Model {
  Name			  "car1"
  Version		  2.09
  SimParamPage		  Solver
  SampleTimeColors	  off
  InvariantConstants	  off
  WideVectorLines	  off
  ShowLineWidths	  off
  PaperOrientation	  landscape
  PaperType		  usletter
  PaperUnits		  inches
  StartTime		  "0.0"
  StopTime		  "45"
  Solver		  ode5
  RelTol		  "1e-3"
  AbsTol		  "1e-3"
  Refine		  "1"
  MaxStep		  "0.01"
  InitialStep		  "auto"
  FixedStep		  "0.01"
  MaxOrder		  5
  OutputOption		  RefineOutputTimes
  OutputTimes		  "[]"
  LoadExternalInput	  off
  ExternalInput		  "[t, u]"
  SaveTime		  off
  TimeSaveName		  "tout"
  SaveState		  off
  StateSaveName		  "xout"
  SaveOutput		  off
  OutputSaveName	  "yout"
  LoadInitialState	  off
  InitialState		  "xInitial"
  SaveFinalState	  off
  FinalStateName	  "xFinal"
  LimitMaxRows		  off
  MaxRows		  "1000"
  Decimation		  "1"
  AlgebraicLoopMsg	  warning
  MinStepSizeMsg	  warning
  UnconnectedInputMsg	  warning
  UnconnectedOutputMsg	  warning
  UnconnectedLineMsg	  warning
  ConsistencyChecking	  off
  ZeroCross		  on
  SimulationMode	  normal
  RTWSystemTargetFile	  "grt.tlc"
  RTWInlineParameters	  off
  RTWRetainRTWFile	  off
  RTWTemplateMakefile	  "grt_vc.tmf"
  RTWMakeCommand	  "make_rtw"
  RTWGenerateCodeOnly	  off
  ExtModeMexFile	  "ext_comm"
  ExtModeBatchMode	  off
  BlockDefaults {
    Orientation		    right
    ForegroundColor	    black
    BackgroundColor	    white
    DropShadow		    off
    NamePlacement	    normal
    FontName		    "Helvetica"
    FontSize		    10
    FontWeight		    normal
    FontAngle		    normal
    ShowName		    on
  }
  AnnotationDefaults {
    HorizontalAlignment	    center
    VerticalAlignment	    middle
    ForegroundColor	    black
    BackgroundColor	    white
    DropShadow		    off
    FontName		    "Helvetica"
    FontSize		    10
    FontWeight		    normal
    FontAngle		    normal
  }
  LineDefaults {
    FontName		    "Helvetica"
    FontSize		    9
    FontWeight		    normal
    FontAngle		    normal
  }
  System {
    Name		    "car1"
    Location		    [63, 77, 766, 527]
    Open		    on
    ScreenColor		    white
    Block {
      BlockType		      SubSystem
      Name		      "Cartesian to Polar"
      Ports		      [2, 2, 0, 0, 0]
      Position		      [430, 251, 450, 289]
      Orientation	      left
      ShowPortLabels	      off
      MaskType		      "[x,y]->[r,theta]"
      MaskDescription	      "Tranformation from cartesian to polar\ncoordinat"
			      "es.\nr=sqrt(x^2+y^2), theta=atan(y/x)"
      MaskHelp		      "Unmask this block for more help."
      MaskDisplay	      "plot(0,0,100,100,[24,20,15,20,20],[85,95,85,95,2"
			      "0],[80,20,95,85,95,85],[70,20,20,15,20,24],[56,5"
			      "6,55,52,50,46],[20,26,31,35,38,42])"
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      none
      MaskIconUnits	      autoscale
      System {
	Name			"Cartesian to Polar"
	Location		[0, 0, 359, 206]
	Open			off
	ScreenColor		white
	Block {
	  BlockType		  Inport
	  Name			  "x"
	  Position		  [20, 70, 40, 90]
	  Port			  "1"
	  PortWidth		  "-1"
	  SampleTime		  "-1"
	}
	Block {
	  BlockType		  Inport
	  Name			  "y"
	  Position		  [20, 129, 40, 151]
	  Port			  "2"
	  PortWidth		  "-1"
	  SampleTime		  "-1"
	}
	Block {
	  BlockType		  Mux
	  Name			  "Mux"
	  Ports			  [2, 1, 0, 0, 0]
	  Position		  [75, 96, 105, 129]
	  Inputs		  "2"
	}
	Block {
	  BlockType		  Fcn
	  Name			  "x->r"
	  Position		  [155, 72, 260, 98]
	  Expr			  "hypot(u[1],u[2])"
	}
	Block {
	  BlockType		  Fcn
	  Name			  "x->theta"
	  Position		  [160, 129, 265, 151]
	  Expr			  "atan2(u[2],u[1])"
	}
	Block {
	  BlockType		  Outport
	  Name			  "r"
	  Position		  [295, 75, 315, 95]
	  Port			  "1"
	  OutputWhenDisabled	  held
	  InitialOutput		  "0"
	}
	Block {
	  BlockType		  Outport
	  Name			  "theta"
	  Position		  [295, 130, 315, 150]
	  Port			  "2"
	  OutputWhenDisabled	  held
	  InitialOutput		  "0"
	}
	Line {
	  SrcBlock		  "x->theta"
	  SrcPort		  1
	  DstBlock		  "theta"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "y"
	  SrcPort		  1
	  DstBlock		  "Mux"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "x"
	  SrcPort		  1
	  DstBlock		  "Mux"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "x->r"
	  SrcPort		  1
	  DstBlock		  "r"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Mux"
	  SrcPort		  1
	  Points		  [15, 0]
	  Branch {
	    Points		    [0, -30]
	    DstBlock		    "x->r"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, 25]
	    DstBlock		    "x->theta"
	    DstPort		    1
	  }
	}
	Annotation {
	  Position		  [167, 37]
	  VerticalAlignment	  top
	  Text			  "Cartesian to Polar"
	}
      }
    }
    Block {
      BlockType		      Clock
      Name		      "Clock"
      Position		      [160, 355, 180, 375]
      Location		      [30, 40, 140, 75]
    }
    Block {
      BlockType		      Constant
      Name		      "Constant"
      Position		      [345, 185, 365, 205]
      Value		      "30"
    }
    Block {
      BlockType		      Constant
      Name		      "Constant1"
      Position		      [515, 195, 535, 215]
      Value		      "30"
    }
    Block {
      BlockType		      Derivative
      Name		      "Derivative"
      Position		      [500, 285, 530, 305]
      Orientation	      left
    }
    Block {
      BlockType		      Fcn
      Name		      "Fcn5"
      Position		      [415, 102, 440, 118]
      Expr		      "u*1000/3600"
    }
    Block {
      BlockType		      Fcn
      Name		      "Fcn6"
      Position		      [320, 162, 345, 178]
      Expr		      "u*1000/3600"
    }
    Block {
      BlockType		      Fcn
      Name		      "Fcn7"
      Position		      [500, 252, 525, 268]
      Orientation	      left
      Expr		      "u/20"
    }
    Block {
      BlockType		      Fcn
      Name		      "Fcn8"
      Position		      [560, 302, 585, 318]
      Orientation	      left
      Expr		      "u/20"
    }
    Block {
      BlockType		      S-Function
      Name		      "Fuzzy Logic Controller"
      Ports		      [1, 1, 0, 0, 0]
      Position		      [345, 254, 370, 296]
      Orientation	      left
      FunctionName	      "sffis"
      Parameters	      "fismatrix"
      MaskType		      "FIS"
      MaskDescription	      "FIS"
      MaskHelp		      "Fuzzy Inference System"
      MaskPromptString	      "FIS Matrix:"
      MaskStyleString	      "edit"
      MaskInitialization      "fismatrix = @1;"
      MaskDisplay	      "plot(0, -0.3, 6, -0.3, 0, 1.2, 6, 1.2, [0 "
			      "6], [0 0], [1 2 3],[0 1 0],[2 3 4],[0 1 0],[3 "
			      "4 5],[0 1 0])"
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      none
      MaskIconUnits	      autoscale
      MaskValueString	      "pidf"
    }
    Block {
      BlockType		      Gain
      Name		      "Gain"
      Position		      [175, 67, 200, 93]
      Gain		      "90"
    }
    Block {
      BlockType		      Gain
      Name		      "Gain1"
      Position		      [175, 102, 200, 128]
      Gain		      "20"
    }
    Block {
      BlockType		      Gain
      Name		      "Gain2"
      Position		      [175, 137, 200, 163]
      Gain		      "-40"
    }
    Block {
      BlockType		      Gain
      Name		      "Gain7"
      Position		      [265, 297, 290, 323]
      Orientation	      left
      Gain		      "500"
    }
    Block {
      BlockType		      Integrator
      Name		      "Integrator2"
      Ports		      [1, 1, 0, 0, 0]
      Position		      [360, 160, 380, 180]
      ExternalReset	      none
      InitialConditionSource      internal
      InitialCondition	      "0"
      LimitOutput	      off
      UpperSaturationLimit      "inf"
      LowerSaturationLimit      "-inf"
      ShowSaturationPort      off
      ShowStatePort	      off
      AbsoluteTolerance	      "auto"
    }
    Block {
      BlockType		      Integrator
      Name		      "Integrator3"
      Ports		      [1, 1, 0, 0, 0]
      Position		      [470, 100, 490, 120]
      ExternalReset	      none
      InitialConditionSource      internal
      InitialCondition	      "200"
      LimitOutput	      off
      UpperSaturationLimit      "inf"
      LowerSaturationLimit      "-inf"
      ShowSaturationPort      off
      ShowStatePort	      off
      AbsoluteTolerance	      "auto"
    }
    Block {
      BlockType		      Mux
      Name		      "Mux"
      Ports		      [2, 1, 0, 0, 0]
      Position		      [390, 255, 405, 290]
      Orientation	      left
      Inputs		      "2"
    }
    Block {
      BlockType		      Saturate
      Name		      "Saturation4"
      Position		      [170, 298, 200, 322]
      Orientation	      left
      UpperLimit	      "200"
      LowerLimit	      "0"
    }
    Block {
      BlockType		      Step
      Name		      "Step Input"
      Position		      [110, 70, 130, 90]
      Time		      "0"
      Before		      "0"
      After		      "1"
    }
    Block {
      BlockType		      Step
      Name		      "Step Input1"
      Position		      [110, 105, 130, 125]
      Time		      "25"
      Before		      "0"
      After		      "1"
    }
    Block {
      BlockType		      Step
      Name		      "Step Input2"
      Position		      [110, 145, 130, 165]
      Time		      "35"
      Before		      "0"
      After		      "1"
    }
    Block {
      BlockType		      Sum
      Name		      "Sum"
      Ports		      [2, 1, 0, 0, 0]
      Position		      [220, 115, 240, 135]
      Inputs		      "++"
    }
    Block {
      BlockType		      Sum
      Name		      "Sum1"
      Ports		      [2, 1, 0, 0, 0]
      Position		      [370, 100, 390, 120]
      Inputs		      "++"
    }
    Block {
      BlockType		      Sum
      Name		      "Sum2"
      Ports		      [3, 1, 0, 0, 0]
      Position		      [405, 146, 425, 194]
      Inputs		      "+--"
    }
    Block {
      BlockType		      Sum
      Name		      "Sum3"
      Ports		      [2, 1, 0, 0, 0]
      Position		      [590, 181, 610, 214]
      Inputs		      "++"
    }
    Block {
      BlockType		      ToWorkspace
      Name		      "To Workspace1"
      Position		      [245, 357, 295, 373]
      VariableName	      "t"
      Buffer		      "100000"
      Decimation	      "1"
      SampleTime	      "0"
    }
    Block {
      BlockType		      ToWorkspace
      Name		      "To Workspace2"
      Position		      [400, 212, 450, 228]
      VariableName	      "y"
      Buffer		      "100000"
      Decimation	      "1"
      SampleTime	      "0"
    }
    Block {
      BlockType		      ToWorkspace
      Name		      "To Workspace3"
      Position		      [640, 191, 660, 209]
      VariableName	      "a"
      Buffer		      "100000"
      Decimation	      "1"
      SampleTime	      "0"
    }
    Block {
      BlockType		      ToWorkspace
      Name		      "To Workspace4"
      Position		      [570, 112, 620, 128]
      VariableName	      "a1"
      Buffer		      "100000"
      Decimation	      "1"
      SampleTime	      "0"
    }
    Block {
      BlockType		      ToWorkspace
      Name		      "To Workspace5"
      Position		      [240, 262, 290, 278]
      VariableName	      "u"
      Buffer		      "100000"
      Decimation	      "1"
      SampleTime	      "0"
    }
    Block {
      BlockType		      ToWorkspace
      Name		      "To Workspace6"
      Position		      [505, 347, 555, 363]
      VariableName	      "e"
      Buffer		      "100000"
      Decimation	      "1"
      SampleTime	      "0"
    }
    Block {
      BlockType		      ToWorkspace
      Name		      "To Workspace7"
      Position		      [505, 387, 555, 403]
      VariableName	      "ed"
      Buffer		      "100000"
      Decimation	      "1"
      SampleTime	      "0"
    }
    Block {
      BlockType		      ToWorkspace
      Name		      "To Workspace8"
      Position		      [450, 62, 500, 78]
      VariableName	      "y1"
      Buffer		      "100000"
      Decimation	      "1"
      SampleTime	      "0"
    }
    Block {
      BlockType		      TransferFcn
      Name		      "Transfer Fcn4"
      Position		      [265, 96, 355, 134]
      Numerator		      "[4]"
      Denominator	      "[1 2*0.7*2 4]"
    }
    Block {
      BlockType		      TransferFcn
      Name		      "Transfer Fcn5"
      Position		      [200, 202, 300, 238]
      Numerator		      "[4]"
      Denominator	      "[1 2*0.7*2 4]"
    }
    Line {
      SrcBlock		      "Saturation4"
      SrcPort		      1
      Points		      [-20, 0; 0, -50]
      Branch {
	Points			[0, 10]
	DstBlock		"To Workspace5"
	DstPort			1
      }
      Branch {
	Points			[0, -40]
	DstBlock		"Transfer Fcn5"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Sum"
      SrcPort		      1
      Points		      [5, 0]
      DstBlock		      "Transfer Fcn4"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Gain2"
      SrcPort		      1
      DstBlock		      "Sum"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Gain1"
      SrcPort		      1
      DstBlock		      "Sum"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Derivative"
      SrcPort		      1
      Points		      [-15, 0]
      Branch {
	Points			[0, 100]
	DstBlock		"To Workspace7"
	DstPort			1
      }
      Branch {
	Points			[-15, 0]
	DstBlock		"Cartesian to Polar"
	DstPort			2
      }
    }
    Line {
      SrcBlock		      "Fcn7"
      SrcPort		      1
      Points		      [-5, 0]
      Branch {
	DstBlock		"To Workspace6"
	DstPort			1
      }
      Branch {
	DstBlock		"Cartesian to Polar"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Sum3"
      SrcPort		      1
      DstBlock		      "To Workspace3"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Clock"
      SrcPort		      1
      DstBlock		      "To Workspace1"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Step Input"
      SrcPort		      1
      DstBlock		      "Gain"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Step Input1"
      SrcPort		      1
      DstBlock		      "Gain1"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Step Input2"
      SrcPort		      1
      Points		      [10, 0; 0, -5]
      DstBlock		      "Gain2"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Transfer Fcn4"
      SrcPort		      1
      DstBlock		      "Sum1"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Gain"
      SrcPort		      1
      Points		      [145, 0]
      DstBlock		      "Sum1"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Fcn5"
      SrcPort		      1
      DstBlock		      "Integrator3"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Transfer Fcn5"
      SrcPort		      1
      Points		      [0, 0]
      Branch {
	DstBlock		"To Workspace2"
	DstPort			1
      }
      Branch {
	DstBlock		"Fcn6"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Fcn6"
      SrcPort		      1
      DstBlock		      "Integrator2"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Integrator2"
      SrcPort		      1
      DstBlock		      "Sum2"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Integrator3"
      SrcPort		      1
      Points		      [15, 0; 0, 10]
      Branch {
	Points			[0, 20; -130, 0; 0, 15]
	DstBlock		"Sum2"
	DstPort			1
      }
      Branch {
	DstBlock		"To Workspace4"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Mux"
      SrcPort		      1
      DstBlock		      "Fuzzy Logic Controller"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Fcn8"
      SrcPort		      1
      Points		      [0, -15]
      DstBlock		      "Derivative"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Constant"
      SrcPort		      1
      Points		      [10, 0; 0, -10]
      DstBlock		      "Sum2"
      DstPort		      3
    }
    Line {
      SrcBlock		      "Sum1"
      SrcPort		      1
      Points		      [0, 0]
      Branch {
	DstBlock		"Fcn5"
	DstPort			1
      }
      Branch {
	Points			[5, -40]
	DstBlock		"To Workspace8"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Cartesian to Polar"
      SrcPort		      1
      Points		      [0, 5]
      DstBlock		      "Mux"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Cartesian to Polar"
      SrcPort		      2
      DstBlock		      "Mux"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Gain7"
      SrcPort		      1
      DstBlock		      "Saturation4"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Fuzzy Logic Controller"
      SrcPort		      1
      Points		      [-20, 0; 0, 35]
      DstBlock		      "Gain7"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Sum2"
      SrcPort		      1
      Points		      [127, 0; 0, 20]
      Branch {
	Points			[0, 70]
	Branch {
	  DstBlock		  "Fcn7"
	  DstPort		  1
	}
	Branch {
	  Points		  [43, 0]
	  DstBlock		  "Fcn8"
	  DstPort		  1
	}
      }
      Branch {
	DstBlock		"Sum3"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Constant1"
      SrcPort		      1
      DstBlock		      "Sum3"
      DstPort		      2
    }
  }
}