from
Motion Control Demo
by Paul Lambrechts
Model Based Design Demonstration Based on a Motion Control Case Study
|
| pt=DMC_system_demopt
|
function pt=DMC_system_demopt
pt = [];
pt(1).blockname = 'Tunable Controller/Constant';
pt(1).paramname = 'Value';
pt(1).class = 'scalar';
pt(1).nrows = 1;
pt(1).ncols = 1;
pt(1).subsource = 'SS_DOUBLE';
pt(getlenPT) = pt(1);
pt(2).blockname = 'Tunable Controller/Convert to Voltage Ref for Current Loop';
pt(2).paramname = 'Gain';
pt(2).class = 'scalar';
pt(2).nrows = 1;
pt(2).ncols = 1;
pt(2).subsource = 'SS_DOUBLE';
pt(3).blockname = 'Plant/Rapid Prototyping/Saturation';
pt(3).paramname = 'UpperLimit';
pt(3).class = 'scalar';
pt(3).nrows = 1;
pt(3).ncols = 1;
pt(3).subsource = 'SS_DOUBLE';
pt(4).blockname = 'Plant/Rapid Prototyping/Saturation';
pt(4).paramname = 'LowerLimit';
pt(4).class = 'scalar';
pt(4).nrows = 1;
pt(4).ncols = 1;
pt(4).subsource = 'SS_DOUBLE';
pt(5).blockname = 'Plant/Rapid Prototyping/D//A';
pt(5).paramname = 'P1';
pt(5).class = 'scalar';
pt(5).nrows = 1;
pt(5).ncols = 1;
pt(5).subsource = 'SS_DOUBLE';
pt(6).blockname = 'Plant/Rapid Prototyping/D//A';
pt(6).paramname = 'P2';
pt(6).class = 'scalar';
pt(6).nrows = 1;
pt(6).ncols = 1;
pt(6).subsource = 'SS_DOUBLE';
pt(7).blockname = 'Plant/Rapid Prototyping/D//A';
pt(7).paramname = 'P3';
pt(7).class = 'scalar';
pt(7).nrows = 1;
pt(7).ncols = 1;
pt(7).subsource = 'SS_DOUBLE';
pt(8).blockname = 'Plant/Rapid Prototyping/D//A';
pt(8).paramname = 'P4';
pt(8).class = 'scalar';
pt(8).nrows = 1;
pt(8).ncols = 1;
pt(8).subsource = 'SS_DOUBLE';
pt(9).blockname = 'Plant/Rapid Prototyping/D//A';
pt(9).paramname = 'P5';
pt(9).class = 'scalar';
pt(9).nrows = 1;
pt(9).ncols = 1;
pt(9).subsource = 'SS_DOUBLE';
pt(10).blockname = 'Plant/Rapid Prototyping/D//A';
pt(10).paramname = 'P6';
pt(10).class = 'scalar';
pt(10).nrows = 1;
pt(10).ncols = 1;
pt(10).subsource = 'SS_DOUBLE';
pt(11).blockname = 'Plant/Rapid Prototyping/D//A';
pt(11).paramname = 'P7';
pt(11).class = 'scalar';
pt(11).nrows = 1;
pt(11).ncols = 1;
pt(11).subsource = 'SS_DOUBLE';
pt(12).blockname = 'Plant/Rapid Prototyping/ENC1';
pt(12).paramname = 'P1';
pt(12).class = 'scalar';
pt(12).nrows = 1;
pt(12).ncols = 1;
pt(12).subsource = 'SS_DOUBLE';
pt(13).blockname = 'Plant/Rapid Prototyping/ENC1';
pt(13).paramname = 'P2';
pt(13).class = 'scalar';
pt(13).nrows = 1;
pt(13).ncols = 1;
pt(13).subsource = 'SS_DOUBLE';
pt(14).blockname = 'Plant/Rapid Prototyping/ENC1';
pt(14).paramname = 'P3';
pt(14).class = 'scalar';
pt(14).nrows = 1;
pt(14).ncols = 1;
pt(14).subsource = 'SS_DOUBLE';
pt(15).blockname = 'Plant/Rapid Prototyping/ENC1';
pt(15).paramname = 'P4';
pt(15).class = 'scalar';
pt(15).nrows = 1;
pt(15).ncols = 1;
pt(15).subsource = 'SS_DOUBLE';
pt(16).blockname = 'Plant/Rapid Prototyping/ENC1';
pt(16).paramname = 'P5';
pt(16).class = 'scalar';
pt(16).nrows = 1;
pt(16).ncols = 1;
pt(16).subsource = 'SS_DOUBLE';
pt(17).blockname = 'Plant/Rapid Prototyping/ENC1';
pt(17).paramname = 'P6';
pt(17).class = 'scalar';
pt(17).nrows = 1;
pt(17).ncols = 1;
pt(17).subsource = 'SS_DOUBLE';
pt(18).blockname = 'Plant/Rapid Prototyping/ENC2';
pt(18).paramname = 'P1';
pt(18).class = 'scalar';
pt(18).nrows = 1;
pt(18).ncols = 1;
pt(18).subsource = 'SS_DOUBLE';
pt(19).blockname = 'Plant/Rapid Prototyping/ENC2';
pt(19).paramname = 'P2';
pt(19).class = 'scalar';
pt(19).nrows = 1;
pt(19).ncols = 1;
pt(19).subsource = 'SS_DOUBLE';
pt(20).blockname = 'Plant/Rapid Prototyping/ENC2';
pt(20).paramname = 'P3';
pt(20).class = 'scalar';
pt(20).nrows = 1;
pt(20).ncols = 1;
pt(20).subsource = 'SS_DOUBLE';
pt(21).blockname = 'Plant/Rapid Prototyping/ENC2';
pt(21).paramname = 'P4';
pt(21).class = 'scalar';
pt(21).nrows = 1;
pt(21).ncols = 1;
pt(21).subsource = 'SS_DOUBLE';
pt(22).blockname = 'Plant/Rapid Prototyping/ENC2';
pt(22).paramname = 'P5';
pt(22).class = 'scalar';
pt(22).nrows = 1;
pt(22).ncols = 1;
pt(22).subsource = 'SS_DOUBLE';
pt(23).blockname = 'Plant/Rapid Prototyping/ENC2';
pt(23).paramname = 'P6';
pt(23).class = 'scalar';
pt(23).nrows = 1;
pt(23).ncols = 1;
pt(23).subsource = 'SS_DOUBLE';
pt(24).blockname = 'Reference and Feedforward/Fourth Order P2P GUI/Constant';
pt(24).paramname = 'Value';
pt(24).class = 'scalar';
pt(24).nrows = 1;
pt(24).ncols = 1;
pt(24).subsource = 'SS_DOUBLE';
pt(25).blockname = 'Reference and Feedforward/Fourth Order P2P GUI/Enable';
pt(25).paramname = 'Value';
pt(25).class = 'scalar';
pt(25).nrows = 1;
pt(25).ncols = 1;
pt(25).subsource = 'SS_DOUBLE';
pt(26).blockname = 'Reference and Feedforward/Fourth Order P2P GUI/Enable1';
pt(26).paramname = 'Value';
pt(26).class = 'scalar';
pt(26).nrows = 1;
pt(26).ncols = 1;
pt(26).subsource = 'SS_DOUBLE';
pt(27).blockname = 'Reference and Feedforward/Fourth Order P2P GUI/ReqMove';
pt(27).paramname = 'Value';
pt(27).class = 'scalar';
pt(27).nrows = 1;
pt(27).ncols = 1;
pt(27).subsource = 'SS_DOUBLE';
pt(28).blockname = 'Reference and Feedforward/Fourth Order P2P GUI/ReqMove1';
pt(28).paramname = 'Value';
pt(28).class = 'scalar';
pt(28).nrows = 1;
pt(28).ncols = 1;
pt(28).subsource = 'SS_DOUBLE';
pt(29).blockname = 'Reference and Feedforward/Fourth Order P2P GUI/Ts';
pt(29).paramname = 'Value';
pt(29).class = 'scalar';
pt(29).nrows = 1;
pt(29).ncols = 1;
pt(29).subsource = 'SS_DOUBLE';
pt(30).blockname = 'Reference and Feedforward/Fourth Order P2P GUI/a';
pt(30).paramname = 'Value';
pt(30).class = 'scalar';
pt(30).nrows = 1;
pt(30).ncols = 1;
pt(30).subsource = 'SS_DOUBLE';
pt(31).blockname = 'Reference and Feedforward/Fourth Order P2P GUI/d';
pt(31).paramname = 'Value';
pt(31).class = 'scalar';
pt(31).nrows = 1;
pt(31).ncols = 1;
pt(31).subsource = 'SS_DOUBLE';
pt(32).blockname = 'Reference and Feedforward/Fourth Order P2P GUI/j';
pt(32).paramname = 'Value';
pt(32).class = 'scalar';
pt(32).nrows = 1;
pt(32).ncols = 1;
pt(32).subsource = 'SS_DOUBLE';
pt(33).blockname = 'Reference and Feedforward/Fourth Order P2P GUI/p';
pt(33).paramname = 'Value';
pt(33).class = 'scalar';
pt(33).nrows = 1;
pt(33).ncols = 1;
pt(33).subsource = 'SS_DOUBLE';
pt(34).blockname = 'Reference and Feedforward/Fourth Order P2P GUI/v';
pt(34).paramname = 'Value';
pt(34).class = 'scalar';
pt(34).nrows = 1;
pt(34).ncols = 1;
pt(34).subsource = 'SS_DOUBLE';
pt(35).blockname = 'Reference and Feedforward/Fourth Order P2P GUI/Gain';
pt(35).paramname = 'Gain';
pt(35).class = 'scalar';
pt(35).nrows = 1;
pt(35).ncols = 1;
pt(35).subsource = 'SS_DOUBLE';
pt(36).blockname = 'Reference and Feedforward/Fourth Order P2P GUI/Gain1';
pt(36).paramname = 'Gain';
pt(36).class = 'scalar';
pt(36).nrows = 1;
pt(36).ncols = 1;
pt(36).subsource = 'SS_DOUBLE';
pt(37).blockname = 'Reference and Feedforward/Fourth Order P2P GUI/only >0';
pt(37).paramname = 'UpperLimit';
pt(37).class = 'scalar';
pt(37).nrows = 1;
pt(37).ncols = 1;
pt(37).subsource = 'SS_DOUBLE';
pt(38).blockname = 'Reference and Feedforward/Fourth Order P2P GUI/only >0';
pt(38).paramname = 'LowerLimit';
pt(38).class = 'scalar';
pt(38).nrows = 1;
pt(38).ncols = 1;
pt(38).subsource = 'SS_DOUBLE';
pt(39).blockname = 'Tunable Controller/Manual Switch/Constant';
pt(39).paramname = 'Value';
pt(39).class = 'scalar';
pt(39).nrows = 1;
pt(39).ncols = 1;
pt(39).subsource = 'SS_UINT8';
pt(40).blockname = 'Tunable Controller/Manual Switch/SwitchControl';
pt(40).paramname = 'Threshold';
pt(40).class = 'scalar';
pt(40).nrows = 1;
pt(40).ncols = 1;
pt(40).subsource = 'SS_UINT8';
pt(41).blockname = 'Plant/Rapid Prototyping/Conditioning and Scaling/offset 1';
pt(41).paramname = 'Value';
pt(41).class = 'scalar';
pt(41).nrows = 1;
pt(41).ncols = 1;
pt(41).subsource = 'SS_DOUBLE';
pt(42).blockname = 'Plant/Rapid Prototyping/Conditioning and Scaling/offset 2';
pt(42).paramname = 'Value';
pt(42).class = 'scalar';
pt(42).nrows = 1;
pt(42).ncols = 1;
pt(42).subsource = 'SS_DOUBLE';
pt(43).blockname = 'Plant/Rapid Prototyping/Conditioning and Scaling/Encoder 1 Position [rad]';
pt(43).paramname = 'Gain';
pt(43).class = 'scalar';
pt(43).nrows = 1;
pt(43).ncols = 1;
pt(43).subsource = 'SS_DOUBLE';
pt(44).blockname = 'Plant/Rapid Prototyping/Conditioning and Scaling/Encoder 2 Position [rad]';
pt(44).paramname = 'Gain';
pt(44).class = 'scalar';
pt(44).nrows = 1;
pt(44).ncols = 1;
pt(44).subsource = 'SS_DOUBLE';
pt(45).blockname = 'Reference and Feedforward/Fourth Order P2P GUI/Generate Feedforward/Select: 4th | RB';
pt(45).paramname = 'Value';
pt(45).class = 'scalar';
pt(45).nrows = 1;
pt(45).ncols = 1;
pt(45).subsource = 'SS_DOUBLE';
pt(46).blockname = 'Reference and Feedforward/Fourth Order P2P GUI/Generate Feedforward/Select: x1 | x2';
pt(46).paramname = 'Value';
pt(46).class = 'scalar';
pt(46).nrows = 1;
pt(46).ncols = 1;
pt(46).subsource = 'SS_DOUBLE';
pt(47).blockname = 'Reference and Feedforward/Fourth Order P2P GUI/Generate Feedforward/acceleration';
pt(47).paramname = 'gainval';
pt(47).class = 'scalar';
pt(47).nrows = 1;
pt(47).ncols = 1;
pt(47).subsource = 'SS_DOUBLE';
pt(48).blockname = 'Reference and Feedforward/Fourth Order P2P GUI/Generate Feedforward/acceleration';
pt(48).paramname = 'InitialCondition';
pt(48).class = 'scalar';
pt(48).nrows = 1;
pt(48).ncols = 1;
pt(48).subsource = 'SS_DOUBLE';
pt(49).blockname = 'Reference and Feedforward/Fourth Order P2P GUI/Generate Feedforward/jerk';
pt(49).paramname = 'gainval';
pt(49).class = 'scalar';
pt(49).nrows = 1;
pt(49).ncols = 1;
pt(49).subsource = 'SS_DOUBLE';
pt(50).blockname = 'Reference and Feedforward/Fourth Order P2P GUI/Generate Feedforward/jerk';
pt(50).paramname = 'InitialCondition';
pt(50).class = 'scalar';
pt(50).nrows = 1;
pt(50).ncols = 1;
pt(50).subsource = 'SS_DOUBLE';
pt(51).blockname = 'Reference and Feedforward/Fourth Order P2P GUI/Generate Feedforward/position';
pt(51).paramname = 'gainval';
pt(51).class = 'scalar';
pt(51).nrows = 1;
pt(51).ncols = 1;
pt(51).subsource = 'SS_DOUBLE';
pt(52).blockname = 'Reference and Feedforward/Fourth Order P2P GUI/Generate Feedforward/position';
pt(52).paramname = 'InitialCondition';
pt(52).class = 'scalar';
pt(52).nrows = 1;
pt(52).ncols = 1;
pt(52).subsource = 'SS_DOUBLE';
pt(53).blockname = 'Reference and Feedforward/Fourth Order P2P GUI/Generate Feedforward/velocity';
pt(53).paramname = 'gainval';
pt(53).class = 'scalar';
pt(53).nrows = 1;
pt(53).ncols = 1;
pt(53).subsource = 'SS_DOUBLE';
pt(54).blockname = 'Reference and Feedforward/Fourth Order P2P GUI/Generate Feedforward/velocity';
pt(54).paramname = 'InitialCondition';
pt(54).class = 'scalar';
pt(54).nrows = 1;
pt(54).ncols = 1;
pt(54).subsource = 'SS_DOUBLE';
pt(55).blockname = 'Reference and Feedforward/Fourth Order P2P GUI/Generate Feedforward/(2-k//b12*Ts)//(2+k//b12*Ts)';
pt(55).paramname = 'Gain';
pt(55).class = 'scalar';
pt(55).nrows = 1;
pt(55).ncols = 1;
pt(55).subsource = 'SS_DOUBLE';
pt(56).blockname = 'Reference and Feedforward/Fourth Order P2P GUI/Generate Feedforward/(2-k//b12*Ts)//(2+k//b12*Ts) copy';
pt(56).paramname = 'Gain';
pt(56).class = 'scalar';
pt(56).nrows = 1;
pt(56).ncols = 1;
pt(56).subsource = 'SS_DOUBLE';
pt(57).blockname = 'Reference and Feedforward/Fourth Order P2P GUI/Generate Feedforward/(J1+J2)*b12+J1*b2+J2*b1';
pt(57).paramname = 'Gain';
pt(57).class = 'scalar';
pt(57).nrows = 1;
pt(57).ncols = 1;
pt(57).subsource = 'SS_DOUBLE';
pt(58).blockname = 'Reference and Feedforward/Fourth Order P2P GUI/Generate Feedforward/(J1+J2)*k+b1*b2+(b1+b2)*b12';
pt(58).paramname = 'Gain';
pt(58).class = 'scalar';
pt(58).nrows = 1;
pt(58).ncols = 1;
pt(58).subsource = 'SS_DOUBLE';
pt(59).blockname = 'Reference and Feedforward/Fourth Order P2P GUI/Generate Feedforward/(b1+b2)*k';
pt(59).paramname = 'Gain';
pt(59).class = 'scalar';
pt(59).nrows = 1;
pt(59).ncols = 1;
pt(59).subsource = 'SS_DOUBLE';
pt(60).blockname = 'Reference and Feedforward/Fourth Order P2P GUI/Generate Feedforward/1//b12*Ts//(2+k//b12*Ts)';
pt(60).paramname = 'Gain';
pt(60).class = 'scalar';
pt(60).nrows = 1;
pt(60).ncols = 1;
pt(60).subsource = 'SS_DOUBLE';
pt(61).blockname = 'Reference and Feedforward/Fourth Order P2P GUI/Generate Feedforward/1//b12*Ts//(2+k//b12*Ts) copy';
pt(61).paramname = 'Gain';
pt(61).class = 'scalar';
pt(61).nrows = 1;
pt(61).ncols = 1;
pt(61).subsource = 'SS_DOUBLE';
pt(62).blockname = 'Reference and Feedforward/Fourth Order P2P GUI/Generate Feedforward/1//k';
pt(62).paramname = 'Gain';
pt(62).class = 'scalar';
pt(62).nrows = 1;
pt(62).ncols = 1;
pt(62).subsource = 'SS_DOUBLE';
pt(63).blockname = 'Reference and Feedforward/Fourth Order P2P GUI/Generate Feedforward/J1*J2';
pt(63).paramname = 'Gain';
pt(63).class = 'scalar';
pt(63).nrows = 1;
pt(63).ncols = 1;
pt(63).subsource = 'SS_DOUBLE';
pt(64).blockname = 'Reference and Feedforward/Fourth Order P2P GUI/Generate Feedforward/J2';
pt(64).paramname = 'Gain';
pt(64).class = 'scalar';
pt(64).nrows = 1;
pt(64).ncols = 1;
pt(64).subsource = 'SS_DOUBLE';
pt(65).blockname = 'Reference and Feedforward/Fourth Order P2P GUI/Generate Feedforward/RB: (J1+J2)*k';
pt(65).paramname = 'Gain';
pt(65).class = 'scalar';
pt(65).nrows = 1;
pt(65).ncols = 1;
pt(65).subsource = 'SS_DOUBLE';
pt(66).blockname = 'Reference and Feedforward/Fourth Order P2P GUI/Generate Feedforward/RB: (b1+b2)*k';
pt(66).paramname = 'Gain';
pt(66).class = 'scalar';
pt(66).nrows = 1;
pt(66).ncols = 1;
pt(66).subsource = 'SS_DOUBLE';
pt(67).blockname = 'Reference and Feedforward/Fourth Order P2P GUI/Generate Feedforward/RB: tune a';
pt(67).paramname = 'Gain';
pt(67).class = 'scalar';
pt(67).nrows = 1;
pt(67).ncols = 1;
pt(67).subsource = 'SS_DOUBLE';
pt(68).blockname = 'Reference and Feedforward/Fourth Order P2P GUI/Generate Feedforward/RB: tune v';
pt(68).paramname = 'Gain';
pt(68).class = 'scalar';
pt(68).nrows = 1;
pt(68).ncols = 1;
pt(68).subsource = 'SS_DOUBLE';
pt(69).blockname = 'Reference and Feedforward/Fourth Order P2P GUI/Generate Feedforward/b2+b12';
pt(69).paramname = 'Gain';
pt(69).class = 'scalar';
pt(69).nrows = 1;
pt(69).ncols = 1;
pt(69).subsource = 'SS_DOUBLE';
pt(70).blockname = 'Reference and Feedforward/Fourth Order P2P GUI/Generate Feedforward/dry friction compensation';
pt(70).paramname = 'Gain';
pt(70).class = 'scalar';
pt(70).nrows = 1;
pt(70).ncols = 1;
pt(70).subsource = 'SS_DOUBLE';
pt(71).blockname = 'Reference and Feedforward/Fourth Order P2P GUI/Generate Feedforward/k';
pt(71).paramname = 'Gain';
pt(71).class = 'scalar';
pt(71).nrows = 1;
pt(71).ncols = 1;
pt(71).subsource = 'SS_DOUBLE';
pt(72).blockname = 'Reference and Feedforward/Fourth Order P2P GUI/Generate Feedforward/tune a';
pt(72).paramname = 'Gain';
pt(72).class = 'scalar';
pt(72).nrows = 1;
pt(72).ncols = 1;
pt(72).subsource = 'SS_DOUBLE';
pt(73).blockname = 'Reference and Feedforward/Fourth Order P2P GUI/Generate Feedforward/tune ax1';
pt(73).paramname = 'Gain';
pt(73).class = 'scalar';
pt(73).nrows = 1;
pt(73).ncols = 1;
pt(73).subsource = 'SS_DOUBLE';
pt(74).blockname = 'Reference and Feedforward/Fourth Order P2P GUI/Generate Feedforward/tune d';
pt(74).paramname = 'Gain';
pt(74).class = 'scalar';
pt(74).nrows = 1;
pt(74).ncols = 1;
pt(74).subsource = 'SS_DOUBLE';
pt(75).blockname = 'Reference and Feedforward/Fourth Order P2P GUI/Generate Feedforward/tune j';
pt(75).paramname = 'Gain';
pt(75).class = 'scalar';
pt(75).nrows = 1;
pt(75).ncols = 1;
pt(75).subsource = 'SS_DOUBLE';
pt(76).blockname = 'Reference and Feedforward/Fourth Order P2P GUI/Generate Feedforward/tune v';
pt(76).paramname = 'Gain';
pt(76).class = 'scalar';
pt(76).nrows = 1;
pt(76).ncols = 1;
pt(76).subsource = 'SS_DOUBLE';
pt(77).blockname = 'Reference and Feedforward/Fourth Order P2P GUI/Generate Feedforward/tune vx1';
pt(77).paramname = 'Gain';
pt(77).class = 'scalar';
pt(77).nrows = 1;
pt(77).ncols = 1;
pt(77).subsource = 'SS_DOUBLE';
pt(78).blockname = 'Reference and Feedforward/Fourth Order P2P GUI/Generate Feedforward/Switch16';
pt(78).paramname = 'Threshold';
pt(78).class = 'scalar';
pt(78).nrows = 1;
pt(78).ncols = 1;
pt(78).subsource = 'SS_DOUBLE';
pt(79).blockname = 'Reference and Feedforward/Fourth Order P2P GUI/Generate Feedforward/Switch17';
pt(79).paramname = 'Threshold';
pt(79).class = 'scalar';
pt(79).nrows = 1;
pt(79).ncols = 1;
pt(79).subsource = 'SS_DOUBLE';
pt(80).blockname = 'Reference and Feedforward/Fourth Order P2P GUI/Generate Feedforward/Unit Delay';
pt(80).paramname = 'X0';
pt(80).class = 'scalar';
pt(80).nrows = 1;
pt(80).ncols = 1;
pt(80).subsource = 'SS_DOUBLE';
pt(81).blockname = 'Reference and Feedforward/Fourth Order P2P GUI/Generate Feedforward/Unit Delay1';
pt(81).paramname = 'X0';
pt(81).class = 'scalar';
pt(81).nrows = 1;
pt(81).ncols = 1;
pt(81).subsource = 'SS_DOUBLE';
pt(82).blockname = 'Reference and Feedforward/Fourth Order P2P GUI/Generate Feedforward/Unit Delay2';
pt(82).paramname = 'X0';
pt(82).class = 'scalar';
pt(82).nrows = 1;
pt(82).ncols = 1;
pt(82).subsource = 'SS_DOUBLE';
pt(83).blockname = 'Reference and Feedforward/Fourth Order P2P GUI/Generate Feedforward/Unit Delay3';
pt(83).paramname = 'X0';
pt(83).class = 'scalar';
pt(83).nrows = 1;
pt(83).ncols = 1;
pt(83).subsource = 'SS_DOUBLE';
pt(84).blockname = 'Reference and Feedforward/Fourth Order P2P GUI/Generate Feedforward/Unit Delay4';
pt(84).paramname = 'X0';
pt(84).class = 'scalar';
pt(84).nrows = 1;
pt(84).ncols = 1;
pt(84).subsource = 'SS_DOUBLE';
pt(85).blockname = 'Reference and Feedforward/Fourth Order P2P GUI/Generate Feedforward/Unit Delay5';
pt(85).paramname = 'X0';
pt(85).class = 'scalar';
pt(85).nrows = 1;
pt(85).ncols = 1;
pt(85).subsource = 'SS_DOUBLE';
pt(86).blockname = 'Reference and Feedforward/Fourth Order P2P GUI/Generate Profile/Enable1';
pt(86).paramname = 'Value';
pt(86).class = 'scalar';
pt(86).nrows = 1;
pt(86).ncols = 1;
pt(86).subsource = 'SS_DOUBLE';
pt(87).blockname = 'Reference and Feedforward/Fourth Order P2P GUI/Generate Profile/Memory1';
pt(87).paramname = 'X0';
pt(87).class = 'scalar';
pt(87).nrows = 1;
pt(87).ncols = 1;
pt(87).subsource = 'SS_DOUBLE';
pt(88).blockname = 'Reference and Feedforward/Fourth Order P2P GUI/Generate Profile/Memory2';
pt(88).paramname = 'X0';
pt(88).class = 'scalar';
pt(88).nrows = 1;
pt(88).ncols = 1;
pt(88).subsource = 'SS_DOUBLE';
pt(89).blockname = 'Reference and Feedforward/Fourth Order P2P GUI/Generate Profile/Memory3';
pt(89).paramname = 'X0';
pt(89).class = 'scalar';
pt(89).nrows = 1;
pt(89).ncols = 1;
pt(89).subsource = 'SS_DOUBLE';
pt(90).blockname = 'Reference and Feedforward/Fourth Order P2P GUI/Generate Profile/Memory6';
pt(90).paramname = 'X0';
pt(90).class = 'scalar';
pt(90).nrows = 1;
pt(90).ncols = 1;
pt(90).subsource = 'SS_DOUBLE';
pt(91).blockname = 'Reference and Feedforward/Fourth Order P2P GUI/Generate Profile/Switch';
pt(91).paramname = 'Threshold';
pt(91).class = 'scalar';
pt(91).nrows = 1;
pt(91).ncols = 1;
pt(91).subsource = 'SS_DOUBLE';
pt(92).blockname = 'Tunable Controller/Feedback Controller/Tuned 10Hz/Gain';
pt(92).paramname = 'Gain';
pt(92).class = 'scalar';
pt(92).nrows = 1;
pt(92).ncols = 1;
pt(92).subsource = 'SS_DOUBLE';
pt(93).blockname = 'Plant/Rapid Prototyping/Conditioning and Scaling/Manual Switch1/Constant';
pt(93).paramname = 'Value';
pt(93).class = 'scalar';
pt(93).nrows = 1;
pt(93).ncols = 1;
pt(93).subsource = 'SS_UINT8';
pt(94).blockname = 'Plant/Rapid Prototyping/Conditioning and Scaling/Manual Switch1/SwitchControl';
pt(94).paramname = 'Threshold';
pt(94).class = 'scalar';
pt(94).nrows = 1;
pt(94).ncols = 1;
pt(94).subsource = 'SS_UINT8';
pt(95).blockname = 'Plant/Rapid Prototyping/Conditioning and Scaling/Manual Switch2/Constant';
pt(95).paramname = 'Value';
pt(95).class = 'scalar';
pt(95).nrows = 1;
pt(95).ncols = 1;
pt(95).subsource = 'SS_UINT8';
pt(96).blockname = 'Plant/Rapid Prototyping/Conditioning and Scaling/Manual Switch2/SwitchControl';
pt(96).paramname = 'Threshold';
pt(96).class = 'scalar';
pt(96).nrows = 1;
pt(96).ncols = 1;
pt(96).subsource = 'SS_UINT8';
pt(97).blockname = 'Plant/Rapid Prototyping/Conditioning and Scaling/peak removal/Peak removal';
pt(97).paramname = 'p1';
pt(97).class = 'scalar';
pt(97).nrows = 1;
pt(97).ncols = 1;
pt(97).subsource = 'SS_DOUBLE';
pt(98).blockname = 'Plant/Rapid Prototyping/Conditioning and Scaling/peak removal/Peak removal';
pt(98).paramname = 'p2';
pt(98).class = 'scalar';
pt(98).nrows = 1;
pt(98).ncols = 1;
pt(98).subsource = 'SS_DOUBLE';
pt(99).blockname = 'Plant/Rapid Prototyping/Conditioning and Scaling/unwrapper 1/offset 1';
pt(99).paramname = 'Value';
pt(99).class = 'scalar';
pt(99).nrows = 1;
pt(99).ncols = 1;
pt(99).subsource = 'SS_DOUBLE';
pt(100).blockname = 'Plant/Rapid Prototyping/Conditioning and Scaling/unwrapper 1/Memory';
pt(100).paramname = 'X0';
pt(100).class = 'scalar';
pt(100).nrows = 1;
pt(100).ncols = 1;
pt(100).subsource = 'SS_DOUBLE';
pt(101).blockname = 'Plant/Rapid Prototyping/Conditioning and Scaling/unwrapper 2/offset 1';
pt(101).paramname = 'Value';
pt(101).class = 'scalar';
pt(101).nrows = 1;
pt(101).ncols = 1;
pt(101).subsource = 'SS_DOUBLE';
pt(102).blockname = 'Plant/Rapid Prototyping/Conditioning and Scaling/unwrapper 2/Memory';
pt(102).paramname = 'X0';
pt(102).class = 'scalar';
pt(102).nrows = 1;
pt(102).ncols = 1;
pt(102).subsource = 'SS_DOUBLE';
pt(103).blockname = 'Reference and Feedforward/Fourth Order P2P GUI/Generate Feedforward/Discrete variable delay1/1-alpha';
pt(103).paramname = 'Gain';
pt(103).class = 'scalar';
pt(103).nrows = 1;
pt(103).ncols = 1;
pt(103).subsource = 'SS_DOUBLE';
pt(104).blockname = 'Reference and Feedforward/Fourth Order P2P GUI/Generate Feedforward/Discrete variable delay1/Unit Delay';
pt(104).paramname = 'X0';
pt(104).class = 'scalar';
pt(104).nrows = 1;
pt(104).ncols = 1;
pt(104).subsource = 'SS_DOUBLE';
pt(105).blockname = 'Reference and Feedforward/Fourth Order P2P GUI/Generate Feedforward/Discrete variable delay2/1-alpha';
pt(105).paramname = 'Gain';
pt(105).class = 'scalar';
pt(105).nrows = 1;
pt(105).ncols = 1;
pt(105).subsource = 'SS_DOUBLE';
pt(106).blockname = 'Reference and Feedforward/Fourth Order P2P GUI/Generate Feedforward/Discrete variable delay2/Unit Delay';
pt(106).paramname = 'X0';
pt(106).class = 'scalar';
pt(106).nrows = 1;
pt(106).ncols = 1;
pt(106).subsource = 'SS_DOUBLE';
pt(107).blockname = 'Reference and Feedforward/Fourth Order P2P GUI/Generate Feedforward/Discrete variable delay4/1-alpha';
pt(107).paramname = 'Gain';
pt(107).class = 'scalar';
pt(107).nrows = 1;
pt(107).ncols = 1;
pt(107).subsource = 'SS_DOUBLE';
pt(108).blockname = 'Reference and Feedforward/Fourth Order P2P GUI/Generate Feedforward/Discrete variable delay4/Unit Delay';
pt(108).paramname = 'X0';
pt(108).class = 'scalar';
pt(108).nrows = 1;
pt(108).ncols = 1;
pt(108).subsource = 'SS_DOUBLE';
pt(109).blockname = 'Reference and Feedforward/Fourth Order P2P GUI/Generate Profile/detect/Memory3';
pt(109).paramname = 'X0';
pt(109).class = 'scalar';
pt(109).nrows = 1;
pt(109).ncols = 1;
pt(109).subsource = 'SS_DOUBLE';
pt(110).blockname = 'Reference and Feedforward/Fourth Order P2P GUI/Generate Profile/djerk profile calculation/Constant20';
pt(110).paramname = 'Value';
pt(110).class = 'scalar';
pt(110).nrows = 1;
pt(110).ncols = 1;
pt(110).subsource = 'SS_DOUBLE';
pt(111).blockname = 'Reference and Feedforward/Fourth Order P2P GUI/Generate Profile/djerk profile calculation/Settling time';
pt(111).paramname = 'Value';
pt(111).class = 'scalar';
pt(111).nrows = 1;
pt(111).ncols = 1;
pt(111).subsource = 'SS_DOUBLE';
pt(112).blockname = 'Reference and Feedforward/Fourth Order P2P GUI/Generate Profile/djerk profile calculation/constant';
pt(112).paramname = 'Value';
pt(112).class = 'scalar';
pt(112).nrows = 1;
pt(112).ncols = 1;
pt(112).subsource = 'SS_DOUBLE';
pt(113).blockname = 'Reference and Feedforward/Fourth Order P2P GUI/Generate Profile/djerk profile calculation/constant1';
pt(113).paramname = 'Value';
pt(113).class = 'scalar';
pt(113).nrows = 1;
pt(113).ncols = 1;
pt(113).subsource = 'SS_DOUBLE';
pt(114).blockname = 'Reference and Feedforward/Fourth Order P2P GUI/Generate Profile/djerk profile calculation/Discrete-Time Integrator';
pt(114).paramname = 'gainval';
pt(114).class = 'scalar';
pt(114).nrows = 1;
pt(114).ncols = 1;
pt(114).subsource = 'SS_DOUBLE';
pt(115).blockname = 'Reference and Feedforward/Fourth Order P2P GUI/Generate Profile/djerk profile calculation/Discrete-Time Integrator';
pt(115).paramname = 'InitialCondition';
pt(115).class = 'scalar';
pt(115).nrows = 1;
pt(115).ncols = 1;
pt(115).subsource = 'SS_DOUBLE';
pt(116).blockname = 'Reference and Feedforward/Fourth Order P2P GUI/Generate Profile/djerk profile calculation/djerk sequence';
pt(116).paramname = 'Gain';
pt(116).class = 'vector';
pt(116).nrows = 1;
pt(116).ncols = 17;
pt(116).subsource = 'SS_DOUBLE';
pt(117).blockname = 'Reference and Feedforward/Fourth Order P2P GUI/Generate Profile/djerk profile calculation/Switch';
pt(117).paramname = 'Threshold';
pt(117).class = 'scalar';
pt(117).nrows = 1;
pt(117).ncols = 1;
pt(117).subsource = 'SS_DOUBLE';
pt(118).blockname = 'Tunable Controller/Feedback Controller/Tuned 10Hz/Leadlag/Discrete Transfer Fcn';
pt(118).paramname = 'A';
pt(118).class = 'scalar';
pt(118).nrows = 1;
pt(118).ncols = 1;
pt(118).subsource = 'SS_DOUBLE';
pt(119).blockname = 'Tunable Controller/Feedback Controller/Tuned 10Hz/Leadlag/Discrete Transfer Fcn';
pt(119).paramname = 'C';
pt(119).class = 'scalar';
pt(119).nrows = 1;
pt(119).ncols = 1;
pt(119).subsource = 'SS_DOUBLE';
pt(120).blockname = 'Tunable Controller/Feedback Controller/Tuned 10Hz/Leadlag/Discrete Transfer Fcn';
pt(120).paramname = 'D';
pt(120).class = 'scalar';
pt(120).nrows = 1;
pt(120).ncols = 1;
pt(120).subsource = 'SS_DOUBLE';
pt(121).blockname = 'Tunable Controller/Feedback Controller/Tuned 10Hz/Notch/Discrete Transfer Fcn';
pt(121).paramname = 'A';
pt(121).class = 'vector';
pt(121).nrows = 2;
pt(121).ncols = 1;
pt(121).subsource = 'SS_DOUBLE';
pt(122).blockname = 'Tunable Controller/Feedback Controller/Tuned 10Hz/Notch/Discrete Transfer Fcn';
pt(122).paramname = 'C';
pt(122).class = 'vector';
pt(122).nrows = 1;
pt(122).ncols = 2;
pt(122).subsource = 'SS_DOUBLE';
pt(123).blockname = 'Tunable Controller/Feedback Controller/Tuned 10Hz/Notch/Discrete Transfer Fcn';
pt(123).paramname = 'D';
pt(123).class = 'scalar';
pt(123).nrows = 1;
pt(123).ncols = 1;
pt(123).subsource = 'SS_DOUBLE';
pt(124).blockname = 'Plant/Rapid Prototyping/Conditioning and Scaling/unwrapper 1/Subsystem/maxcount';
pt(124).paramname = 'Value';
pt(124).class = 'scalar';
pt(124).nrows = 1;
pt(124).ncols = 1;
pt(124).subsource = 'SS_DOUBLE';
pt(125).blockname = 'Plant/Rapid Prototyping/Conditioning and Scaling/unwrapper 1/Subsystem/Memory';
pt(125).paramname = 'X0';
pt(125).class = 'scalar';
pt(125).nrows = 1;
pt(125).ncols = 1;
pt(125).subsource = 'SS_DOUBLE';
pt(126).blockname = 'Plant/Rapid Prototyping/Conditioning and Scaling/unwrapper 2/Subsystem/maxcount';
pt(126).paramname = 'Value';
pt(126).class = 'scalar';
pt(126).nrows = 1;
pt(126).ncols = 1;
pt(126).subsource = 'SS_DOUBLE';
pt(127).blockname = 'Plant/Rapid Prototyping/Conditioning and Scaling/unwrapper 2/Subsystem/Memory';
pt(127).paramname = 'X0';
pt(127).class = 'scalar';
pt(127).nrows = 1;
pt(127).ncols = 1;
pt(127).subsource = 'SS_DOUBLE';
function len = getlenPT
len = 127;
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