Model {
  Name			  "dap3dof"
  Version		  3.00
  SimParamPage		  "Solver"
  SampleTimeColors	  off
  InvariantConstants	  off
  WideVectorLines	  on
  ShowLineWidths	  off
  ShowPortDataTypes	  off
  StartTime		  "0"
  StopTime		  "25"
  SolverMode		  "SingleTasking"
  Solver		  "ode45"
  RelTol		  "1e-3"
  AbsTol		  "1e-6"
  Refine		  "1"
  MaxStep		  "auto"
  InitialStep		  "auto"
  FixedStep		  "clockt/4"
  MaxOrder		  5
  OutputOption		  "RefineOutputTimes"
  OutputTimes		  "[]"
  LoadExternalInput	  off
  ExternalInput		  "[t, u]"
  SaveTime		  on
  TimeSaveName		  "tout"
  SaveState		  off
  StateSaveName		  "xout"
  SaveOutput		  on
  OutputSaveName	  "yout"
  LoadInitialState	  off
  InitialState		  "xInitial"
  SaveFinalState	  off
  FinalStateName	  "xFinal"
  SaveFormat		  "Matrix"
  LimitMaxRows		  off
  MaxRows		  "1000"
  Decimation		  "1"
  AlgebraicLoopMsg	  "warning"
  MinStepSizeMsg	  "warning"
  UnconnectedInputMsg	  "warning"
  UnconnectedOutputMsg	  "warning"
  UnconnectedLineMsg	  "warning"
  InheritedTsInSrcMsg	  "warning"
  IntegerOverflowMsg	  "warning"
  UnnecessaryDatatypeConvMsg "none"
  Int32ToFloatConvMsg	  "warning"
  SignalLabelMismatchMsg  "none"
  ConsistencyChecking	  "off"
  ZeroCross		  on
  SimulationMode	  "normal"
  BlockDataTips		  on
  BlockParametersDataTip  on
  BlockAttributesDataTip  off
  BlockPortWidthsDataTip  off
  BlockDescriptionStringDataTip	off
  BlockMaskParametersDataTip off
  ToolBar		  on
  StatusBar		  on
  BrowserShowLibraryLinks off
  BrowserLookUnderMasks	  off
  OptimizeBlockIOStorage  on
  BufferReuse		  on
  BooleanDataType	  off
  RTWSystemTargetFile	  "grt.tlc"
  RTWInlineParameters	  off
  RTWRetainRTWFile	  off
  RTWTemplateMakefile	  "grt_vc.tmf"
  RTWMakeCommand	  "make_rtw"
  RTWGenerateCodeOnly	  off
  ExtModeMexFile	  "ext_comm"
  ExtModeBatchMode	  off
  ExtModeTrigType	  "manual"
  ExtModeTrigMode	  "oneshot"
  ExtModeTrigPort	  "1"
  ExtModeTrigElement	  "any"
  ExtModeTrigDuration	  1000
  ExtModeTrigHoldOff	  0
  ExtModeTrigDelay	  0
  ExtModeTrigDirection	  "rising"
  ExtModeTrigLevel	  0
  ExtModeArchiveMode	  "off"
  ExtModeAutoIncOneShot	  off
  ExtModeIncDirWhenArm	  off
  ExtModeAddSuffixToVar	  off
  ExtModeWriteAllDataToWs off
  ExtModeArmWhenConnect	  off
  PreLoadFcn		  "dap3dofdata"
  Created		  "Mon Mar 15 01:15:24 1999"
  Creator		  "barnard"
  UpdateHistory		  "UpdateHistoryNever"
  ModifiedByFormat	  "%<Auto>"
  LastModifiedBy	  "barnard"
  ModifiedDateFormat	  "%<Auto>"
  LastModifiedDate	  "Thu Jun 03 14:46:31 1999"
  ModelVersionFormat	  "1.%<AutoIncrement:100>"
  ConfigurationManager	  "none"
  BlockDefaults {
    Orientation		    "right"
    ForegroundColor	    "black"
    BackgroundColor	    "white"
    DropShadow		    off
    NamePlacement	    "normal"
    FontName		    "Helvetica"
    FontSize		    10
    FontWeight		    "normal"
    FontAngle		    "normal"
    ShowName		    on
  }
  AnnotationDefaults {
    HorizontalAlignment	    "center"
    VerticalAlignment	    "middle"
    ForegroundColor	    "black"
    BackgroundColor	    "white"
    DropShadow		    off
    FontName		    "Helvetica"
    FontSize		    10
    FontWeight		    "normal"
    FontAngle		    "normal"
  }
  LineDefaults {
    FontName		    "Helvetica"
    FontSize		    9
    FontWeight		    "normal"
    FontAngle		    "normal"
  }
  System {
    Name		    "dap3dof"
    Location		    [291, 74, 1231, 613]
    Open		    on
    ModelBrowserVisibility  on
    ModelBrowserWidth	    209
    ScreenColor		    "white"
    PaperOrientation	    "landscape"
    PaperPositionMode	    "auto"
    PaperType		    "usletter"
    PaperUnits		    "inches"
    ZoomFactor		    "100"
    AutoZoom		    off
    ReportName		    "simulink-default.rpt"
    Block {
      BlockType		      Constant
      Name		      "Ascent Single\nJets"
      Position		      [490, 455, 510, 475]
      BackgroundColor	      "orange"
      Value		      "1"
    }
    Block {
      BlockType		      SubSystem
      Name		      "Astronaut Attitude\nCommand\nto Autopilot"
      Ports		      [0, 1, 0, 0, 0]
      Position		      [45, 145, 85, 185]
      FontName		      "Arial"
      FontSize		      12
      FontWeight	      "bold"
      FontAngle		      "italic"
      ShowPortLabels	      on
      System {
	Name			"Astronaut Attitude\nCommand\nto Autopilot"
	Location		[297, 74, 1237, 613]
	Open			off
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"automatic"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"usletter"
	PaperUnits		"inches"
	ZoomFactor		"100"
	AutoZoom		on
	Block {
	  BlockType		  Reference
	  Name			  "Attitude\nCmd at t=0"
	  Ports			  [0, 1, 0, 0, 0]
	  Position		  [25, 107, 55, 133]
	  BackgroundColor	  "cyan"
	  SourceBlock		  "dspmtrx/Matrix\nConstant"
	  SourceType		  "Matrix Constant"
	  M			  "[0 0 0]"
	}
	Block {
	  BlockType		  Reference
	  Name			  "Attitude Cmd\nat t=step"
	  Ports			  [0, 1, 0, 0, 0]
	  Position		  [25, 27, 55, 53]
	  BackgroundColor	  "cyan"
	  NamePlacement		  "alternate"
	  SourceBlock		  "dspmtrx/Matrix\nConstant"
	  SourceType		  "Matrix Constant"
	  M			  "[.03 0.05 0.1]"
	}
	Block {
	  BlockType		  Step
	  Name			  "Step"
	  Position		  [25, 60, 55, 90]
	  Time			  "0.25"
	  Before		  "0"
	  After			  "1"
	  SampleTime		  "0"
	}
	Block {
	  BlockType		  Switch
	  Name			  "Switch"
	  Position		  [95, 60, 125, 90]
	  Threshold		  "0.5"
	}
	Block {
	  BlockType		  Outport
	  Name			  "Cmd."
	  Position		  [200, 110, 230, 120]
	  Orientation		  "down"
	  NamePlacement		  "alternate"
	  Port			  "1"
	  OutputWhenDisabled	  "held"
	  InitialOutput		  "[]"
	}
	Line {
	  SrcBlock		  "Step"
	  SrcPort		  1
	  DstBlock		  "Switch"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Attitude Cmd\nat t=step"
	  SrcPort		  1
	  Points		  [20, 0]
	  DstBlock		  "Switch"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Attitude\nCmd at t=0"
	  SrcPort		  1
	  Points		  [20, 0]
	  DstBlock		  "Switch"
	  DstPort		  3
	}
	Line {
	  SrcBlock		  "Switch"
	  SrcPort		  1
	  Points		  [85, 0]
	  DstBlock		  "Cmd."
	  DstPort		  1
	}
      }
    }
    Block {
      BlockType		      Scope
      Name		      "Attitudes"
      Ports		      [1, 0, 0, 0, 0]
      Position		      [885, 194, 915, 226]
      Floating		      off
      Location		      [528, 30, 1147, 338]
      Open		      off
      NumInputPorts	      "1"
      TickLabels	      "OneTimeTick"
      ZoomMode		      "on"
      List {
	ListType		AxesTitles
	axes1			"%<SignalLabel>"
      }
      Grid		      "on"
      TimeRange		      "auto"
      YMin		      "0"
      YMax		      "0.12"
      SaveToWorkspace	      off
      SaveName		      "ScopeData"
      DataFormat	      "StructureWithTime"
      LimitMaxRows	      off
      MaxRows		      "5000"
      Decimation	      "1"
      SampleInput	      off
      SampleTime	      "0"
    }
    Block {
      BlockType		      DataStoreMemory
      Name		      "Data Store\nMemory"
      Position		      [795, 455, 849, 481]
      ShowName		      off
      DataStoreName	      "e_edot"
      InitialValue	      "[0 0]"
    }
    Block {
      BlockType		      DataStoreMemory
      Name		      "Data Store\nMemory1"
      Position		      [755, 490, 809, 516]
      ShowName		      off
      DataStoreName	      "NofJets"
      InitialValue	      "2"
    }
    Block {
      BlockType		      DataStoreMemory
      Name		      "Data Store\nMemory2"
      Position		      [823, 490, 899, 515]
      ShowName		      off
      DataStoreName	      "PitchRollJets"
      InitialValue	      "2"
    }
    Block {
      BlockType		      Constant
      Name		      "Four Jet"
      Position		      [250, 455, 270, 475]
      BackgroundColor	      "orange"
      Value		      "4"
    }
    Block {
      BlockType		      SubSystem
      Name		      "H x Omega"
      Ports		      [2, 1, 0, 0, 0]
      Position		      [465, 337, 515, 368]
      Orientation	      "left"
      BackgroundColor	      "lightBlue"
      NamePlacement	      "alternate"
      ShowPortLabels	      on
      MaskType		      "Vector Cross Product"
      MaskDescription	      "This block computes the vector cross product of"
" the first input with the second input.  The output is then z= v1 x v2."
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "autoscale"
      System {
	Name			"H x Omega"
	Location		[126, 209, 734, 596]
	Open			off
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"white"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"usletter"
	PaperUnits		"inches"
	ZoomFactor		"100"
	AutoZoom		on
	Block {
	  BlockType		  Inport
	  Name			  "v1"
	  Position		  [25, 60, 45, 80]
	  Port			  "1"
	  PortWidth		  "-1"
	  SampleTime		  "-1"
	  DataType		  "auto"
	  SignalType		  "auto"
	  Interpolate		  on
	}
	Block {
	  BlockType		  Inport
	  Name			  "v2"
	  Position		  [25, 255, 45, 275]
	  Port			  "2"
	  PortWidth		  "-1"
	  SampleTime		  "-1"
	  DataType		  "auto"
	  SignalType		  "auto"
	  Interpolate		  on
	}
	Block {
	  BlockType		  Demux
	  Name			  "Demux"
	  Ports			  [1, 3, 0, 0, 0]
	  Position		  [95, 44, 140, 96]
	  Outputs		  "3"
	}
	Block {
	  BlockType		  Demux
	  Name			  "Demux1"
	  Ports			  [1, 3, 0, 0, 0]
	  Position		  [95, 239, 140, 291]
	  Outputs		  "3"
	}
	Block {
	  BlockType		  Mux
	  Name			  "Mux"
	  Ports			  [3, 1, 0, 0, 0]
	  Position		  [465, 137, 500, 173]
	  Inputs		  "3"
	  DisplayOption		  "none"
	}
	Block {
	  BlockType		  Sum
	  Name			  "Sum"
	  Ports			  [2, 1, 0, 0, 0]
	  Position		  [380, 52, 410, 83]
	  IconShape		  "rectangular"
	  Inputs		  "+-"
	  SaturateOnIntegerOverflow on
	}
	Block {
	  BlockType		  Sum
	  Name			  "Sum1"
	  Ports			  [2, 1, 0, 0, 0]
	  Position		  [380, 137, 410, 168]
	  IconShape		  "rectangular"
	  Inputs		  "+-"
	  SaturateOnIntegerOverflow on
	}
	Block {
	  BlockType		  Sum
	  Name			  "Sum2"
	  Ports			  [2, 1, 0, 0, 0]
	  Position		  [380, 232, 410, 263]
	  IconShape		  "rectangular"
	  Inputs		  "+-"
	  SaturateOnIntegerOverflow on
	}
	Block {
	  BlockType		  Product
	  Name			  "v1(1)*v2(2)"
	  Ports			  [2, 1, 0, 0, 0]
	  Position		  [260, 12, 290, 43]
	  Inputs		  "2"
	  SaturateOnIntegerOverflow on
	}
	Block {
	  BlockType		  Product
	  Name			  "v1(1)*v2(3)"
	  Ports			  [2, 1, 0, 0, 0]
	  Position		  [260, 77, 290, 108]
	  Inputs		  "2"
	  SaturateOnIntegerOverflow on
	}
	Block {
	  BlockType		  Product
	  Name			  "v1(2)*v2(1)"
	  Ports			  [2, 1, 0, 0, 0]
	  Position		  [260, 152, 290, 183]
	  Inputs		  "2"
	  SaturateOnIntegerOverflow on
	}
	Block {
	  BlockType		  Product
	  Name			  "v1(2)*v2(3)"
	  Ports			  [2, 1, 0, 0, 0]
	  Position		  [260, 207, 290, 238]
	  Inputs		  "2"
	  SaturateOnIntegerOverflow on
	}
	Block {
	  BlockType		  Product
	  Name			  "v1(3)*v2(1)"
	  Ports			  [2, 1, 0, 0, 0]
	  Position		  [260, 267, 290, 298]
	  Inputs		  "2"
	  SaturateOnIntegerOverflow on
	}
	Block {
	  BlockType		  Product
	  Name			  "v1(3)*v2(2)"
	  Ports			  [2, 1, 0, 0, 0]
	  Position		  [260, 327, 290, 358]
	  Inputs		  "2"
	  SaturateOnIntegerOverflow on
	}
	Block {
	  BlockType		  Outport
	  Name			  "v1 x v2"
	  Position		  [540, 145, 560, 165]
	  Port			  "1"
	  OutputWhenDisabled	  "held"
	  InitialOutput		  "0"
	}
	Line {
	  SrcBlock		  "v1"
	  SrcPort		  1
	  DstBlock		  "Demux"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Demux"
	  SrcPort		  3
	  Points		  [45, 0; 0, 190]
	  Branch {
	    DstBlock		    "v1(3)*v2(1)"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, 60]
	    DstBlock		    "v1(3)*v2(2)"
	    DstPort		    1
	  }
	}
	Line {
	  SrcBlock		  "v2"
	  SrcPort		  1
	  DstBlock		  "Demux1"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Demux1"
	  SrcPort		  1
	  Points		  [10, 0]
	  Branch {
	    Points		    [0, -75]
	    DstBlock		    "v1(2)*v2(1)"
	    DstPort		    2
	  }
	  Branch {
	    Points		    [0, 40]
	    DstBlock		    "v1(3)*v2(1)"
	    DstPort		    2
	  }
	}
	Line {
	  SrcBlock		  "Demux1"
	  SrcPort		  2
	  Points		  [20, 0]
	  Branch {
	    Points		    [0, 85]
	    DstBlock		    "v1(3)*v2(2)"
	    DstPort		    2
	  }
	  Branch {
	    Points		    [0, -230]
	    DstBlock		    "v1(1)*v2(2)"
	    DstPort		    2
	  }
	}
	Line {
	  SrcBlock		  "Demux1"
	  SrcPort		  3
	  Points		  [30, 0; 0, -50]
	  Branch {
	    DstBlock		    "v1(2)*v2(3)"
	    DstPort		    2
	  }
	  Branch {
	    Points		    [0, -130]
	    DstBlock		    "v1(1)*v2(3)"
	    DstPort		    2
	  }
	}
	Line {
	  SrcBlock		  "Demux"
	  SrcPort		  1
	  Points		  [65, 0]
	  Branch {
	    Points		    [0, -35]
	    DstBlock		    "v1(1)*v2(2)"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, 30]
	    DstBlock		    "v1(1)*v2(3)"
	    DstPort		    1
	  }
	}
	Line {
	  SrcBlock		  "Demux"
	  SrcPort		  2
	  Points		  [55, 0; 0, 90]
	  Branch {
	    DstBlock		    "v1(2)*v2(1)"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, 55]
	    DstBlock		    "v1(2)*v2(3)"
	    DstPort		    1
	  }
	}
	Line {
	  SrcBlock		  "Mux"
	  SrcPort		  1
	  DstBlock		  "v1 x v2"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Sum"
	  SrcPort		  1
	  Points		  [35, 0]
	  DstBlock		  "Mux"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Sum1"
	  SrcPort		  1
	  DstBlock		  "Mux"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Sum2"
	  SrcPort		  1
	  Points		  [35, 0]
	  DstBlock		  "Mux"
	  DstPort		  3
	}
	Line {
	  SrcBlock		  "v1(2)*v2(3)"
	  SrcPort		  1
	  Points		  [40, 0; 0, -165]
	  DstBlock		  "Sum"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "v1(3)*v2(2)"
	  SrcPort		  1
	  Points		  [50, 0; 0, -270]
	  DstBlock		  "Sum"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "v1(3)*v2(1)"
	  SrcPort		  1
	  Points		  [60, 0; 0, -140]
	  DstBlock		  "Sum1"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "v1(1)*v2(3)"
	  SrcPort		  1
	  Points		  [70, 0]
	  DstBlock		  "Sum1"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "v1(1)*v2(2)"
	  SrcPort		  1
	  Points		  [30, 0; 0, 210]
	  DstBlock		  "Sum2"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "v1(2)*v2(1)"
	  SrcPort		  1
	  Points		  [20, 0; 0, 85]
	  DstBlock		  "Sum2"
	  DstPort		  2
	}
      }
    }
    Block {
      BlockType		      Reference
      Name		      "I Omega"
      Ports		      [2, 1, 0, 0, 0]
      Position		      [565, 297, 615, 333]
      Orientation	      "left"
      BackgroundColor	      "lightBlue"
      SourceBlock	      "dspmtrx/Matrix\nMultiplication"
      SourceType	      "Matrix Multiplication"
      Asize		      "[3 3]"
      Bcols		      "1"
      Port {
	PortNumber		1
	Name			"Momentum (H)"
	TestPoint		off
	RTWStorageClass		"Auto"
      }
    }
    Block {
      BlockType		      Reference
      Name		      "I inverse times \nTorque"
      Ports		      [2, 1, 0, 0, 0]
      Position		      [535, 170, 595, 210]
      BackgroundColor	      "lightBlue"
      SourceBlock	      "dspmtrx/Matrix\nMultiplication"
      SourceType	      "Matrix Multiplication"
      Asize		      "[3 3]"
      Bcols		      "1"
      Port {
	PortNumber		1
	Name			"Omega dot"
	TestPoint		off
	RTWStorageClass		"Auto"
      }
    }
    Block {
      BlockType		      Reference
      Name		      "Inertia Marix"
      Ports		      [0, 1, 0, 0, 0]
      Position		      [570, 270, 610, 290]
      BackgroundColor	      "cyan"
      NamePlacement	      "alternate"
      SourceBlock	      "dspmtrx/Matrix\nConstant"
      SourceType	      "Matrix Constant"
      M			      "[I1 0 0;0 I2 0;0 0 I3]"
      Port {
	PortNumber		1
	Name			"Inertia"
	TestPoint		off
	RTWStorageClass		"Auto"
      }
    }
    Block {
      BlockType		      Reference
      Name		      "Initial Position"
      Ports		      [0, 1, 0, 0, 0]
      Position		      [805, 254, 845, 276]
      Orientation	      "left"
      BackgroundColor	      "cyan"
      SourceBlock	      "dspmtrx/Matrix\nConstant"
      SourceType	      "Matrix Constant"
      M			      "[0 0 0]'"
    }
    Block {
      BlockType		      Reference
      Name		      "Initial Rate"
      Ports		      [0, 1, 0, 0, 0]
      Position		      [675, 235, 715, 255]
      Orientation	      "left"
      BackgroundColor	      "cyan"
      SourceBlock	      "dspmtrx/Matrix\nConstant"
      SourceType	      "Matrix Constant"
      M			      "[.1 0.01 0.01]'"
    }
    Block {
      BlockType		      Integrator
      Name		      "Integrator"
      Ports		      [2, 1, 0, 0, 0]
      Position		      [680, 182, 710, 213]
      BackgroundColor	      "yellow"
      ExternalReset	      "none"
      InitialConditionSource  "external"
      InitialCondition	      "0"
      LimitOutput	      off
      UpperSaturationLimit    "inf"
      LowerSaturationLimit    "-inf"
      ShowSaturationPort      off
      ShowStatePort	      off
      AbsoluteTolerance	      "auto"
      Port {
	PortNumber		1
	Name			"Omega"
	TestPoint		off
	RTWStorageClass		"Auto"
      }
    }
    Block {
      BlockType		      Reference
      Name		      "Inverse of the \nInertia Marix"
      Ports		      [0, 1, 0, 0, 0]
      Position		      [545, 140, 585, 160]
      Orientation	      "left"
      BackgroundColor	      "cyan"
      NamePlacement	      "alternate"
      SourceBlock	      "dspmtrx/Matrix\nConstant"
      SourceType	      "Matrix Constant"
      M			      "[1/I1 0 0;0 1/I2 0;0 0 1/I3]"
    }
    Block {
      BlockType		      Scope
      Name		      "Jet Commands"
      Ports		      [2, 0, 0, 0, 0]
      Position		      [330, 280, 365, 315]
      Orientation	      "down"
      BackgroundColor	      "yellow"
      NamePlacement	      "alternate"
      Floating		      off
      Location		      [904, 376, 1260, 881]
      Open		      off
      NumInputPorts	      "2"
      TickLabels	      "on"
      ZoomMode		      "on"
      List {
	ListType		AxesTitles
	axes1			"%<SignalLabel>"
	axes2			"%<SignalLabel>"
      }
      Grid		      "on"
      TimeRange		      "9.999999999999998"
      YMin		      "-3~-3"
      YMax		      "3~3"
      SaveToWorkspace	      off
      SaveName		      "ScopeData"
      DataFormat	      "Matrix"
      LimitMaxRows	      off
      MaxRows		      "10000"
      Decimation	      "1"
      SampleInput	      off
      SampleTime	      "0"
    }
    Block {
      BlockType		      Mux
      Name		      "Mux"
      Ports		      [2, 1, 0, 0, 0]
      Position		      [375, 139, 380, 241]
      BackgroundColor	      "black"
      Inputs		      "2"
      DisplayOption	      "none"
    }
    Block {
      BlockType		      Constant
      Name		      "Nominal Two Jet Couples"
      Position		      [490, 435, 510, 455]
      BackgroundColor	      "green"
      NamePlacement	      "alternate"
      Value		      "2"
    }
    Block {
      BlockType		      SubSystem
      Name		      "Phase Plane \nPlot"
      Ports		      [1, 0, 0, 0, 0]
      Position		      [110, 456, 165, 484]
      BackgroundColor	      "yellow"
      NamePlacement	      "alternate"
      ShowPortLabels	      on
      System {
	Name			"Phase Plane \nPlot"
	Location		[671, 359, 963, 565]
	Open			off
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"automatic"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"usletter"
	PaperUnits		"inches"
	ZoomFactor		"100"
	AutoZoom		on
	Block {
	  BlockType		  Inport
	  Name			  "Pos. Error"
	  Position		  [40, 33, 70, 47]
	  NamePlacement		  "alternate"
	  Port			  "1"
	  PortWidth		  "-1"
	  SampleTime		  "-1"
	  DataType		  "auto"
	  SignalType		  "auto"
	  Interpolate		  on
	}
	Block {
	  BlockType		  Constant
	  Name			  "Constant"
	  Position		  [35, 99, 70, 121]
	  ShowName		  off
	  Value			  "alph1"
	}
	Block {
	  BlockType		  Constant
	  Name			  "Constant1"
	  Position		  [35, 119, 70, 141]
	  ShowName		  off
	  Value			  "alphs1"
	}
	Block {
	  BlockType		  Constant
	  Name			  "Constants for Plot"
	  Position		  [35, 142, 70, 158]
	  Value			  "DB"
	}
	Block {
	  BlockType		  DigitalClock
	  Name			  "Digital Clock"
	  Position		  [20, 53, 85, 77]
	  SampleTime		  "delt"
	}
	Block {
	  BlockType		  MATLABFcn
	  Name			  "MATLAB Fcn"
	  Position		  [180, 70, 240, 100]
	  MATLABFcn		  "phaseplane"
	  OutputWidth		  "0"
	  OutputSignalType	  "auto"
	}
	Block {
	  BlockType		  Mux
	  Name			  "Mux1"
	  Ports			  [5, 1, 0, 0, 0]
	  Position		  [130, 28, 135, 142]
	  ShowName		  off
	  Inputs		  "5"
	  DisplayOption		  "bar"
	}
	Line {
	  SrcBlock		  "Mux1"
	  SrcPort		  1
	  DstBlock		  "MATLAB Fcn"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Pos. Error"
	  SrcPort		  1
	  Points		  [40, 0]
	  DstBlock		  "Mux1"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Digital Clock"
	  SrcPort		  1
	  DstBlock		  "Mux1"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Constants for Plot"
	  SrcPort		  1
	  Points		  [40, 0]
	  DstBlock		  "Mux1"
	  DstPort		  5
	}
	Line {
	  SrcBlock		  "Constant"
	  SrcPort		  1
	  Points		  [30, 0; 0, -25]
	  DstBlock		  "Mux1"
	  DstPort		  3
	}
	Line {
	  SrcBlock		  "Constant1"
	  SrcPort		  1
	  Points		  [35, 0; 0, -25]
	  DstBlock		  "Mux1"
	  DstPort		  4
	}
      }
    }
    Block {
      BlockType		      Gain
      Name		      "Pitch Accleration"
      Position		      [395, 173, 450, 207]
      BackgroundColor	      "yellow"
      NamePlacement	      "alternate"
      Gain		      "Force*L_arm"
      SaturateOnIntegerOverflow	on
    }
    Block {
      BlockType		      Scope
      Name		      "Rates"
      Ports		      [1, 0, 0, 0, 0]
      Position		      [885, 134, 915, 166]
      Floating		      off
      Location		      [28, 30, 585, 328]
      Open		      off
      NumInputPorts	      "1"
      TickLabels	      "OneTimeTick"
      ZoomMode		      "on"
      List {
	ListType		AxesTitles
	axes1			"%<SignalLabel>"
      }
      Grid		      "on"
      TimeRange		      "auto"
      YMin		      "-0.075"
      YMax		      "0.125"
      SaveToWorkspace	      off
      SaveName		      "ScopeData"
      DataFormat	      "StructureWithTime"
      LimitMaxRows	      off
      MaxRows		      "5000"
      Decimation	      "1"
      SampleInput	      off
      SampleTime	      "0"
    }
    Block {
      BlockType		      Reference
      Name		      "Reaction Jet Control"
      Ports		      [2, 2, 0, 0, 0]
      Position		      [175, 139, 330, 241]
      BackgroundColor	      "cyan"
      DropShadow	      on
      FontName		      "Arial"
      FontSize		      12
      SourceBlock	      "librcs/Reaction Jet Control"
      SourceType	      "SubSystem"
    }
    Block {
      BlockType		      DataStoreRead
      Name		      "Read data"
      Position		      [35, 455, 80, 485]
      DataStoreName	      "e_edot"
      SampleTime	      "delt"
    }
    Block {
      BlockType		      Reference
      Name		      "Single Jet (Ascent)\nor Two Jet Yaw\nCouples"
      Ports		      [2, 1, 0, 0, 0]
      Position		      [570, 436, 600, 474]
      SourceBlock	      "simulink3/Nonlinear/Manual Switch"
      SourceType	      "Manual Switch"
      sw		      "1"
      action		      "0"
    }
    Block {
      BlockType		      Integrator
      Name		      "Small Angle\nPosition"
      Ports		      [2, 1, 0, 0, 0]
      Position		      [815, 192, 845, 223]
      BackgroundColor	      "yellow"
      ExternalReset	      "none"
      InitialConditionSource  "external"
      InitialCondition	      "0"
      LimitOutput	      off
      UpperSaturationLimit    "inf"
      LowerSaturationLimit    "-inf"
      ShowSaturationPort      off
      ShowStatePort	      off
      AbsoluteTolerance	      "auto"
      Port {
	PortNumber		1
	Name			"Position"
	TestPoint		off
	RTWStorageClass		"Auto"
      }
    }
    Block {
      BlockType		      Sum
      Name		      "Sum"
      Ports		      [2, 1, 0, 0, 0]
      Position		      [475, 182, 505, 213]
      BackgroundColor	      "lightBlue"
      IconShape		      "rectangular"
      Inputs		      "++"
      SaturateOnIntegerOverflow	on
    }
    Block {
      BlockType		      Constant
      Name		      "Two Jet"
      Position		      [250, 435, 270, 455]
      BackgroundColor	      "green"
      NamePlacement	      "alternate"
      Value		      "2"
    }
    Block {
      BlockType		      Reference
      Name		      "Two Jet or\nFour Jet Yaw\nCouples"
      Ports		      [2, 1, 0, 0, 0]
      Position		      [330, 436, 360, 474]
      SourceBlock	      "simulink3/Nonlinear/Manual Switch"
      SourceType	      "Manual Switch"
      sw		      "1"
      action		      "0"
    }
    Block {
      BlockType		      DataStoreWrite
      Name		      "Write\nPitchRoll Var"
      Position		      [630, 438, 700, 472]
      DataStoreName	      "PitchRollJets"
      SampleTime	      "-1"
    }
    Block {
      BlockType		      DataStoreWrite
      Name		      "Write Var"
      Position		      [390, 439, 440, 471]
      DataStoreName	      "NofJets"
      SampleTime	      "-1"
    }
    Block {
      BlockType		      ZeroOrderHold
      Name		      "Zero-Order\nHold at delt"
      Position		      [130, 200, 155, 230]
      BackgroundColor	      "cyan"
      SampleTime	      "delt"
    }
    Block {
      BlockType		      ZeroOrderHold
      Name		      "zoh"
      Position		      [130, 150, 155, 180]
      BackgroundColor	      "cyan"
      NamePlacement	      "alternate"
      ShowName		      off
      SampleTime	      "delt"
    }
    Line {
      SrcBlock		      "Inverse of the \nInertia Marix"
      SrcPort		      1
      Points		      [-20, 0]
      DstBlock		      "I inverse times \nTorque"
      DstPort		      1
    }
    Line {
      Name		      "Omega dot"
      Labels		      [0, 1]
      SrcBlock		      "I inverse times \nTorque"
      SrcPort		      1
      DstBlock		      "Integrator"
      DstPort		      1
    }
    Line {
      Name		      "Inertia"
      Labels		      [2, 0]
      SrcBlock		      "Inertia Marix"
      SrcPort		      1
      Points		      [15, 0]
      DstBlock		      "I Omega"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Initial Rate"
      SrcPort		      1
      Points		      [-15, 0; 0, -40]
      DstBlock		      "Integrator"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Initial Position"
      SrcPort		      1
      Points		      [-15, 0; 0, -50]
      DstBlock		      "Small Angle\nPosition"
      DstPort		      2
    }
    Line {
      Name		      "Omega"
      Labels		      [0, 0]
      SrcBlock		      "Integrator"
      SrcPort		      1
      Points		      [40, 0]
      Branch {
	Labels			[-1, 1]
	DstBlock		"Small Angle\nPosition"
	DstPort			1
      }
      Branch {
	Points			[0, 125]
	Branch {
	  Labels		  [-1, 0]
	  DstBlock		  "I Omega"
	  DstPort		  2
	}
	Branch {
	  Labels		  [-1, 1]
	  Points		  [0, 35]
	  DstBlock		  "H x Omega"
	  DstPort		  2
	}
      }
      Branch {
	Points			[0, -50]
	DstBlock		"Rates"
	DstPort			1
      }
    }
    Line {
      Name		      "Position"
      SrcBlock		      "Small Angle\nPosition"
      SrcPort		      1
      Points		      [15, 0]
      Branch {
	DstBlock		"Attitudes"
	DstPort			1
      }
      Branch {
	Labels			[1, 1]
	Points			[0, 185; -760, 0; 0, -180]
	DstBlock		"Zero-Order\nHold at delt"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Sum"
      SrcPort		      1
      DstBlock		      "I inverse times \nTorque"
      DstPort		      2
    }
    Line {
      Name		      "Momentum (H)"
      Labels		      [0, 0]
      SrcBlock		      "I Omega"
      SrcPort		      1
      Points		      [-30, 0]
      DstBlock		      "H x Omega"
      DstPort		      1
    }
    Line {
      SrcBlock		      "H x Omega"
      SrcPort		      1
      Points		      [-15, 0; 0, -150]
      DstBlock		      "Sum"
      DstPort		      2
    }
    Line {
      Labels		      [1, 0]
      SrcBlock		      "Astronaut Attitude\nCommand\nto Autopilot"
      SrcPort		      1
      DstBlock		      "zoh"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Pitch Accleration"
      SrcPort		      1
      DstBlock		      "Sum"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Mux"
      SrcPort		      1
      DstBlock		      "Pitch Accleration"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Reaction Jet Control"
      SrcPort		      1
      Points		      [5, 0]
      Branch {
	DstBlock		"Mux"
	DstPort			1
      }
      Branch {
	DstBlock		"Jet Commands"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Reaction Jet Control"
      SrcPort		      2
      Points		      [20, 0]
      Branch {
	DstBlock		"Mux"
	DstPort			2
      }
      Branch {
	DstBlock		"Jet Commands"
	DstPort			2
      }
    }
    Line {
      SrcBlock		      "zoh"
      SrcPort		      1
      DstBlock		      "Reaction Jet Control"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Zero-Order\nHold at delt"
      SrcPort		      1
      DstBlock		      "Reaction Jet Control"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Ascent Single\nJets"
      SrcPort		      1
      DstBlock		      "Single Jet (Ascent)\nor Two Jet Yaw\nCouples"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Nominal Two Jet Couples"
      SrcPort		      1
      DstBlock		      "Single Jet (Ascent)\nor Two Jet Yaw\nCouples"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Single Jet (Ascent)\nor Two Jet Yaw\nCouples"
      SrcPort		      1
      DstBlock		      "Write\nPitchRoll Var"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Four Jet"
      SrcPort		      1
      DstBlock		      "Two Jet or\nFour Jet Yaw\nCouples"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Two Jet"
      SrcPort		      1
      DstBlock		      "Two Jet or\nFour Jet Yaw\nCouples"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Two Jet or\nFour Jet Yaw\nCouples"
      SrcPort		      1
      DstBlock		      "Write Var"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Read data"
      SrcPort		      1
      DstBlock		      "Phase Plane \nPlot"
      DstPort		      1
    }
    Annotation {
      Position		      [449, 37]
      BackgroundColor	      "cyan"
      Text		      "The Lunar Module Digital Autopilot Design"
      FontName		      "Arial"
      FontSize		      28
      FontWeight	      "bold"
      FontAngle		      "italic"
    }
    Annotation {
      Position		      [443, 80]
      Text		      "How it Would be Done Today!\n"
      FontName		      "Arial"
      FontSize		      18
      FontWeight	      "bold"
      FontAngle		      "italic"
    }
    Annotation {
      Position		      [823, 438]
      Text		      "Initialize Data Stores"
    }
  }
}

# Finite State Machines
# -- File save dated 03-Jun-1999 14:46:32
#
#    Stateflow Version 2.0 (R11) dated May 21 1999, 22:46:02
#
#

Stateflow {

	machine {
		id         		1
		name       		"dap3dof"
		created    		"17-Sep-1997 12:07:59"
		firstTarget		2
		debug {
			breakOn              		[1 1 0]
		}
		sfVersion  		20011061
	}

	target {
		id               		2
		name             		"sfun"
		description      		"Default Simulink S-Function Target."
		codeFlags        		"-sfun-debug-consistency-range-conflict"
		machine          		1
		linkNode         		[1 0 3]
		checksumOld      		[3519414036 451097640 917818198 2368130067]
	}

	target {
		id               		3
		name             		"rtw"
		description      		"Default RTW target."
		codeCommand      		"sfc -rtw"
		codeFlags        		""
		makeCommand      		""
		machine          		1
		linkNode         		[1 2 4]
	}

	target {
		id               		4
		codeFlags        		"-consistency-range-conflict"
		machine          		1
		linkNode         		[1 3 0]
	}
}