Model {
  Name			  "TestFriction"
  Version		  5.0
  SaveDefaultBlockParams  on
  SampleTimeColors	  off
  LibraryLinkDisplay	  "none"
  WideLines		  off
  ShowLineDimensions	  off
  ShowPortDataTypes	  off
  ShowLoopsOnError	  on
  IgnoreBidirectionalLines off
  ShowStorageClass	  off
  ExecutionOrder	  off
  RecordCoverage	  off
  CovPath		  "/"
  CovSaveName		  "covdata"
  CovMetricSettings	  "dw"
  CovNameIncrementing	  off
  CovHtmlReporting	  on
  covSaveCumulativeToWorkspaceVar on
  CovSaveSingleToWorkspaceVar on
  CovCumulativeVarName	  "covCumulativeData"
  CovCumulativeReport	  off
  DataTypeOverride	  "UseLocalSettings"
  MinMaxOverflowLogging	  "UseLocalSettings"
  MinMaxOverflowArchiveMode "Overwrite"
  BlockNameDataTip	  off
  BlockParametersDataTip  off
  BlockDescriptionStringDataTip	off
  ToolBar		  on
  StatusBar		  on
  BrowserShowLibraryLinks off
  BrowserLookUnderMasks	  off
  Created		  "Thu Feb 03 09:35:16 2005"
  UpdateHistory		  "UpdateHistoryNever"
  ModifiedByFormat	  "%<Auto>"
  LastModifiedBy	  "tomz"
  ModifiedDateFormat	  "%<Auto>"
  LastModifiedDate	  "Mon Jun 06 19:26:17 2005"
  ModelVersionFormat	  "1.%<AutoIncrement:89>"
  ConfigurationManager	  "None"
  SimParamPage		  "Solver"
  LinearizationMsg	  "none"
  Profile		  off
  ParamWorkspaceSource	  "MATLABWorkspace"
  AccelSystemTargetFile	  "accel.tlc"
  AccelTemplateMakefile	  "accel_default_tmf"
  AccelMakeCommand	  "make_rtw"
  TryForcingSFcnDF	  off
  ExtModeMexFile	  "ext_comm"
  ExtModeBatchMode	  off
  ExtModeTrigType	  "manual"
  ExtModeTrigMode	  "normal"
  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	  on
  ExtModeSkipDownloadWhenConnect off
  ExtModeLogAll		  on
  ExtModeAutoUpdateStatusClock on
  BufferReuse		  on
  RTWExpressionDepthLimit 5
  SimulationMode	  "normal"
  Solver		  "ode4"
  SolverMode		  "Auto"
  StartTime		  "0.0"
  StopTime		  "25"
  MaxOrder		  5
  MaxStep		  "auto"
  MinStep		  "auto"
  MaxNumMinSteps	  "-1"
  InitialStep		  "auto"
  FixedStep		  "0.001"
  RelTol		  "1e-3"
  AbsTol		  "auto"
  OutputOption		  "RefineOutputTimes"
  OutputTimes		  "[]"
  Refine		  "1"
  LoadExternalInput	  off
  ExternalInput		  "[t, u]"
  LoadInitialState	  off
  InitialState		  "xInitial"
  SaveTime		  on
  TimeSaveName		  "tout"
  SaveState		  off
  StateSaveName		  "xout"
  SaveOutput		  on
  OutputSaveName	  "yout"
  SaveFinalState	  off
  FinalStateName	  "xFinal"
  SaveFormat		  "Array"
  Decimation		  "1"
  LimitDataPoints	  on
  MaxDataPoints		  "1000"
  SignalLoggingName	  "sigsOut"
  ConsistencyChecking	  "none"
  ArrayBoundsChecking	  "none"
  AlgebraicLoopMsg	  "warning"
  BlockPriorityViolationMsg "warning"
  MinStepSizeMsg	  "warning"
  InheritedTsInSrcMsg	  "warning"
  DiscreteInheritContinuousMsg "warning"
  MultiTaskRateTransMsg	  "error"
  SingleTaskRateTransMsg  "none"
  CheckForMatrixSingularity "none"
  IntegerOverflowMsg	  "warning"
  Int32ToFloatConvMsg	  "warning"
  ParameterDowncastMsg	  "error"
  ParameterOverflowMsg	  "error"
  ParameterPrecisionLossMsg "warning"
  UnderSpecifiedDataTypeMsg "none"
  UnnecessaryDatatypeConvMsg "none"
  VectorMatrixConversionMsg "none"
  InvalidFcnCallConnMsg	  "error"
  SignalLabelMismatchMsg  "none"
  UnconnectedInputMsg	  "warning"
  UnconnectedOutputMsg	  "warning"
  UnconnectedLineMsg	  "warning"
  SfunCompatibilityCheckMsg "none"
  RTWInlineParameters	  off
  BlockReductionOpt	  on
  BooleanDataType	  on
  ConditionallyExecuteInputs on
  ParameterPooling	  on
  OptimizeBlockIOStorage  on
  ZeroCross		  on
  AssertionControl	  "UseLocalSettings"
  ProdHWDeviceType	  "Microprocessor"
  ProdHWWordLengths	  "8,16,32,32"
  RTWSystemTargetFile	  "grt.tlc"
  RTWTemplateMakefile	  "grt_default_tmf"
  RTWMakeCommand	  "make_rtw"
  RTWGenerateCodeOnly	  off
  RTWRetainRTWFile	  off
  TLCProfiler		  off
  TLCDebug		  off
  TLCCoverage		  off
  TLCAssertion		  off
  BlockDefaults {
    Orientation		    "right"
    ForegroundColor	    "black"
    BackgroundColor	    "white"
    DropShadow		    off
    NamePlacement	    "normal"
    FontName		    "Helvetica"
    FontSize		    10
    FontWeight		    "normal"
    FontAngle		    "normal"
    ShowName		    on
  }
  BlockParameterDefaults {
    Block {
      BlockType		      Abs
      SaturateOnIntegerOverflow	on
      ZeroCross		      on
    }
    Block {
      BlockType		      Clock
      DisplayTime	      off
    }
    Block {
      BlockType		      Constant
      Value		      "1"
      VectorParams1D	      on
      ShowAdditionalParam     off
      OutDataTypeMode	      "Inherit from 'Constant value'"
      OutDataType	      "sfix(16)"
      ConRadixGroup	      "Use specified scaling"
      OutScaling	      "2^0"
    }
    Block {
      BlockType		      Derivative
    }
    Block {
      BlockType		      Gain
      Gain		      "1"
      Multiplication	      "Element-wise(K.*u)"
      ShowAdditionalParam     off
      ParameterDataTypeMode   "Same as input"
      ParameterDataType	      "sfix(16)"
      ParameterScalingMode    "Best Precision: Matrix-wise"
      ParameterScaling	      "2^0"
      OutDataTypeMode	      "Same as input"
      OutDataType	      "sfix(16)"
      OutScaling	      "2^0"
      LockScale		      off
      RndMeth		      "Floor"
      SaturateOnIntegerOverflow	on
    }
    Block {
      BlockType		      Inport
      Port		      "1"
      PortDimensions	      "-1"
      SampleTime	      "-1"
      ShowAdditionalParam     off
      LatchInput	      off
      DataType		      "auto"
      OutDataType	      "sfix(16)"
      OutScaling	      "2^0"
      SignalType	      "auto"
      SamplingMode	      "auto"
      Interpolate	      on
    }
    Block {
      BlockType		      Integrator
      ExternalReset	      "none"
      InitialConditionSource  "internal"
      InitialCondition	      "0"
      LimitOutput	      off
      UpperSaturationLimit    "inf"
      LowerSaturationLimit    "-inf"
      ShowSaturationPort      off
      ShowStatePort	      off
      AbsoluteTolerance	      "auto"
      ZeroCross		      on
    }
    Block {
      BlockType		      Math
      Operator		      "exp"
      OutputSignalType	      "auto"
    }
    Block {
      BlockType		      MinMax
      Function		      "min"
      Inputs		      "1"
      ZeroCross		      on
    }
    Block {
      BlockType		      Mux
      Inputs		      "4"
      DisplayOption	      "none"
    }
    Block {
      BlockType		      Outport
      Port		      "1"
      OutputWhenDisabled      "held"
      InitialOutput	      "[]"
    }
    Block {
      BlockType		      Product
      Inputs		      "2"
      Multiplication	      "Element-wise(.*)"
      ShowAdditionalParam     off
      InputSameDT	      on
      OutDataTypeMode	      "Same as first input"
      OutDataType	      "sfix(16)"
      OutScaling	      "2^0"
      LockScale		      off
      RndMeth		      "Floor"
      SaturateOnIntegerOverflow	on
    }
    Block {
      BlockType		      RelationalOperator
      Operator		      ">="
      ShowAdditionalParam     off
      InputSameDT	      on
      LogicOutDataTypeMode    "Logical (see Advanced Sim. Parameters)"
      LogicDataType	      "uint(8)"
      ZeroCross		      on
    }
    Block {
      BlockType		      Scope
      Floating		      off
      ModelBased	      off
      TickLabels	      "OneTimeTick"
      ZoomMode		      "on"
      Grid		      "on"
      TimeRange		      "auto"
      YMin		      "-5"
      YMax		      "5"
      SaveToWorkspace	      off
      SaveName		      "ScopeData"
      LimitDataPoints	      on
      MaxDataPoints	      "5000"
      Decimation	      "1"
      SampleInput	      off
      SampleTime	      "0"
    }
    Block {
      BlockType		      "S-Function"
      FunctionName	      "system"
      PortCounts	      "[]"
      SFunctionModules	      "''"
    }
    Block {
      BlockType		      Signum
      ZeroCross		      on
    }
    Block {
      BlockType		      Step
      Time		      "1"
      Before		      "0"
      After		      "1"
      SampleTime	      "-1"
      VectorParams1D	      on
      ZeroCross		      on
    }
    Block {
      BlockType		      SubSystem
      ShowPortLabels	      on
      Permissions	      "ReadWrite"
      RTWSystemCode	      "Auto"
      RTWFcnNameOpts	      "Auto"
      RTWFileNameOpts	      "Auto"
      SimViewingDevice	      off
      DataTypeOverride	      "UseLocalSettings"
      MinMaxOverflowLogging   "UseLocalSettings"
    }
    Block {
      BlockType		      Sum
      IconShape		      "rectangular"
      Inputs		      "++"
      ShowAdditionalParam     off
      InputSameDT	      on
      OutDataTypeMode	      "Same as first input"
      OutDataType	      "sfix(16)"
      OutScaling	      "2^0"
      LockScale		      off
      RndMeth		      "Floor"
      SaturateOnIntegerOverflow	on
    }
    Block {
      BlockType		      Switch
      Criteria		      "u2 >= Threshold"
      Threshold		      "0"
      ShowAdditionalParam     off
      InputSameDT	      on
      OutDataTypeMode	      "Inherit via internal rule"
      RndMeth		      "Floor"
      SaturateOnIntegerOverflow	on
      ZeroCross		      on
    }
    Block {
      BlockType		      TransferFcn
      Numerator		      "[1]"
      Denominator	      "[1 2 1]"
      AbsoluteTolerance	      "auto"
      Realization	      "auto"
    }
  }
  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		    "TestFriction"
    Location		    [-42, 632, 723, 899]
    Open		    on
    ModelBrowserVisibility  off
    ModelBrowserWidth	    200
    ScreenColor		    "white"
    PaperOrientation	    "landscape"
    PaperPositionMode	    "auto"
    PaperType		    "A4"
    PaperUnits		    "centimeters"
    ZoomFactor		    "100"
    ReportName		    "simulink-default.rpt"
    Block {
      BlockType		      SubSystem
      Name		      "DC Motor + Friction"
      Ports		      [1, 3]
      Position		      [425, 77, 505, 143]
      TreatAsAtomicUnit	      off
      MaskPromptString	      "ks|J|Coulomb|Static|Viscous|StribeckVel|alpha|F"
"riction ON"
      MaskStyleString	      "edit,edit,edit,edit,edit,edit,edit,checkbox"
      MaskTunableValueString  "on,on,on,on,on,on,on,on"
      MaskCallbackString      "|||||||"
      MaskEnableString	      "on,on,on,on,on,on,on,on"
      MaskVisibilityString    "on,on,on,on,on,on,on,on"
      MaskToolTipString	      "on,on,on,on,on,on,on,on"
      MaskVarAliasString      ",,,,,,,"
      MaskVariables	      "ks=@1;J=@2;Coulomb=@3;Static=@4;Viscous=@5;Stri"
"beckVel=@6;alpha=@7;FrictON=@8;"
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "autoscale"
      MaskValueString	      "1|1|0.5|3|1|0.1|0.01|on"
      Port {
	PortNumber		2
	Name			"vel"
	PropagatedSignals	"vel"
	TestPoint		off
	LinearAnalysisOutput	off
	LinearAnalysisInput	off
	RTWStorageClass		"Auto"
	DataLogging		off
	DataLoggingNameMode	"SignalName"
	DataLoggingDecimateData	off
	DataLoggingDecimation	"2"
	DataLoggingLimitDataPoints off
	DataLoggingMaxPoints	"5000"
      }
      Port {
	PortNumber		3
	Name			"frict"
	TestPoint		off
	LinearAnalysisOutput	off
	LinearAnalysisInput	off
	RTWStorageClass		"Auto"
	DataLogging		off
	DataLoggingNameMode	"SignalName"
	DataLoggingDecimateData	off
	DataLoggingDecimation	"2"
	DataLoggingLimitDataPoints off
	DataLoggingMaxPoints	"5000"
      }
      System {
	Name			"DC Motor + Friction"
	Location		[2, 82, 1270, 978]
	Open			off
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"white"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"A4"
	PaperUnits		"centimeters"
	ZoomFactor		"100"
	Block {
	  BlockType		  Inport
	  Name			  "u"
	  Position		  [25, 33, 55, 47]
	  BackgroundColor	  "green"
	}
	Block {
	  BlockType		  Abs
	  Name			  "Abs1"
	  Position		  [420, 383, 435, 397]
	  ShowName		  off
	}
	Block {
	  BlockType		  Abs
	  Name			  "Abs2"
	  Position		  [400, 248, 415, 262]
	  Orientation		  "left"
	  ShowName		  off
	}
	Block {
	  BlockType		  Constant
	  Name			  "Constant1"
	  Position		  [590, 317, 610, 333]
	  Orientation		  "left"
	  ShowName		  off
	}
	Block {
	  BlockType		  Constant
	  Name			  "Constant2"
	  Position		  [315, 287, 335, 303]
	  Orientation		  "left"
	  ShowName		  off
	}
	Block {
	  BlockType		  Constant
	  Name			  "Constant4"
	  Position		  [540, 262, 560, 278]
	  Orientation		  "left"
	  ShowName		  off
	}
	Block {
	  BlockType		  SubSystem
	  Name			  "Friction"
	  Ports			  [1, 1]
	  Position		  [360, 93, 400, 127]
	  Orientation		  "left"
	  TreatAsAtomicUnit	  off
	  MaskPromptString	  "Coulomb|Static|Viscous|StribeckVel"
	  MaskStyleString	  "edit,edit,edit,edit"
	  MaskTunableValueString  "on,on,on,on"
	  MaskCallbackString	  "|||"
	  MaskEnableString	  "on,on,on,on"
	  MaskVisibilityString	  "on,on,on,on"
	  MaskToolTipString	  "on,on,on,on"
	  MaskVarAliasString	  ",,,"
	  MaskVariables		  "Coulomb=@1;Static=@2;Viscous=@3;StribeckVel"
"=@4;"
	  MaskIconFrame		  on
	  MaskIconOpaque	  on
	  MaskIconRotate	  "none"
	  MaskIconUnits		  "autoscale"
	  MaskValueString	  "Coulomb|Static|Viscous|StribeckVel"
	  System {
	    Name		    "Friction"
	    Location		    [209, 684, 1030, 974]
	    Open		    off
	    ModelBrowserVisibility  off
	    ModelBrowserWidth	    200
	    ScreenColor		    "white"
	    PaperOrientation	    "landscape"
	    PaperPositionMode	    "auto"
	    PaperType		    "A4"
	    PaperUnits		    "centimeters"
	    ZoomFactor		    "100"
	    Block {
	      BlockType		      Inport
	      Name		      "vel"
	      Position		      [755, 33, 785, 47]
	      Orientation	      "left"
	    }
	    Block {
	      BlockType		      Gain
	      Name		      "1/StribeckVel"
	      Position		      [590, 79, 635, 111]
	      Orientation	      "left"
	      Gain		      "1/StribeckVel"
	    }
	    Block {
	      BlockType		      Gain
	      Name		      "1/V1"
	      Position		      [430, 29, 455, 61]
	      Orientation	      "left"
	      ShowName		      off
	      Gain		      "-1"
	    }
	    Block {
	      BlockType		      Abs
	      Name		      "Abs"
	      Position		      [615, 191, 640, 209]
	      Orientation	      "left"
	      ShowName		      off
	    }
	    Block {
	      BlockType		      Constant
	      Name		      "Constant"
	      Position		      [650, 88, 670, 102]
	      Orientation	      "left"
	      ShowName		      off
	    }
	    Block {
	      BlockType		      Constant
	      Name		      "Constant1"
	      Position		      [410, 137, 430, 153]
	      Orientation	      "left"
	      ShowName		      off
	    }
	    Block {
	      BlockType		      Constant
	      Name		      "Constant4"
	      Position		      [410, 82, 430, 98]
	      Orientation	      "left"
	      ShowName		      off
	    }
	    Block {
	      BlockType		      Gain
	      Name		      "Coulomb"
	      Position		      [350, 130, 380, 160]
	      Orientation	      "left"
	      Gain		      "Coulomb"
	    }
	    Block {
	      BlockType		      Math
	      Name		      "Math\nFunction"
	      Ports		      [1, 1]
	      Position		      [480, 30, 510, 60]
	      Orientation	      "left"
	      ShowName		      off
	      Operator		      "square"
	    }
	    Block {
	      BlockType		      Math
	      Name		      "Math\nFunction1"
	      Ports		      [1, 1]
	      Position		      [370, 30, 400, 60]
	      Orientation	      "left"
	      ShowName		      off
	    }
	    Block {
	      BlockType		      Product
	      Name		      "Product"
	      Ports		      [2, 1]
	      Position		      [535, 34, 560, 56]
	      Orientation	      "left"
	      ShowName		      off
	      InputSameDT	      off
	    }
	    Block {
	      BlockType		      Product
	      Name		      "Product2"
	      Ports		      [2, 1]
	      Position		      [250, 36, 275, 69]
	      Orientation	      "left"
	      ShowName		      off
	      InputSameDT	      off
	    }
	    Block {
	      BlockType		      Gain
	      Name		      "Static"
	      Position		      [355, 73, 380, 107]
	      Orientation	      "left"
	      Gain		      "Static"
	    }
	    Block {
	      BlockType		      Sum
	      Name		      "Sum1"
	      Ports		      [2, 1]
	      Position		      [210, 75, 230, 95]
	      Orientation	      "left"
	      ShowName		      off
	      IconShape		      "round"
	      Inputs		      "|++"
	      InputSameDT	      off
	      OutDataTypeMode	      "Inherit via internal rule"
	    }
	    Block {
	      BlockType		      Sum
	      Name		      "Sum2"
	      Ports		      [2, 1]
	      Position		      [145, 75, 165, 95]
	      Orientation	      "left"
	      ShowName		      off
	      IconShape		      "round"
	      Inputs		      "|++"
	      InputSameDT	      off
	      OutDataTypeMode	      "Inherit via internal rule"
	    }
	    Block {
	      BlockType		      Sum
	      Name		      "Sum4"
	      Ports		      [2, 1]
	      Position		      [305, 65, 325, 85]
	      Orientation	      "left"
	      ShowName		      off
	      IconShape		      "round"
	      Inputs		      "|+-"
	      InputSameDT	      off
	      OutDataTypeMode	      "Inherit via internal rule"
	    }
	    Block {
	      BlockType		      Gain
	      Name		      "Viscous"
	      Position		      [425, 185, 455, 215]
	      Orientation	      "left"
	      Gain		      "Viscous"
	    }
	    Block {
	      BlockType		      Outport
	      Name		      "frict"
	      Position		      [75, 78, 105, 92]
	      Orientation	      "left"
	    }
	    Line {
	      SrcBlock		      "Constant"
	      SrcPort		      1
	      DstBlock		      "1/StribeckVel"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "1/StribeckVel"
	      SrcPort		      1
	      Points		      [0, -45]
	      DstBlock		      "Product"
	      DstPort		      2
	    }
	    Line {
	      SrcBlock		      "Product"
	      SrcPort		      1
	      DstBlock		      "Math\nFunction"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "Math\nFunction"
	      SrcPort		      1
	      DstBlock		      "1/V1"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "1/V1"
	      SrcPort		      1
	      DstBlock		      "Math\nFunction1"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "Math\nFunction1"
	      SrcPort		      1
	      DstBlock		      "Product2"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "Constant1"
	      SrcPort		      1
	      DstBlock		      "Coulomb"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "Coulomb"
	      SrcPort		      1
	      Points		      [0, 0; -35, 0]
	      Branch {
		Points			[-90, 0]
		DstBlock		"Sum1"
		DstPort			2
	      }
	      Branch {
		Points			[0, -45]
		DstBlock		"Sum4"
		DstPort			2
	      }
	    }
	    Line {
	      SrcBlock		      "Constant4"
	      SrcPort		      1
	      DstBlock		      "Static"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "Static"
	      SrcPort		      1
	      Points		      [-5, 0; 0, -15]
	      DstBlock		      "Sum4"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "Sum4"
	      SrcPort		      1
	      Points		      [-5, 0; 0, -15]
	      DstBlock		      "Product2"
	      DstPort		      2
	    }
	    Line {
	      SrcBlock		      "Product2"
	      SrcPort		      1
	      DstBlock		      "Sum1"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "vel"
	      SrcPort		      1
	      Points		      [0, 0; -10, 0]
	      Branch {
		DstBlock		"Product"
		DstPort			1
	      }
	      Branch {
		Points			[0, 160]
		DstBlock		"Abs"
		DstPort			1
	      }
	    }
	    Line {
	      SrcBlock		      "Sum1"
	      SrcPort		      1
	      DstBlock		      "Sum2"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "Sum2"
	      SrcPort		      1
	      DstBlock		      "frict"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "Viscous"
	      SrcPort		      1
	      Points		      [-265, 0]
	      DstBlock		      "Sum2"
	      DstPort		      2
	    }
	    Line {
	      SrcBlock		      "Abs"
	      SrcPort		      1
	      DstBlock		      "Viscous"
	      DstPort		      1
	    }
	  }
	}
	Block {
	  BlockType		  Gain
	  Name			  "Gain"
	  Position		  [70, 25, 100, 55]
	  ShowName		  off
	  Gain			  "ks"
	  Port {
	    PortNumber		    1
	    Name		    "torque"
	    TestPoint		    off
	    LinearAnalysisOutput    off
	    LinearAnalysisInput	    off
	    RTWStorageClass	    "Auto"
	    DataLogging		    off
	    DataLoggingNameMode	    "SignalName"
	    DataLoggingDecimateData off
	    DataLoggingDecimation   "2"
	    DataLoggingLimitDataPoints off
	    DataLoggingMaxPoints    "5000"
	  }
	}
	Block {
	  BlockType		  Gain
	  Name			  "Gain1"
	  Position		  [165, 110, 195, 140]
	  Orientation		  "up"
	  ShowName		  off
	  Gain			  "FrictON"
	}
	Block {
	  BlockType		  Gain
	  Name			  "Gain3"
	  Position		  [225, 25, 260, 55]
	  ShowName		  off
	  Gain			  "1/J"
	}
	Block {
	  BlockType		  Integrator
	  Name			  "Integrator"
	  Ports			  [2, 1]
	  Position		  [355, 27, 385, 58]
	  ShowName		  off
	  ExternalReset		  "rising"
	  Port {
	    PortNumber		    1
	    Name		    "vel"
	    TestPoint		    off
	    LinearAnalysisOutput    off
	    LinearAnalysisInput	    off
	    RTWStorageClass	    "Auto"
	    DataLogging		    off
	    DataLoggingNameMode	    "SignalName"
	    DataLoggingDecimateData off
	    DataLoggingDecimation   "2"
	    DataLoggingLimitDataPoints off
	    DataLoggingMaxPoints    "5000"
	  }
	}
	Block {
	  BlockType		  Integrator
	  Name			  "Integrator1"
	  Ports			  [1, 1]
	  Position		  [495, 29, 525, 61]
	  ShowName		  off
	  Port {
	    PortNumber		    1
	    Name		    "pos"
	    TestPoint		    off
	    LinearAnalysisOutput    off
	    LinearAnalysisInput	    off
	    RTWStorageClass	    "Auto"
	    DataLogging		    off
	    DataLoggingNameMode	    "SignalName"
	    DataLoggingDecimateData off
	    DataLoggingDecimation   "2"
	    DataLoggingLimitDataPoints off
	    DataLoggingMaxPoints    "5000"
	  }
	}
	Block {
	  BlockType		  MinMax
	  Name			  "MinMax"
	  Ports			  [2, 1]
	  Position		  [365, 317, 395, 348]
	  Orientation		  "left"
	  ShowName		  off
	  Function		  "min"
	  Inputs		  "2"
	}
	Block {
	  BlockType		  Product
	  Name			  "Product"
	  Ports			  [2, 1]
	  Position		  [325, 105, 340, 125]
	  Orientation		  "left"
	  ShowName		  off
	  InputSameDT		  off
	  Port {
	    PortNumber		    1
	    Name		    "slip"
	    TestPoint		    off
	    LinearAnalysisOutput    off
	    LinearAnalysisInput	    off
	    RTWStorageClass	    "Auto"
	    DataLogging		    off
	    DataLoggingNameMode	    "SignalName"
	    DataLoggingDecimateData off
	    DataLoggingDecimation   "2"
	    DataLoggingLimitDataPoints off
	    DataLoggingMaxPoints    "5000"
	  }
	}
	Block {
	  BlockType		  Product
	  Name			  "Product1"
	  Ports			  [2, 1]
	  Position		  [295, 330, 310, 350]
	  Orientation		  "left"
	  ShowName		  off
	  InputSameDT		  off
	  Port {
	    PortNumber		    1
	    Name		    "stick\n"
	    TestPoint		    off
	    LinearAnalysisOutput    off
	    LinearAnalysisInput	    off
	    RTWStorageClass	    "Auto"
	    DataLogging		    off
	    DataLoggingNameMode	    "SignalName"
	    DataLoggingDecimateData off
	    DataLoggingDecimation   "2"
	    DataLoggingLimitDataPoints off
	    DataLoggingMaxPoints    "5000"
	  }
	}
	Block {
	  BlockType		  Product
	  Name			  "Product2"
	  Ports			  [2, 1]
	  Position		  [280, 175, 295, 195]
	  Orientation		  "left"
	  ShowName		  off
	  InputSameDT		  off
	}
	Block {
	  BlockType		  Product
	  Name			  "Product3"
	  Ports			  [2, 1]
	  Position		  [215, 260, 230, 280]
	  Orientation		  "left"
	  ShowName		  off
	  InputSameDT		  off
	}
	Block {
	  BlockType		  RelationalOperator
	  Name			  "Relational\nOperator"
	  Position		  [350, 247, 380, 278]
	  Orientation		  "left"
	  ShowName		  off
	  Operator		  ">"
	  ShowAdditionalParam	  on
	  InputSameDT		  off
	  LogicOutDataTypeMode	  "Specify via dialog"
	}
	Block {
	  BlockType		  Signum
	  Name			  "Sign"
	  Position		  [370, 149, 395, 171]
	  Orientation		  "left"
	  ShowName		  off
	}
	Block {
	  BlockType		  Signum
	  Name			  "Sign1"
	  Position		  [330, 350, 350, 370]
	  Orientation		  "up"
	  NamePlacement		  "alternate"
	  ShowName		  off
	}
	Block {
	  BlockType		  Gain
	  Name			  "Static"
	  Position		  [525, 308, 550, 342]
	  Orientation		  "left"
	  Gain			  "Static"
	}
	Block {
	  BlockType		  Sum
	  Name			  "Sum"
	  Ports			  [2, 1]
	  Position		  [170, 30, 190, 50]
	  ShowName		  off
	  IconShape		  "round"
	  Inputs		  "|+-"
	  InputSameDT		  off
	  OutDataTypeMode	  "Inherit via internal rule"
	  Port {
	    PortNumber		    1
	    Name		    "acc"
	    TestPoint		    off
	    LinearAnalysisOutput    off
	    LinearAnalysisInput	    off
	    RTWStorageClass	    "Auto"
	    DataLogging		    off
	    DataLoggingNameMode	    "SignalName"
	    DataLoggingDecimateData off
	    DataLoggingDecimation   "2"
	    DataLoggingLimitDataPoints off
	    DataLoggingMaxPoints    "5000"
	  }
	}
	Block {
	  BlockType		  Sum
	  Name			  "Sum1"
	  Ports			  [2, 1]
	  Position		  [190, 175, 210, 195]
	  Orientation		  "left"
	  ShowName		  off
	  IconShape		  "round"
	  Inputs		  "|++"
	  InputSameDT		  off
	  OutDataTypeMode	  "Inherit via internal rule"
	}
	Block {
	  BlockType		  Sum
	  Name			  "Sum2"
	  Ports			  [2, 1]
	  Position		  [285, 255, 305, 275]
	  Orientation		  "left"
	  ShowName		  off
	  IconShape		  "round"
	  Inputs		  "|-+"
	  InputSameDT		  off
	  OutDataTypeMode	  "Inherit via internal rule"
	}
	Block {
	  BlockType		  Gain
	  Name			  "alpha"
	  Position		  [470, 253, 495, 287]
	  Orientation		  "left"
	  Gain			  "alpha"
	}
	Block {
	  BlockType		  Outport
	  Name			  "pos"
	  Position		  [680, 38, 710, 52]
	  BackgroundColor	  "red"
	}
	Block {
	  BlockType		  Outport
	  Name			  "vel"
	  Position		  [685, 178, 715, 192]
	  BackgroundColor	  "red"
	  Port			  "2"
	}
	Block {
	  BlockType		  Outport
	  Name			  "frict"
	  Position		  [205, 73, 235, 87]
	  BackgroundColor	  "red"
	  Port			  "3"
	}
	Line {
	  Name			  "vel"
	  Labels		  [0, 0]
	  SrcBlock		  "Integrator"
	  SrcPort		  1
	  Points		  [0, -5; 55, 0]
	  Branch {
	    Points		    [0, 70; -15, 0]
	    Branch {
	      DstBlock		      "Friction"
	      DstPort		      1
	    }
	    Branch {
	      Points		      [0, 50]
	      Branch {
		Points			[0, 25]
		Branch {
		  DstBlock		  "vel"
		  DstPort		  1
		}
		Branch {
		  DstBlock		  "Abs2"
		  DstPort		  1
		}
	      }
	      Branch {
		DstBlock		"Sign"
		DstPort			1
	      }
	    }
	  }
	  Branch {
	    Points		    [35, 0]
	    DstBlock		    "Integrator1"
	    DstPort		    1
	  }
	}
	Line {
	  SrcBlock		  "Friction"
	  SrcPort		  1
	  DstBlock		  "Product"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Sign"
	  SrcPort		  1
	  Points		  [-10, 0]
	  DstBlock		  "Product"
	  DstPort		  2
	}
	Line {
	  Name			  "torque"
	  Labels		  [0, 0]
	  SrcBlock		  "Gain"
	  SrcPort		  1
	  Points		  [35, 0]
	  Branch {
	    DstBlock		    "Sum"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, 350; 200, 0]
	    Branch {
	      DstBlock		      "Abs1"
	      DstPort		      1
	    }
	    Branch {
	      DstBlock		      "Sign1"
	      DstPort		      1
	    }
	  }
	}
	Line {
	  SrcBlock		  "u"
	  SrcPort		  1
	  DstBlock		  "Gain"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Abs1"
	  SrcPort		  1
	  Points		  [30, 0; 0, -50]
	  DstBlock		  "MinMax"
	  DstPort		  2
	}
	Line {
	  Name			  "acc"
	  Labels		  [0, 0]
	  SrcBlock		  "Sum"
	  SrcPort		  1
	  DstBlock		  "Gain3"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Gain1"
	  SrcPort		  1
	  Points		  [0, -25]
	  Branch {
	    DstBlock		    "Sum"
	    DstPort		    2
	  }
	  Branch {
	    DstBlock		    "frict"
	    DstPort		    1
	  }
	}
	Line {
	  Name			  "pos"
	  Labels		  [0, 0]
	  SrcBlock		  "Integrator1"
	  SrcPort		  1
	  DstBlock		  "pos"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Gain3"
	  SrcPort		  1
	  Points		  [75, 0]
	  DstBlock		  "Integrator"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "MinMax"
	  SrcPort		  1
	  DstBlock		  "Product1"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Sign1"
	  SrcPort		  1
	  DstBlock		  "Product1"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Constant4"
	  SrcPort		  1
	  DstBlock		  "alpha"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Constant1"
	  SrcPort		  1
	  DstBlock		  "Static"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Abs2"
	  SrcPort		  1
	  DstBlock		  "Relational\nOperator"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "alpha"
	  SrcPort		  1
	  DstBlock		  "Relational\nOperator"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Static"
	  SrcPort		  1
	  DstBlock		  "MinMax"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Sum1"
	  SrcPort		  1
	  Points		  [-5, 0]
	  DstBlock		  "Gain1"
	  DstPort		  1
	}
	Line {
	  Name			  "slip"
	  Labels		  [0, 1]
	  SrcBlock		  "Product"
	  SrcPort		  1
	  Points		  [0, 65]
	  DstBlock		  "Product2"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Relational\nOperator"
	  SrcPort		  1
	  Points		  [-10, 0]
	  Branch {
	    DstBlock		    "Sum2"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, -75]
	    DstBlock		    "Product2"
	    DstPort		    2
	  }
	}
	Line {
	  SrcBlock		  "Product2"
	  SrcPort		  1
	  DstBlock		  "Sum1"
	  DstPort		  1
	}
	Line {
	  Name			  "stick\n"
	  Labels		  [2, 0]
	  SrcBlock		  "Product1"
	  SrcPort		  1
	  Points		  [-20, 0; 0, -65]
	  DstBlock		  "Product3"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Product3"
	  SrcPort		  1
	  Points		  [-10, 0]
	  DstBlock		  "Sum1"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Constant2"
	  SrcPort		  1
	  Points		  [-15, 0]
	  DstBlock		  "Sum2"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Sum2"
	  SrcPort		  1
	  Points		  [-25, 0]
	  Branch {
	    DstBlock		    "Product3"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, -215]
	    DstBlock		    "Integrator"
	    DstPort		    2
	  }
	}
      }
    }
    Block {
      BlockType		      Reference
      Name		      "Manual Switch"
      Ports		      [2, 1]
      Position		      [160, 87, 190, 123]
      ShowName		      off
      SourceBlock	      "simulink/Signal\nRouting/Manual Switch"
      SourceType	      "Manual Switch"
      sw		      "0"
      action		      "0"
    }
    Block {
      BlockType		      Reference
      Name		      "Manual Switch1"
      Ports		      [2, 1]
      Position		      [385, 92, 415, 128]
      ShowName		      off
      SourceBlock	      "simulink/Signal\nRouting/Manual Switch"
      SourceType	      "Manual Switch"
      sw		      "0"
      action		      "0"
    }
    Block {
      BlockType		      Mux
      Name		      "Mux"
      Ports		      [2, 1]
      Position		      [570, 56, 575, 94]
      ShowName		      off
      Inputs		      "2"
      DisplayOption	      "bar"
      Port {
	PortNumber		1
	Name			"pos"
	PropagatedSignals	", pos"
	TestPoint		off
	LinearAnalysisOutput	off
	LinearAnalysisInput	off
	RTWStorageClass		"Auto"
	DataLogging		off
	DataLoggingNameMode	"SignalName"
	DataLoggingDecimateData	off
	DataLoggingDecimation	"2"
	DataLoggingLimitDataPoints off
	DataLoggingMaxPoints	"5000"
      }
    }
    Block {
      BlockType		      Reference
      Name		      "PD"
      Ports		      [1, 1]
      Position		      [310, 60, 340, 90]
      SourceBlock	      "simulink_extras/Additional\nLinear/PID Controll"
"er"
      SourceType	      "PID Controller"
      P			      "36"
      I			      "0"
      D			      "12"
    }
    Block {
      BlockType		      Reference
      Name		      "PID"
      Ports		      [1, 1]
      Position		      [310, 115, 340, 145]
      SourceBlock	      "simulink_extras/Additional\nLinear/PID Controll"
"er"
      SourceType	      "PID Controller"
      P			      "54"
      I			      "54"
      D			      "13.5"
    }
    Block {
      BlockType		      Reference
      Name		      "Ramp2"
      Ports		      [0, 1]
      Position		      [70, 125, 100, 155]
      SourceBlock	      "simulink/Sources/Ramp"
      SourceType	      "Ramp"
      slope		      "0.1"
      start		      "0"
      X0		      "0"
      VectorParams1D	      on
    }
    Block {
      BlockType		      Scope
      Name		      "Scope"
      Ports		      [3]
      Position		      [675, 41, 745, 169]
      Location		      [227, 98, 1251, 788]
      Open		      on
      NumInputPorts	      "3"
      List {
	ListType		AxesTitles
	axes1			"%<SignalLabel>"
	axes2			"%<SignalLabel>"
	axes3			"%<SignalLabel>"
      }
      List {
	ListType		SelectedSignals
	axes1			""
	axes2			""
	axes3			""
      }
      TimeRange		      "25              "
      YMin		      "0~0~0"
      YMax		      "1.4~0.225~3"
      SaveToWorkspace	      on
      DataFormat	      "StructureWithTime"
      MaxDataPoints	      "5000000"
    }
    Block {
      BlockType		      Step
      Name		      "Step2"
      Position		      [70, 55, 100, 85]
      SampleTime	      "0"
    }
    Block {
      BlockType		      Sum
      Name		      "Sum"
      Ports		      [2, 1]
      Position		      [260, 95, 280, 115]
      ShowName		      off
      IconShape		      "round"
      Inputs		      "|+-"
      InputSameDT	      off
      OutDataTypeMode	      "Inherit via internal rule"
    }
    Line {
      SrcBlock		      "Sum"
      SrcPort		      1
      Points		      [5, 0]
      Branch {
	Points			[0, -30]
	DstBlock		"PD"
	DstPort			1
      }
      Branch {
	Points			[0, 25]
	DstBlock		"PID"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "DC Motor + Friction"
      SrcPort		      1
      Points		      [0, -5; 15, 0]
      Branch {
	Points			[0, 85; -255, 0]
	DstBlock		"Sum"
	DstPort			2
      }
      Branch {
	DstBlock		"Mux"
	DstPort			2
      }
    }
    Line {
      SrcBlock		      "Manual Switch"
      SrcPort		      1
      Points		      [45, 0]
      Branch {
	DstBlock		"Sum"
	DstPort			1
      }
      Branch {
	Points			[0, -55; 315, 0]
	DstBlock		"Mux"
	DstPort			1
      }
    }
    Line {
      Name		      "frict"
      Labels		      [0, 0]
      SrcBlock		      "DC Motor + Friction"
      SrcPort		      3
      Points		      [150, 0]
      DstBlock		      "Scope"
      DstPort		      3
    }
    Line {
      Name		      "vel"
      Labels		      [0, 0]
      SrcBlock		      "DC Motor + Friction"
      SrcPort		      2
      Points		      [150, 0]
      DstBlock		      "Scope"
      DstPort		      2
    }
    Line {
      Name		      "pos"
      Labels		      [0, 0]
      SrcBlock		      "Mux"
      SrcPort		      1
      Points		      [40, 0]
      Branch {
	Points			[40, 0]
	DstBlock		"Scope"
	DstPort			1
      }
      Branch {
	Points			[0, -5]
      }
    }
    Line {
      SrcBlock		      "Step2"
      SrcPort		      1
      Points		      [20, 0; 0, 25]
      DstBlock		      "Manual Switch"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Ramp2"
      SrcPort		      1
      Points		      [20, 0; 0, -25]
      DstBlock		      "Manual Switch"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Manual Switch1"
      SrcPort		      1
      DstBlock		      "DC Motor + Friction"
      DstPort		      1
    }
    Line {
      SrcBlock		      "PD"
      SrcPort		      1
      Points		      [25, 0]
      DstBlock		      "Manual Switch1"
      DstPort		      1
    }
    Line {
      SrcBlock		      "PID"
      SrcPort		      1
      Points		      [25, 0]
      DstBlock		      "Manual Switch1"
      DstPort		      2
    }
  }
}