Model {
  Name                    "hw1cruise"
  Version                 4.00
  SampleTimeColors        off
  LibraryLinkDisplay      "none"
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  CovPath                 "/"
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  ToolBar                 on
  StatusBar               on
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  Created                 "Sat Sep 28 13:19:30 2002"
  Creator                 "shreesh"
  UpdateHistory           "UpdateHistoryNever"
  ModifiedByFormat        "%<Auto>"
  LastModifiedBy          "Richard Murray"
  ModifiedDateFormat      "%<Auto>"
  LastModifiedDate        "Sun Sep 29 04:26:54 2002"
  ModelVersionFormat      "1.%<AutoIncrement:50>"
  ConfigurationManager    "none"
  SimParamPage            "Solver"
  StartTime               "0.0"
  StopTime                "30"
  SolverMode              "Auto"
  Solver                  "ode45"
  RelTol                  "1e-3"
  AbsTol                  "auto"
  Refine                  "1"
  MaxStep                 "0.02"
  MinStep                 "auto"
  MaxNumMinSteps          "-1"
  InitialStep             "auto"
  FixedStep               "auto"
  MaxOrder                5
  OutputOption            "RefineOutputTimes"
  OutputTimes             "[]"
  LoadExternalInput       off
  ExternalInput           "[t, u]"
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  TimeSaveName            "tout"
  SaveState               off
  StateSaveName           "xout"
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  OutputSaveName          "yout"
  LoadInitialState        off
  InitialState            "xInitial"
  SaveFinalState          off
  FinalStateName          "xFinal"
  SaveFormat              "Array"
  LimitDataPoints         on
  MaxDataPoints           "1000"
  Decimation              "1"
  AlgebraicLoopMsg        "warning"
  MinStepSizeMsg          "warning"
  UnconnectedInputMsg     "warning"
  UnconnectedOutputMsg    "warning"
  UnconnectedLineMsg      "warning"
  InheritedTsInSrcMsg     "warning"
  SingleTaskRateTransMsg  "none"
  MultiTaskRateTransMsg   "error"
  IntegerOverflowMsg      "warning"
  CheckForMatrixSingularity "none"
  UnnecessaryDatatypeConvMsg "none"
  Int32ToFloatConvMsg     "warning"
  SignalLabelMismatchMsg  "none"
  LinearizationMsg        "none"
  VectorMatrixConversionMsg "none"
  SfunCompatibilityCheckMsg "none"
  BlockPriorityViolationMsg "warning"
  ArrayBoundsChecking     "none"
  ConsistencyChecking     "none"
  ZeroCross               on
  Profile                 off
  SimulationMode          "normal"
  RTWSystemTargetFile     "grt.tlc"
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  ExtModeTrigDirection    "rising"
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  ExtModeArchiveMode      "off"
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  ExtModeIncDirWhenArm    off
  ExtModeAddSuffixToVar   off
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    ForegroundColor         "black"
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    FontSize                10
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  AnnotationDefaults {
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  System {
    Name                    "hw1cruise"
    Location                [81, 226, 969, 712]
    Open                    on
    ModelBrowserVisibility  off
    ModelBrowserWidth       200
    ScreenColor             "yellow"
    PaperOrientation        "landscape"
    PaperPositionMode       "auto"
    PaperType               "usletter"
    PaperUnits              "inches"
    ZoomFactor              "100"
    ReportName              "simulink-default.rpt"
    Block {
      BlockType               SubSystem
      Name                    "Car dynamics"
      Description             "a"
      Ports                   [1, 1]
      Position                [455, 238, 545, 312]
      ShowPortLabels          off
      TreatAsAtomicUnit       off
      RTWSystemCode           "Auto"
      RTWFcnNameOpts          "Auto"
      RTWFileNameOpts         "Auto"
      Port {
        PortNumber              1
        Name                    "output speed  (v)"
        TestPoint               off
        LinearAnalysisOutput    off
        LinearAnalysisInput     off
        RTWStorageClass         "Auto"
      }
      System {
        Name                    "Car dynamics"
        Location                [590, 313, 1197, 512]
        Open                    on
        ModelBrowserVisibility  off
        ModelBrowserWidth       200
        ScreenColor             "white"
        PaperOrientation        "landscape"
        PaperPositionMode       "auto"
        PaperType               "usletter"
        PaperUnits              "inches"
        ZoomFactor              "100"
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          BlockType               Inport
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          Position                [80, 108, 110, 122]
          Port                    "1"
          Interpolate             on
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            Name                    "Control input"
            PropagatedSignals       "Control input"
            TestPoint               off
            LinearAnalysisOutput    off
            LinearAnalysisInput     off
            RTWStorageClass         "Auto"
          }
        }
        Block {
          BlockType               TransportDelay
          Name                    "Engine"
          Position                [180, 100, 210, 130]
          DelayTime               "0.2"
          InitialInput            "55*50"
          BufferSize              "1024"
          PadeOrder               "0"
        }
        Block {
          BlockType               StateSpace
          Name                    "Vehicle"
          Position                [270, 98, 330, 132]
          A                       "-50/1000"
          B                       "1/1000"
          C                       "1"
          D                       "0"
          X0                      "55"
          AbsoluteTolerance       "auto"
          Realization             "auto"
        }
        Block {
          BlockType               Outport
          Name                    "Out1"
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          Port                    "1"
          OutputWhenDisabled      "held"
          InitialOutput           "[]"
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          SrcBlock                "Vehicle"
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          Name                    "Control input"
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          SrcPort                 1
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        Line {
          SrcBlock                "Engine"
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          DstBlock                "Vehicle"
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        Annotation {
          Position                [289, 176]
          Text                    "Assume that the inertia of wheels is zero a"
"nd that friction (proportional to speed of car)  opposes motion"
        }
        Annotation {
          Position                [292, 20]
          Text                    "Car dynamics"
          FontSize                12
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    }
    Block {
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      DisplayTime             off
      Decimation              "10"
    }
    Block {
      BlockType               Reference
      Name                    "Integral\nGain"
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      Position                [235, 185, 265, 215]
      BackgroundColor         "green"
      SourceBlock             "simulink3/Math/Slider\nGain"
      SourceType              "Slider Gain"
      low                     "0"
      gain                    "100"
      high                    "500"
    }
    Block {
      BlockType               Integrator
      Name                    "Integrator"
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      Position                [310, 185, 340, 215]
      ExternalReset           "none"
      InitialConditionSource  "internal"
      InitialCondition        "55*50"
      LimitOutput             off
      UpperSaturationLimit    "inf"
      LowerSaturationLimit    "-inf"
      ShowSaturationPort      off
      ShowStatePort           off
      AbsoluteTolerance       "auto"
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      BlockType               Reference
      Name                    "Propotional\nGain"
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      Position                [235, 260, 265, 290]
      BackgroundColor         "green"
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      SourceType              "Slider Gain"
      low                     "0"
      gain                    "500"
      high                    "5000"
    }
    Block {
      BlockType               Step
      Name                    "Step input"
      Position                [30, 260, 60, 290]
      Time                    "10"
      Before                  "55"
      After                   "65"
      SampleTime              "0"
      VectorParams1D          on
      Port {
        PortNumber              1
        Name                    "reference speed\n55 to 65 @ t = 0"
        TestPoint               off
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        LinearAnalysisInput     off
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    }
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      IconShape               "round"
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      Port {
        PortNumber              1
        Name                    "Control input"
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        LinearAnalysisInput     off
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      BlockType               ToWorkspace
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    }
    Block {
      BlockType               ToWorkspace
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      VariableName            "vel"
      MaxDataPoints           "inf"
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    }
    Block {
      BlockType               ToWorkspace
      Name                    "To Workspace2"
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      VariableName            "ref"
      MaxDataPoints           "inf"
      Decimation              "1"
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    }
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      Name                    "reference speed\n55 to 65 @ t = 0"
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      SrcBlock                "Step input"
      SrcPort                 1
      Points                  [10, 0]
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        DstPort                 1
      }
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        DstBlock                "To Workspace2"
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    Line {
      Name                    "Control input"
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      DstBlock                "Car dynamics"
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      Name                    "output speed  (v)"
      SrcBlock                "Car dynamics"
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      }
      Branch {
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      }
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        DstBlock                "Integral\nGain"
        DstPort                 1
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      SrcBlock                "Integral\nGain"
      SrcPort                 1
      DstBlock                "Integrator"
      DstPort                 1
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      SrcBlock                "Integrator"
      SrcPort                 1
      Points                  [20, 0]
      DstBlock                "Sum2"
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    Annotation {
      Position                [448, 33]
      Text                    "Cruise Control Model"
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      FontName                "courier"
      FontSize                28
      FontWeight              "bold"
    }
    Annotation {
      Position                [53, 108]
      HorizontalAlignment     "left"
      Text                    "Instructions: modify the gains of the PI contro"
"l law to adjust the response of the \nsystem.  The gain blocks are marked in "
"green.  Double click on them to change values, \nthen use Simulation->Start t"
"o generate a new simulation.  Outputs are stored as 'ref',\n'vel' and 'time' "
"in MATLAB workspace."
      DropShadow              on
      FontName                "courier"
      FontSize                12
    }
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}