Code covered by the BSD License  

Highlights from
Motion Control Demo

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Motion Control Demo

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30 Oct 2007 (Updated )

Model Based Design Demonstration Based on a Motion Control Case Study

bio=DMC_system_demobio
function bio=DMC_system_demobio
bio = [];
bio(1).blkName='Tunable Controller/Convert to Voltage Ref for Current Loop';
bio(1).sigName='';
bio(1).portIdx=0;
bio(1).dim=[1,1];
bio(1).sigWidth=1;
bio(1).sigAddress='&DMC_system_demo_B.ConverttoVoltageRefforCurrentLo';
bio(getlenBIO) = bio(1);

bio(2).blkName='Tunable Controller/Sum1';
bio(2).sigName='';
bio(2).portIdx=0;
bio(2).dim=[1,1];
bio(2).sigWidth=1;
bio(2).sigAddress='&DMC_system_demo_B.Sum1_k';

bio(3).blkName='Tunable Controller/Sum2';
bio(3).sigName='Error';
bio(3).portIdx=0;
bio(3).dim=[1,1];
bio(3).sigWidth=1;
bio(3).sigAddress='&DMC_system_demo_B.Error';

bio(4).blkName='Plant/Rapid Prototyping/Saturation';
bio(4).sigName='';
bio(4).portIdx=0;
bio(4).dim=[1,1];
bio(4).sigWidth=1;
bio(4).sigAddress='&DMC_system_demo_B.Saturation';

bio(5).blkName='Plant/Rapid Prototyping/ENC1';
bio(5).sigName='';
bio(5).portIdx=0;
bio(5).dim=[1,1];
bio(5).sigWidth=1;
bio(5).sigAddress='&DMC_system_demo_B.ENC1';

bio(6).blkName='Plant/Rapid Prototyping/ENC2';
bio(6).sigName='';
bio(6).portIdx=0;
bio(6).dim=[1,1];
bio(6).sigWidth=1;
bio(6).sigAddress='&DMC_system_demo_B.ENC2';

bio(7).blkName='Reference and Feedforward/Fourth Order P2P GUI/Gain';
bio(7).sigName='';
bio(7).portIdx=0;
bio(7).dim=[1,1];
bio(7).sigWidth=1;
bio(7).sigAddress='&DMC_system_demo_B.Gain_a';

bio(8).blkName='Reference and Feedforward/Fourth Order P2P GUI/Gain1';
bio(8).sigName='';
bio(8).portIdx=0;
bio(8).dim=[1,1];
bio(8).sigWidth=1;
bio(8).sigAddress='&DMC_system_demo_B.Gain1';

bio(9).blkName='Reference and Feedforward/Fourth Order P2P GUI/only >0';
bio(9).sigName='';
bio(9).portIdx=0;
bio(9).dim=[5,1];
bio(9).sigWidth=5;
bio(9).sigAddress='&DMC_system_demo_B.only0[0]';

bio(10).blkName='Tunable Controller/Manual Switch/SwitchControl';
bio(10).sigName='';
bio(10).portIdx=0;
bio(10).dim=[1,1];
bio(10).sigWidth=1;
bio(10).sigAddress='&DMC_system_demo_B.SwitchControl_b';

bio(11).blkName='Plant/Rapid Prototyping/Conditioning and Scaling/Encoder 1 Position [rad]';
bio(11).sigName='';
bio(11).portIdx=0;
bio(11).dim=[1,1];
bio(11).sigWidth=1;
bio(11).sigAddress='&DMC_system_demo_B.Encoder1Positionrad';

bio(12).blkName='Plant/Rapid Prototyping/Conditioning and Scaling/Encoder 2 Position [rad]';
bio(12).sigName='';
bio(12).portIdx=0;
bio(12).dim=[1,1];
bio(12).sigWidth=1;
bio(12).sigAddress='&DMC_system_demo_B.Encoder2Positionrad';

bio(13).blkName='Plant/Rapid Prototyping/Conditioning and Scaling/Sum2';
bio(13).sigName='';
bio(13).portIdx=0;
bio(13).dim=[1,1];
bio(13).sigWidth=1;
bio(13).sigAddress='&DMC_system_demo_B.Sum2';

bio(14).blkName='Plant/Rapid Prototyping/Conditioning and Scaling/Sum3';
bio(14).sigName='';
bio(14).portIdx=0;
bio(14).dim=[1,1];
bio(14).sigWidth=1;
bio(14).sigAddress='&DMC_system_demo_B.Sum3';

bio(15).blkName='Reference and Feedforward/Fourth Order P2P GUI/FFactive/In1';
bio(15).sigName='';
bio(15).portIdx=0;
bio(15).dim=[1,1];
bio(15).sigWidth=1;
bio(15).sigAddress='&DMC_system_demo_B.In1';

bio(16).blkName='Reference and Feedforward/Fourth Order P2P GUI/Generate Feedforward/acceleration';
bio(16).sigName='';
bio(16).portIdx=0;
bio(16).dim=[1,1];
bio(16).sigWidth=1;
bio(16).sigAddress='&DMC_system_demo_B.acceleration';

bio(17).blkName='Reference and Feedforward/Fourth Order P2P GUI/Generate Feedforward/jerk';
bio(17).sigName='';
bio(17).portIdx=0;
bio(17).dim=[1,1];
bio(17).sigWidth=1;
bio(17).sigAddress='&DMC_system_demo_B.jerk';

bio(18).blkName='Reference and Feedforward/Fourth Order P2P GUI/Generate Feedforward/position';
bio(18).sigName='';
bio(18).portIdx=0;
bio(18).dim=[1,1];
bio(18).sigWidth=1;
bio(18).sigAddress='&DMC_system_demo_B.position';

bio(19).blkName='Reference and Feedforward/Fourth Order P2P GUI/Generate Feedforward/velocity';
bio(19).sigName='';
bio(19).portIdx=0;
bio(19).dim=[1,1];
bio(19).sigWidth=1;
bio(19).sigAddress='&DMC_system_demo_B.velocity';

bio(20).blkName='Reference and Feedforward/Fourth Order P2P GUI/Generate Feedforward/(2-k//b12*Ts)//(2+k//b12*Ts)';
bio(20).sigName='';
bio(20).portIdx=0;
bio(20).dim=[1,1];
bio(20).sigWidth=1;
bio(20).sigAddress='&DMC_system_demo_B.ukb12Ts2kb12Ts';

bio(21).blkName='Reference and Feedforward/Fourth Order P2P GUI/Generate Feedforward/(2-k//b12*Ts)//(2+k//b12*Ts) copy';
bio(21).sigName='';
bio(21).portIdx=0;
bio(21).dim=[1,1];
bio(21).sigWidth=1;
bio(21).sigAddress='&DMC_system_demo_B.ukb12Ts2kb12Tscopy';

bio(22).blkName='Reference and Feedforward/Fourth Order P2P GUI/Generate Feedforward/(J1+J2)*b12+J1*b2+J2*b1';
bio(22).sigName='';
bio(22).portIdx=0;
bio(22).dim=[1,1];
bio(22).sigWidth=1;
bio(22).sigAddress='&DMC_system_demo_B.J1J2b12J1b2J2b1';

bio(23).blkName='Reference and Feedforward/Fourth Order P2P GUI/Generate Feedforward/(J1+J2)*k+b1*b2+(b1+b2)*b12';
bio(23).sigName='';
bio(23).portIdx=0;
bio(23).dim=[1,1];
bio(23).sigWidth=1;
bio(23).sigAddress='&DMC_system_demo_B.J1J2kb1b2b1b2b12';

bio(24).blkName='Reference and Feedforward/Fourth Order P2P GUI/Generate Feedforward/(b1+b2)*k';
bio(24).sigName='';
bio(24).portIdx=0;
bio(24).dim=[1,1];
bio(24).sigWidth=1;
bio(24).sigAddress='&DMC_system_demo_B.b1b2k';

bio(25).blkName='Reference and Feedforward/Fourth Order P2P GUI/Generate Feedforward/1//b12*Ts//(2+k//b12*Ts)';
bio(25).sigName='';
bio(25).portIdx=0;
bio(25).dim=[1,1];
bio(25).sigWidth=1;
bio(25).sigAddress='&DMC_system_demo_B.b12Ts2kb12Ts';

bio(26).blkName='Reference and Feedforward/Fourth Order P2P GUI/Generate Feedforward/1//b12*Ts//(2+k//b12*Ts)  copy';
bio(26).sigName='';
bio(26).portIdx=0;
bio(26).dim=[1,1];
bio(26).sigWidth=1;
bio(26).sigAddress='&DMC_system_demo_B.b12Ts2kb12Tscopy';

bio(27).blkName='Reference and Feedforward/Fourth Order P2P GUI/Generate Feedforward/1//k';
bio(27).sigName='';
bio(27).portIdx=0;
bio(27).dim=[1,1];
bio(27).sigWidth=1;
bio(27).sigAddress='&DMC_system_demo_B.k_p';

bio(28).blkName='Reference and Feedforward/Fourth Order P2P GUI/Generate Feedforward/J1*J2';
bio(28).sigName='';
bio(28).portIdx=0;
bio(28).dim=[1,1];
bio(28).sigWidth=1;
bio(28).sigAddress='&DMC_system_demo_B.J1J2';

bio(29).blkName='Reference and Feedforward/Fourth Order P2P GUI/Generate Feedforward/J2';
bio(29).sigName='';
bio(29).portIdx=0;
bio(29).dim=[1,1];
bio(29).sigWidth=1;
bio(29).sigAddress='&DMC_system_demo_B.J2';

bio(30).blkName='Reference and Feedforward/Fourth Order P2P GUI/Generate Feedforward/RB: (J1+J2)*k';
bio(30).sigName='';
bio(30).portIdx=0;
bio(30).dim=[1,1];
bio(30).sigWidth=1;
bio(30).sigAddress='&DMC_system_demo_B.RBJ1J2k';

bio(31).blkName='Reference and Feedforward/Fourth Order P2P GUI/Generate Feedforward/RB: (b1+b2)*k';
bio(31).sigName='';
bio(31).portIdx=0;
bio(31).dim=[1,1];
bio(31).sigWidth=1;
bio(31).sigAddress='&DMC_system_demo_B.RBb1b2k';

bio(32).blkName='Reference and Feedforward/Fourth Order P2P GUI/Generate Feedforward/RB: tune a';
bio(32).sigName='';
bio(32).portIdx=0;
bio(32).dim=[1,1];
bio(32).sigWidth=1;
bio(32).sigAddress='&DMC_system_demo_B.RBtunea';

bio(33).blkName='Reference and Feedforward/Fourth Order P2P GUI/Generate Feedforward/RB: tune v';
bio(33).sigName='';
bio(33).portIdx=0;
bio(33).dim=[1,1];
bio(33).sigWidth=1;
bio(33).sigAddress='&DMC_system_demo_B.RBtunev';

bio(34).blkName='Reference and Feedforward/Fourth Order P2P GUI/Generate Feedforward/b2+b12';
bio(34).sigName='';
bio(34).portIdx=0;
bio(34).dim=[1,1];
bio(34).sigWidth=1;
bio(34).sigAddress='&DMC_system_demo_B.b2b12';

bio(35).blkName='Reference and Feedforward/Fourth Order P2P GUI/Generate Feedforward/dry friction compensation';
bio(35).sigName='';
bio(35).portIdx=0;
bio(35).dim=[1,1];
bio(35).sigWidth=1;
bio(35).sigAddress='&DMC_system_demo_B.dryfrictioncompensation';

bio(36).blkName='Reference and Feedforward/Fourth Order P2P GUI/Generate Feedforward/k';
bio(36).sigName='';
bio(36).portIdx=0;
bio(36).dim=[1,1];
bio(36).sigWidth=1;
bio(36).sigAddress='&DMC_system_demo_B.k';

bio(37).blkName='Reference and Feedforward/Fourth Order P2P GUI/Generate Feedforward/tune a';
bio(37).sigName='';
bio(37).portIdx=0;
bio(37).dim=[1,1];
bio(37).sigWidth=1;
bio(37).sigAddress='&DMC_system_demo_B.tunea';

bio(38).blkName='Reference and Feedforward/Fourth Order P2P GUI/Generate Feedforward/tune ax1';
bio(38).sigName='';
bio(38).portIdx=0;
bio(38).dim=[1,1];
bio(38).sigWidth=1;
bio(38).sigAddress='&DMC_system_demo_B.tuneax1';

bio(39).blkName='Reference and Feedforward/Fourth Order P2P GUI/Generate Feedforward/tune d';
bio(39).sigName='';
bio(39).portIdx=0;
bio(39).dim=[1,1];
bio(39).sigWidth=1;
bio(39).sigAddress='&DMC_system_demo_B.tuned';

bio(40).blkName='Reference and Feedforward/Fourth Order P2P GUI/Generate Feedforward/tune j';
bio(40).sigName='';
bio(40).portIdx=0;
bio(40).dim=[1,1];
bio(40).sigWidth=1;
bio(40).sigAddress='&DMC_system_demo_B.tunej';

bio(41).blkName='Reference and Feedforward/Fourth Order P2P GUI/Generate Feedforward/tune v';
bio(41).sigName='';
bio(41).portIdx=0;
bio(41).dim=[1,1];
bio(41).sigWidth=1;
bio(41).sigAddress='&DMC_system_demo_B.tunev';

bio(42).blkName='Reference and Feedforward/Fourth Order P2P GUI/Generate Feedforward/tune vx1';
bio(42).sigName='';
bio(42).portIdx=0;
bio(42).dim=[1,1];
bio(42).sigWidth=1;
bio(42).sigAddress='&DMC_system_demo_B.tunevx1';

bio(43).blkName='Reference and Feedforward/Fourth Order P2P GUI/Generate Feedforward/Logical Operator';
bio(43).sigName='';
bio(43).portIdx=0;
bio(43).dim=[1,1];
bio(43).sigWidth=1;
bio(43).sigAddress='&DMC_system_demo_B.LogicalOperator';

bio(44).blkName='Reference and Feedforward/Fourth Order P2P GUI/Generate Feedforward/Sign';
bio(44).sigName='';
bio(44).portIdx=0;
bio(44).dim=[1,1];
bio(44).sigWidth=1;
bio(44).sigAddress='&DMC_system_demo_B.Sign';

bio(45).blkName='Reference and Feedforward/Fourth Order P2P GUI/Generate Feedforward/Sum1';
bio(45).sigName='';
bio(45).portIdx=0;
bio(45).dim=[1,1];
bio(45).sigWidth=1;
bio(45).sigAddress='&DMC_system_demo_B.Sum1_i';

bio(46).blkName='Reference and Feedforward/Fourth Order P2P GUI/Generate Feedforward/Sum2';
bio(46).sigName='';
bio(46).portIdx=0;
bio(46).dim=[1,1];
bio(46).sigWidth=1;
bio(46).sigAddress='&DMC_system_demo_B.Sum2_i';

bio(47).blkName='Reference and Feedforward/Fourth Order P2P GUI/Generate Feedforward/Sum3';
bio(47).sigName='';
bio(47).portIdx=0;
bio(47).dim=[1,1];
bio(47).sigWidth=1;
bio(47).sigAddress='&DMC_system_demo_B.Sum3_l';

bio(48).blkName='Reference and Feedforward/Fourth Order P2P GUI/Generate Feedforward/Sum4';
bio(48).sigName='';
bio(48).portIdx=0;
bio(48).dim=[1,1];
bio(48).sigWidth=1;
bio(48).sigAddress='&DMC_system_demo_B.Sum4';

bio(49).blkName='Reference and Feedforward/Fourth Order P2P GUI/Generate Feedforward/Sum5';
bio(49).sigName='';
bio(49).portIdx=0;
bio(49).dim=[1,1];
bio(49).sigWidth=1;
bio(49).sigAddress='&DMC_system_demo_B.Sum5';

bio(50).blkName='Reference and Feedforward/Fourth Order P2P GUI/Generate Feedforward/Sum6';
bio(50).sigName='';
bio(50).portIdx=0;
bio(50).dim=[1,1];
bio(50).sigWidth=1;
bio(50).sigAddress='&DMC_system_demo_B.Sum6';

bio(51).blkName='Reference and Feedforward/Fourth Order P2P GUI/Generate Feedforward/Sum7';
bio(51).sigName='';
bio(51).portIdx=0;
bio(51).dim=[1,1];
bio(51).sigWidth=1;
bio(51).sigAddress='&DMC_system_demo_B.Sum7';

bio(52).blkName='Reference and Feedforward/Fourth Order P2P GUI/Generate Feedforward/Sum8';
bio(52).sigName='';
bio(52).portIdx=0;
bio(52).dim=[1,1];
bio(52).sigWidth=1;
bio(52).sigAddress='&DMC_system_demo_B.Sum8';

bio(53).blkName='Reference and Feedforward/Fourth Order P2P GUI/Generate Feedforward/Sum9';
bio(53).sigName='';
bio(53).portIdx=0;
bio(53).dim=[1,1];
bio(53).sigWidth=1;
bio(53).sigAddress='&DMC_system_demo_B.Sum9';

bio(54).blkName='Reference and Feedforward/Fourth Order P2P GUI/Generate Feedforward/Switch16';
bio(54).sigName='';
bio(54).portIdx=0;
bio(54).dim=[1,1];
bio(54).sigWidth=1;
bio(54).sigAddress='&DMC_system_demo_B.Switch16';

bio(55).blkName='Reference and Feedforward/Fourth Order P2P GUI/Generate Feedforward/Switch17';
bio(55).sigName='';
bio(55).portIdx=0;
bio(55).dim=[1,1];
bio(55).sigWidth=1;
bio(55).sigAddress='&DMC_system_demo_B.Switch17';

bio(56).blkName='Reference and Feedforward/Fourth Order P2P GUI/Generate Feedforward/Unit Delay';
bio(56).sigName='';
bio(56).portIdx=0;
bio(56).dim=[1,1];
bio(56).sigWidth=1;
bio(56).sigAddress='&DMC_system_demo_B.UnitDelay_b';

bio(57).blkName='Reference and Feedforward/Fourth Order P2P GUI/Generate Feedforward/Unit Delay1';
bio(57).sigName='';
bio(57).portIdx=0;
bio(57).dim=[1,1];
bio(57).sigWidth=1;
bio(57).sigAddress='&DMC_system_demo_B.UnitDelay1';

bio(58).blkName='Reference and Feedforward/Fourth Order P2P GUI/Generate Feedforward/Unit Delay2';
bio(58).sigName='';
bio(58).portIdx=0;
bio(58).dim=[1,1];
bio(58).sigWidth=1;
bio(58).sigAddress='&DMC_system_demo_B.UnitDelay2';

bio(59).blkName='Reference and Feedforward/Fourth Order P2P GUI/Generate Feedforward/Unit Delay3';
bio(59).sigName='';
bio(59).portIdx=0;
bio(59).dim=[1,1];
bio(59).sigWidth=1;
bio(59).sigAddress='&DMC_system_demo_B.UnitDelay3';

bio(60).blkName='Reference and Feedforward/Fourth Order P2P GUI/Generate Feedforward/Unit Delay4';
bio(60).sigName='';
bio(60).portIdx=0;
bio(60).dim=[1,1];
bio(60).sigWidth=1;
bio(60).sigAddress='&DMC_system_demo_B.UnitDelay4';

bio(61).blkName='Reference and Feedforward/Fourth Order P2P GUI/Generate Feedforward/Unit Delay5';
bio(61).sigName='';
bio(61).portIdx=0;
bio(61).dim=[1,1];
bio(61).sigWidth=1;
bio(61).sigAddress='&DMC_system_demo_B.UnitDelay5';

bio(62).blkName='Reference and Feedforward/Fourth Order P2P GUI/Generate Feedforward/ZOH';
bio(62).sigName='derivative of jerk';
bio(62).portIdx=0;
bio(62).dim=[1,1];
bio(62).sigWidth=1;
bio(62).sigAddress='&DMC_system_demo_B.derivativeofjerk';

bio(63).blkName='Reference and Feedforward/Fourth Order P2P GUI/Generate Profile/Move Control/p1';
bio(63).sigName='Move';
bio(63).portIdx=0;
bio(63).dim=[1,1];
bio(63).sigWidth=1;
bio(63).sigAddress='&DMC_system_demo_B.Move';

bio(64).blkName='Reference and Feedforward/Fourth Order P2P GUI/Generate Profile/Move Control/p2';
bio(64).sigName='Dir';
bio(64).portIdx=1;
bio(64).dim=[1,1];
bio(64).sigWidth=1;
bio(64).sigAddress='&DMC_system_demo_B.Dir';

bio(65).blkName='Reference and Feedforward/Fourth Order P2P GUI/Generate Profile/Move Control/p3';
bio(65).sigName='Plan';
bio(65).portIdx=2;
bio(65).dim=[1,1];
bio(65).sigWidth=1;
bio(65).sigAddress='&DMC_system_demo_B.Plan';

bio(66).blkName='Reference and Feedforward/Fourth Order P2P GUI/Generate Profile/Memory1';
bio(66).sigName='Ready';
bio(66).portIdx=0;
bio(66).dim=[1,1];
bio(66).sigWidth=1;
bio(66).sigAddress='&DMC_system_demo_B.Ready';

bio(67).blkName='Reference and Feedforward/Fourth Order P2P GUI/Generate Profile/Memory2';
bio(67).sigName='AllowMove';
bio(67).portIdx=0;
bio(67).dim=[1,1];
bio(67).sigWidth=1;
bio(67).sigAddress='&DMC_system_demo_B.AllowMove';

bio(68).blkName='Reference and Feedforward/Fourth Order P2P GUI/Generate Profile/Memory3';
bio(68).sigName='';
bio(68).portIdx=0;
bio(68).dim=[1,1];
bio(68).sigWidth=1;
bio(68).sigAddress='&DMC_system_demo_B.Memory3_j';

bio(69).blkName='Reference and Feedforward/Fourth Order P2P GUI/Generate Profile/Memory6';
bio(69).sigName='';
bio(69).portIdx=0;
bio(69).dim=[1,1];
bio(69).sigWidth=1;
bio(69).sigAddress='&DMC_system_demo_B.Memory6';

bio(70).blkName='Reference and Feedforward/Fourth Order P2P GUI/Generate Profile/Product';
bio(70).sigName='';
bio(70).portIdx=0;
bio(70).dim=[1,1];
bio(70).sigWidth=1;
bio(70).sigAddress='&DMC_system_demo_B.Product';

bio(71).blkName='Reference and Feedforward/Fourth Order P2P GUI/Generate Profile/Sum1';
bio(71).sigName='RequestMove';
bio(71).portIdx=0;
bio(71).dim=[1,1];
bio(71).sigWidth=1;
bio(71).sigAddress='&DMC_system_demo_B.RequestMove';

bio(72).blkName='Reference and Feedforward/Fourth Order P2P GUI/Generate Profile/Switch';
bio(72).sigName='';
bio(72).portIdx=0;
bio(72).dim=[1,1];
bio(72).sigWidth=1;
bio(72).sigAddress='&DMC_system_demo_B.Switch';

bio(73).blkName='Reference and Feedforward/Fourth Order P2P GUI/Plan Trajectory/Embedded MATLAB Function/p1';
bio(73).sigName='t';
bio(73).portIdx=0;
bio(73).dim=[4,1];
bio(73).sigWidth=4;
bio(73).sigAddress='&DMC_system_demo_B.t[0]';

bio(74).blkName='Reference and Feedforward/Fourth Order P2P GUI/Plan Trajectory/Embedded MATLAB Function/p2';
bio(74).sigName='dd';
bio(74).portIdx=1;
bio(74).dim=[1,1];
bio(74).sigWidth=1;
bio(74).sigAddress='&DMC_system_demo_B.dd';

bio(75).blkName='Tunable Controller/Feedback Controller/Tuned 10Hz/Gain';
bio(75).sigName='';
bio(75).portIdx=0;
bio(75).dim=[1,1];
bio(75).sigWidth=1;
bio(75).sigAddress='&DMC_system_demo_B.Gain';

bio(76).blkName='Plant/Rapid Prototyping/Conditioning and Scaling/Manual Switch1/SwitchControl';
bio(76).sigName='';
bio(76).portIdx=0;
bio(76).dim=[1,1];
bio(76).sigWidth=1;
bio(76).sigAddress='&DMC_system_demo_B.SwitchControl';

bio(77).blkName='Plant/Rapid Prototyping/Conditioning and Scaling/Manual Switch2/SwitchControl';
bio(77).sigName='';
bio(77).portIdx=0;
bio(77).dim=[1,1];
bio(77).sigWidth=1;
bio(77).sigAddress='&DMC_system_demo_B.SwitchControl_l';

bio(78).blkName='Plant/Rapid Prototyping/Conditioning and Scaling/peak removal/Peak removal';
bio(78).sigName='y';
bio(78).portIdx=0;
bio(78).dim=[1,2];
bio(78).sigWidth=2;
bio(78).sigAddress='&DMC_system_demo_B.y[0]';

bio(79).blkName='Plant/Rapid Prototyping/Conditioning and Scaling/peak removal/Sum1';
bio(79).sigName='';
bio(79).portIdx=0;
bio(79).dim=[1,1];
bio(79).sigWidth=1;
bio(79).sigAddress='&DMC_system_demo_B.Sum1_a4';

bio(80).blkName='Plant/Rapid Prototyping/Conditioning and Scaling/unwrapper 1/Abs';
bio(80).sigName='';
bio(80).portIdx=0;
bio(80).dim=[1,1];
bio(80).sigWidth=1;
bio(80).sigAddress='&DMC_system_demo_B.Abs';

bio(81).blkName='Plant/Rapid Prototyping/Conditioning and Scaling/unwrapper 1/Memory';
bio(81).sigName='';
bio(81).portIdx=0;
bio(81).dim=[1,1];
bio(81).sigWidth=1;
bio(81).sigAddress='&DMC_system_demo_B.Memory';

bio(82).blkName='Plant/Rapid Prototyping/Conditioning and Scaling/unwrapper 1/Relational Operator';
bio(82).sigName='';
bio(82).portIdx=0;
bio(82).dim=[1,1];
bio(82).sigWidth=1;
bio(82).sigAddress='&DMC_system_demo_B.RelationalOperator';

bio(83).blkName='Plant/Rapid Prototyping/Conditioning and Scaling/unwrapper 1/Sum';
bio(83).sigName='';
bio(83).portIdx=0;
bio(83).dim=[1,1];
bio(83).sigWidth=1;
bio(83).sigAddress='&DMC_system_demo_B.Sum';

bio(84).blkName='Plant/Rapid Prototyping/Conditioning and Scaling/unwrapper 1/Sum1';
bio(84).sigName='';
bio(84).portIdx=0;
bio(84).dim=[1,1];
bio(84).sigWidth=1;
bio(84).sigAddress='&DMC_system_demo_B.Sum1';

bio(85).blkName='Plant/Rapid Prototyping/Conditioning and Scaling/unwrapper 2/Abs';
bio(85).sigName='';
bio(85).portIdx=0;
bio(85).dim=[1,1];
bio(85).sigWidth=1;
bio(85).sigAddress='&DMC_system_demo_B.Abs_b';

bio(86).blkName='Plant/Rapid Prototyping/Conditioning and Scaling/unwrapper 2/Memory';
bio(86).sigName='';
bio(86).portIdx=0;
bio(86).dim=[1,1];
bio(86).sigWidth=1;
bio(86).sigAddress='&DMC_system_demo_B.Memory_i';

bio(87).blkName='Plant/Rapid Prototyping/Conditioning and Scaling/unwrapper 2/Relational Operator';
bio(87).sigName='';
bio(87).portIdx=0;
bio(87).dim=[1,1];
bio(87).sigWidth=1;
bio(87).sigAddress='&DMC_system_demo_B.RelationalOperator_m';

bio(88).blkName='Plant/Rapid Prototyping/Conditioning and Scaling/unwrapper 2/Sum';
bio(88).sigName='';
bio(88).portIdx=0;
bio(88).dim=[1,1];
bio(88).sigWidth=1;
bio(88).sigAddress='&DMC_system_demo_B.Sum_j';

bio(89).blkName='Plant/Rapid Prototyping/Conditioning and Scaling/unwrapper 2/Sum1';
bio(89).sigName='';
bio(89).portIdx=0;
bio(89).dim=[1,1];
bio(89).sigWidth=1;
bio(89).sigAddress='&DMC_system_demo_B.Sum1_a';

bio(90).blkName='Reference and Feedforward/Fourth Order P2P GUI/Generate Feedforward/Discrete variable delay1/1-alpha';
bio(90).sigName='';
bio(90).portIdx=0;
bio(90).dim=[1,1];
bio(90).sigWidth=1;
bio(90).sigAddress='&DMC_system_demo_B.alpha_b';

bio(91).blkName='Reference and Feedforward/Fourth Order P2P GUI/Generate Feedforward/Discrete variable delay1/Sum1';
bio(91).sigName='';
bio(91).portIdx=0;
bio(91).dim=[1,1];
bio(91).sigWidth=1;
bio(91).sigAddress='&DMC_system_demo_B.Sum1_d';

bio(92).blkName='Reference and Feedforward/Fourth Order P2P GUI/Generate Feedforward/Discrete variable delay1/Sum2';
bio(92).sigName='';
bio(92).portIdx=0;
bio(92).dim=[1,1];
bio(92).sigWidth=1;
bio(92).sigAddress='&DMC_system_demo_B.Sum2_p';

bio(93).blkName='Reference and Feedforward/Fourth Order P2P GUI/Generate Feedforward/Discrete variable delay1/Unit Delay';
bio(93).sigName='';
bio(93).portIdx=0;
bio(93).dim=[1,1];
bio(93).sigWidth=1;
bio(93).sigAddress='&DMC_system_demo_B.UnitDelay_n';

bio(94).blkName='Reference and Feedforward/Fourth Order P2P GUI/Generate Feedforward/Discrete variable delay2/1-alpha';
bio(94).sigName='';
bio(94).portIdx=0;
bio(94).dim=[1,1];
bio(94).sigWidth=1;
bio(94).sigAddress='&DMC_system_demo_B.alpha';

bio(95).blkName='Reference and Feedforward/Fourth Order P2P GUI/Generate Feedforward/Discrete variable delay2/Sum1';
bio(95).sigName='';
bio(95).portIdx=0;
bio(95).dim=[1,1];
bio(95).sigWidth=1;
bio(95).sigAddress='&DMC_system_demo_B.Sum1_b';

bio(96).blkName='Reference and Feedforward/Fourth Order P2P GUI/Generate Feedforward/Discrete variable delay2/Sum2';
bio(96).sigName='';
bio(96).portIdx=0;
bio(96).dim=[1,1];
bio(96).sigWidth=1;
bio(96).sigAddress='&DMC_system_demo_B.Sum2_c';

bio(97).blkName='Reference and Feedforward/Fourth Order P2P GUI/Generate Feedforward/Discrete variable delay2/Unit Delay';
bio(97).sigName='';
bio(97).portIdx=0;
bio(97).dim=[1,1];
bio(97).sigWidth=1;
bio(97).sigAddress='&DMC_system_demo_B.UnitDelay';

bio(98).blkName='Reference and Feedforward/Fourth Order P2P GUI/Generate Feedforward/Discrete variable delay4/1-alpha';
bio(98).sigName='';
bio(98).portIdx=0;
bio(98).dim=[1,1];
bio(98).sigWidth=1;
bio(98).sigAddress='&DMC_system_demo_B.alpha_k';

bio(99).blkName='Reference and Feedforward/Fourth Order P2P GUI/Generate Feedforward/Discrete variable delay4/Sum1';
bio(99).sigName='';
bio(99).portIdx=0;
bio(99).dim=[1,1];
bio(99).sigWidth=1;
bio(99).sigAddress='&DMC_system_demo_B.Sum1_h';

bio(100).blkName='Reference and Feedforward/Fourth Order P2P GUI/Generate Feedforward/Discrete variable delay4/Sum2';
bio(100).sigName='';
bio(100).portIdx=0;
bio(100).dim=[1,1];
bio(100).sigWidth=1;
bio(100).sigAddress='&DMC_system_demo_B.Sum2_c2';

bio(101).blkName='Reference and Feedforward/Fourth Order P2P GUI/Generate Feedforward/Discrete variable delay4/Unit Delay';
bio(101).sigName='';
bio(101).portIdx=0;
bio(101).dim=[1,1];
bio(101).sigWidth=1;
bio(101).sigAddress='&DMC_system_demo_B.UnitDelay_c';

bio(102).blkName='Reference and Feedforward/Fourth Order P2P GUI/Generate Profile/detect/Abs';
bio(102).sigName='';
bio(102).portIdx=0;
bio(102).dim=[1,1];
bio(102).sigWidth=1;
bio(102).sigAddress='&DMC_system_demo_B.Abs_a';

bio(103).blkName='Reference and Feedforward/Fourth Order P2P GUI/Generate Profile/detect/Memory3';
bio(103).sigName='';
bio(103).portIdx=0;
bio(103).dim=[1,1];
bio(103).sigWidth=1;
bio(103).sigAddress='&DMC_system_demo_B.Memory3';

bio(104).blkName='Reference and Feedforward/Fourth Order P2P GUI/Generate Profile/detect/Sum2';
bio(104).sigName='';
bio(104).portIdx=0;
bio(104).dim=[1,1];
bio(104).sigWidth=1;
bio(104).sigAddress='&DMC_system_demo_B.Sum2_g';

bio(105).blkName='Reference and Feedforward/Fourth Order P2P GUI/Generate Profile/djerk profile calculation/Calculate Switch Times';
bio(105).sigName='T';
bio(105).portIdx=0;
bio(105).dim=[17,1];
bio(105).sigWidth=17;
bio(105).sigAddress='&DMC_system_demo_B.T[0]';

bio(106).blkName='Reference and Feedforward/Fourth Order P2P GUI/Generate Profile/djerk profile calculation/Discrete-Time Integrator';
bio(106).sigName='Move Time';
bio(106).portIdx=0;
bio(106).dim=[1,1];
bio(106).sigWidth=1;
bio(106).sigAddress='&DMC_system_demo_B.MoveTime';

bio(107).blkName='Reference and Feedforward/Fourth Order P2P GUI/Generate Profile/djerk profile calculation/djerk sequence';
bio(107).sigName='';
bio(107).portIdx=0;
bio(107).dim=[17,1];
bio(107).sigWidth=17;
bio(107).sigAddress='&DMC_system_demo_B.djerksequence[0]';

bio(108).blkName='Reference and Feedforward/Fourth Order P2P GUI/Generate Profile/djerk profile calculation/Settling//Move switch';
bio(108).sigName='';
bio(108).portIdx=0;
bio(108).dim=[1,1];
bio(108).sigWidth=1;
bio(108).sigAddress='&DMC_system_demo_B.SettlingMoveswitch';

bio(109).blkName='Reference and Feedforward/Fourth Order P2P GUI/Generate Profile/djerk profile calculation/Relational Operator1';
bio(109).sigName='';
bio(109).portIdx=0;
bio(109).dim=[1,1];
bio(109).sigWidth=1;
bio(109).sigAddress='&DMC_system_demo_B.RelationalOperator1';

bio(110).blkName='Reference and Feedforward/Fourth Order P2P GUI/Generate Profile/djerk profile calculation/Relational Operator16';
bio(110).sigName='';
bio(110).portIdx=0;
bio(110).dim=[1,1];
bio(110).sigWidth=1;
bio(110).sigAddress='&DMC_system_demo_B.RelationalOperator16';

bio(111).blkName='Reference and Feedforward/Fourth Order P2P GUI/Generate Profile/djerk profile calculation/Lookup Table Dynamic';
bio(111).sigName='';
bio(111).portIdx=0;
bio(111).dim=[1,1];
bio(111).sigWidth=1;
bio(111).sigAddress='&DMC_system_demo_B.LookupTableDynamic';

bio(112).blkName='Reference and Feedforward/Fourth Order P2P GUI/Generate Profile/djerk profile calculation/Sum2';
bio(112).sigName='';
bio(112).portIdx=0;
bio(112).dim=[1,1];
bio(112).sigWidth=1;
bio(112).sigAddress='&DMC_system_demo_B.Sum2_m';

bio(113).blkName='Reference and Feedforward/Fourth Order P2P GUI/Generate Profile/djerk profile calculation/Switch';
bio(113).sigName='';
bio(113).portIdx=0;
bio(113).dim=[1,1];
bio(113).sigWidth=1;
bio(113).sigAddress='&DMC_system_demo_B.Switch_m';

bio(114).blkName='Tunable Controller/Feedback Controller/Tuned 10Hz/Leadlag/Discrete Transfer Fcn';
bio(114).sigName='';
bio(114).portIdx=0;
bio(114).dim=[1,1];
bio(114).sigWidth=1;
bio(114).sigAddress='&DMC_system_demo_B.DiscreteTransferFcn';

bio(115).blkName='Tunable Controller/Feedback Controller/Tuned 10Hz/Notch/Discrete Transfer Fcn';
bio(115).sigName='';
bio(115).portIdx=0;
bio(115).dim=[1,1];
bio(115).sigWidth=1;
bio(115).sigAddress='&DMC_system_demo_B.DiscreteTransferFcn_k';

bio(116).blkName='Plant/Rapid Prototyping/Conditioning and Scaling/unwrapper 1/Subsystem/Memory';
bio(116).sigName='';
bio(116).portIdx=0;
bio(116).dim=[1,1];
bio(116).sigWidth=1;
bio(116).sigAddress='&DMC_system_demo_B.Subsystem.Memory';

bio(117).blkName='Plant/Rapid Prototyping/Conditioning and Scaling/unwrapper 1/Subsystem/Product';
bio(117).sigName='';
bio(117).portIdx=0;
bio(117).dim=[1,1];
bio(117).sigWidth=1;
bio(117).sigAddress='&DMC_system_demo_B.Subsystem.Product';

bio(118).blkName='Plant/Rapid Prototyping/Conditioning and Scaling/unwrapper 1/Subsystem/Sign';
bio(118).sigName='';
bio(118).portIdx=0;
bio(118).dim=[1,1];
bio(118).sigWidth=1;
bio(118).sigAddress='&DMC_system_demo_B.Subsystem.Sign';

bio(119).blkName='Plant/Rapid Prototyping/Conditioning and Scaling/unwrapper 1/Subsystem/Sum1';
bio(119).sigName='';
bio(119).portIdx=0;
bio(119).dim=[1,1];
bio(119).sigWidth=1;
bio(119).sigAddress='&DMC_system_demo_B.Subsystem.Sum1';

bio(120).blkName='Plant/Rapid Prototyping/Conditioning and Scaling/unwrapper 2/Subsystem/Sum1';
bio(120).sigName='';
bio(120).portIdx=0;
bio(120).dim=[1,1];
bio(120).sigWidth=1;
bio(120).sigAddress='&DMC_system_demo_B.Subsystem_j.Sum1';

function len = getlenBIO
len = 120;

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