color', formationColor);
496 |         end
497 |     end
498 | end
499 | % >>>objects of the dots
500 | hMarker=zeros(1,nodenum);
501 | hText=zeros(1,nodenum);
502 | for i=1:nodenum
503 |     xi=p_all(1,2*i-1);
504 |     yi=p_all(1,2*i);
505 |     hMarker(i) = plot(xi, yi, 'o', 'MarkerEdgeColor', 'k', 'MarkerFaceColor', faceColorList(i,:), 'markersize', dotsize, 'linewidth', 1);
506 |     hText(i)=text(xi, yi, num2str(i),'color', 'w', 'FontSize', fontsize, 'horizontalAlignment', 'center', 'FontWeight', 'bold');
507 | end
508 | hLegend=legend([hMarker(1),hMarker(leaderNum+1)], 'Leader', 'Follower', 'location', 'west');
509 | set(hLegend, 'fontsize', fontsize);
510 | % objects of the trajectories
511 | hTraj=zeros(1,nodenum);
512 | for i=1:nodenum
513 |     xi_all=p_all(1,2*i-1);
514 |     yi_all=p_all(1,2*i);
515 |     hTraj(i) = plot(xi_all, yi_all, ':', 'linewidth', 1, 'color', edgeColorList(i,:));
516 | end
517 | 
518 | % tracking error
519 | hAxisError=subplot(4,1,4);
520 | hold on; box on
521 | % set the format of the axis
522 | set(gca, 'fontSize', fontsize)
523 | set(get(gca, 'xlabel'), 'String', 'Time (second)', 'fontSize', fontsize);
524 | set(get(gca, 'ylabel'), 'String', 'Tracking error', 'fontSize', fontsize);
525 | set(gca, 'xlim',[0 125])
526 | set(gca, 'ylim', [0 4])
527 | hError=plot(time_all(1), error_all(1),  'm', 'linewidth', 2);
528 | 
529 | % update the position of each object
530 | for k=1:4:size(p_all, 1)
531 |     for i=1:nodenum
532 |         %
533 |         xi_all=p_all(1:k,2*i-1);
534 |         yi_all=p_all(1:k,2*i);
535 |         set(hTraj(i), 'xdata', xi_all, 'ydata', yi_all);
536 |         %
537 |         xi=p_all(k,2*i-1);
538 |         yi=p_all(k,2*i);
539 |         set(hMarker(i), 'xdata', xi, 'ydata', yi);
540 |         set(hText(i), 'Position', [xi,yi]);
541 |         %
542 |         for j=i+1:nodenum
543 |             if neighborMat(i,j)==1
544 |                 pi=p_all(k,2*i-1:2*i)';
545 |                 pj=p_all(k,2*j-1:2*j)';
546 |                 set( hLine(i,j), 'xdata', [pi(1),pj(1)], 'ydata', [pi(2),pj(2)]);
547 |             end
548 |         end
549 |         set(hError, 'xdata', time_all(1:k), 'ydata', error_all(1:k));
550 |     end
551 |     pause(0.1)
552 | end
553 | end
554 | 
555 | 


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/saturate.m:
--------------------------------------------------------------------------------
 1 | function y=saturate(x)
 2 | beta=5;
 3 | y=x;
 4 | for i=1:size(x,1)
 5 |     if abs(x(i))<beta
 6 |         y(i)=x(i);
 7 |     elseif x(i)>0
 8 |         y(i)=beta;
 9 |     else
10 |         y(i)=-beta;
11 |     end
12 | end


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/slprj/sim/varcache/affineManeuver/checksumOfCache.mat:
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/slprj/sim/varcache/affineManeuver/tmwinternal/simulink_cache.xml:
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1 | <?xml version="1.0" encoding="UTF-8"?>
2 | <MF0 version="1.1" packageUris="http://schema.mathworks.com/mf0/SlCache/19700101">
3 |   <slcache.FileAttributes type="slcache.FileAttributes" uuid="f4c7ef40-5d9b-40e4-aa75-33b904a5ce2e">
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5 |   </slcache.FileAttributes>
6 | </MF0>


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/slprj/sim/varcache/affineManeuver/varInfo.mat:
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1 | MATLAB 5.0 MAT-file, Platform: PCWIN64, Created on: Fri Dec  2 15:26:07 2022                                        
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