Trabalho 5 - Lyapunov e Energia

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5 - Lyapunov e Energia/Lyapunov_e_Energia.pdf
Faculdade de Engenharia
To´picos Especiais II - ECA
Introduc¸a˜o a` Teoria de Lyapunov
Controle baseado em energia
1 Introduc¸a˜o
Certamente a teoria mais importante ja´ desenvolvida para a ana´lise e controle
de sistemas na˜o-lineares e´ a chamada Teoria de Lyapunov. Ela se baseia em
uma generalizac¸a˜o do conceito de energia e permite que concluso˜es sobre
a estabilidade do sistema sejam tiradas a partir de uma func¸a˜o escalar. Ou
seja, atrave´s deste me´todo na˜o e´ necessa´rio solucionar as equac¸o˜es diferenciais
que descrevem o sistema para tirar concluso˜es sobre o mesmo. Ale´m disto,
o me´todo direto de Lyapunov na˜o utiliza nenhuma aproximac¸a˜o do sistema,
portanto e´ uma ferramenta muito mais poderosa do que a simples linearizac¸a˜o
do mesmo.
2 Energia Vs. Estabilidade
Existe uma relac¸a˜o direta entre a energia de um sistema e a estabilidade do
mesmo. De forma geral, pode-se dizer que:
1. todo o ponto em que a energia e´ zero e´ um ponto de equil´ıbrio do
sistema;
2. estabilidade assinto´tica implica a convergeˆncia do sistema mecaˆnico
para o ponto de energia zero;
3. instabilidade e´ relacionada ao crescimento de energia;
Portanto, para analisar a estabilidade de um sistema dinaˆmico nos basta
analisar a variac¸a˜o da energia do mesmo. Tomemos como exemplo o sistema
massa mola amortecedor, descrito por,
mx¨+ bx˙+ k0x = 0 (1)
A energia E do sistema e´ dada pela soma da energia cine´tica e da energia
potencial do mesmo:
E(x) = 1
2
mx˙2 + 1
2
k0x
2 > 0 (2)
1
e sua variac¸a˜o e´,
E˙(x) = mx˙x¨+ k0xx˙ = −bx˙
2 ≤ 0 (3)
A variac¸a˜o da energia e´ negativa (perda de energia), portanto o sistema
tende ao ponto de energia zero, ou seja, e´ assintoticamente esta´vel. Esta e´ a
resposta esperada uma vez que b > 0 e´ o atrito presente no sistema. Neste
mesmo exemplo, se b = 0 enta˜o ter´ıamos que E˙(x) = 0, ou seja, o sistema
na˜o dissipa energia. Ao inve´s disto ele mante´m uma oscilac¸a˜o sustenta´vel,
sempre transformando energia cine´tica em potencial e vice-versa.
3 Func¸o˜es de Lyapunov
A teoria de Lyapunov pode ser vista como uma generalizac¸a˜o do conceito
de Energia. Lyapunov explorou o fato de que na˜o e´ necessa´rio descrever a
energia de um sistema para conseguir analisar a sua estabilidade. Precisamos
apenas de uma func¸a˜o que seja similar a` energia.
Antes de descrevermos o me´todo de Lyapunov, precisamos de uma de-
finic¸a˜o sobre a positividade de func¸o˜es escalares.
Definic¸a˜o 1 Uma func¸a˜o escalar cont´ınua V (x) e´ dita positiva definida se
V (0) = 0 e V (x) > 0 ∀ x 6= 0.
Note que a func¸a˜o (2) e´ positiva definida. De uma forma geral, func¸o˜es
que representam a energia de um dado sistema sa˜o positivas definidas, ou
seja, satisfazem a condic¸a˜o de que E(0) = 0 e E(x) > 0 para todo x 6= 0.
Pore´m, na˜o apenas func¸o˜es que repre-
sentam a energia do sistema sa˜o po-
sitivas definidas. Outro exemplo e´ a
func¸a˜o quadra´tica V (x1, x2) = x
2
1+x
2
2
representada na figura ao lado. Note
que ela tambe´m satisfaz as condic¸o˜es
de positividade definida, mas na˜o re-
presenta nenhuma grandesa f´ısica.
−10
−5
0
5
10
−10
−5
0
5
10
0
20
40
60
80
100
120
140
Para analisar a estabilidade de um sistema basta encontrar uma func¸a˜o
positiva definida com derivada negativa semi-definida. Em outras palavras,
se existe uma func¸a˜o V (x) > 0 para todo x 6= 0 tal que V˙ (x) ≤ 0, onde x
sa˜o os estados de um sistema de interesse, podemos afirmar que este sistema
e´ esta´vel. Ale´m disto, se V˙ (x) < 0 para todo x 6= 0, enta˜o o sistema e´ dito
ser assintoticamente esta´vel.
Func¸o˜es que satisfazem essas condic¸o˜es sa˜o chamadas Func¸o˜es de Lyapu-
nov, e representam uma generalizac¸a˜o do conceito de energia e dissipac¸a˜o de
energia.
2
4 Tarefas
Neste trabalho usaremos o conceito de Energia e func¸a˜o de Lyapunov para re-
alizar o swing-up do peˆndulo invertido. Para tanto, iremos considerar apenas
a dinaˆmica do peˆndulo, que pode ser descrito por,
Jθ¨ +mgl sin(θ) +ml cos(θ) · u = 0.
Esta e´ apenas uma aproximac¸a˜o do modelo real do peˆndulo, aqui u e´ a
acelerac¸a˜o do carro.
A energia deste sistema e´ dada pela soma das componentes cine´tica e
potencial do mesmo:
E =
J
2
θ˙2 +mgl(1− cos(θ))
Note que esta func¸a˜o e´ positiva definida, e que no ponto de equil´ıbrio
desejado θ = pi temos que Ed = 2mgl. Portanto, usaremos a seguinte “func¸a˜o
candidata” de Lyapunov,
V (θ, θ˙) = (E−Ed)
2
2
(4)
Pede-se:
1. (2.0 pontos) Encontrar a variac¸a˜o da taxa de energia do sistema, ou
seja, encontrar a expressa˜o V˙ (θ, θ˙) = (E − Ed) · E˙.
2. (2.0 pontos) Encontrar a lei de controle u que faz com que V˙ seja
negativa definida.
3. (2.0 pontos) Implementar a lei de controle nos arquivos dispon´ıveis no
moodle para que o peˆndulo parta de uma condic¸a˜o inicial θ ≈ 0 e
chegue em θ ≈ pi.
4. (2.0 pontos) Uma vez em θ ≈ pi, fac¸a a troca da lei de controle na˜o-
linear para uma lei do tipo u = F · r−K · x, para que o peˆndulo fique
no ponto de equil´ıbrio xe = [1 0 pi 0]
T .
5. Apresente o trabalho para o professor ate´ a data estipulada em aula.
Boa sorte.
Refereˆncias
[1] Astro¨m, Karl Johan, and Katsuhisa Furuta. “Swinging up a pendulum
by energy control.” Automatica 36.2 (2000): 287-295.
[2] Slotine, J.J.E. e W. Li. Applied Nonlinear Control. Prentice Hall. 1991.
[3] Khalil, H. K., Nonlinear Systems, 3rd ed. Upper Saddle river, NJ:
Prentice Hall, 2002.
3
5 - Lyapunov e Energia/Parte 1/SimPenInvZero.m
clear all;
clc
T = 0.001;
ttotal = 10;
%% Dados do sistema
g=9.8; % gravidade
l=1; % lenght of rod
M=1; % mass of cart
m=0.1; % mass of Pendulum
b1= 0.5; % cart friction
b2= 0; % pendulum friction
sat = 8;% saturation of controller
J = m*l^2;
IC1=0;
IC2=2.9;
%IC2=pi*1.01;
r0=2;
% %% Linearizacao em theta = 0;
% A0 =[0 1 0 0
% 0 -b1/M m*g/M b2/l/M
% 0 0 0 1
% 0 -b1/(M*l) -(M+m)*g/(M*l) -b2*(M+m)/(m*l)/(M*l)];
% % A0 = A0*T+eye(4);
% B0 = [0 1/M 0 -1/(M*l)]';
% % B0 = B0*T;
% 
% p = 0;
% r0 = 1;
% 
% %% Linearizacao em theta = pi;
% A = [0 1 0 0
% 0 -b1/M m*g/M -b2/l/M
% 0 0 0 1
% 0 -b1/(M*l) (M+m)*g/(M*l) -b2*(M+m)/(m*l)/(M*l)];
% % A = A*T+eye(4);
% B = [0 1/M 0 1/(M*l)]';
% % B = B*T;
% C = [1 0 0 0; 0 0 1 0];
% D = [0;0];
%% Linearizacao em theta = 0;
A0 =[0 1 0 0
 0 -b1/M m*g/M b2/(M*l)
 0 0 0 1
 0 b1/(M*l) -(M+m)*g/(M*l) -b2*(M+m)/(m*M*l^2)];
B0 = [0 l/M 0 -1/(M*l)]';
p = 0;
%% Linearizacao em theta = pi;
A = [0 1 0 0
 0 -b1/M m*g/M -b2/(M*l)
 0 0 0 1
 0 -b1/(M*l) (M+m)*g/(M*l) -b2*(M+m)/(m*M*l^2)];
 
B = [0 l/M 0 1/(M*l)]';
C = [1 0 0 0; 0 0 1 0];
D = [0;0];
%% Controle linear
ksi = 1;
wn = 4.2/ksi;
den = [1 2*ksi*wn wn^2];
root = roots(den)
P = [root(1) root(2) 1.1*root(1) 1.1*root(2)]
K = acker(A,B,P)
F = inv([1 0 0 0]*inv(eye(4)*0-A+B*K)*B);
t1 = eig(A-B*K)
%F=0;
%% Controle nao linear
th = 0;
KK = 0;
%% simulacao
sim('SysPenduloInvZero');
%% animacao
N=size(simout.signals.values);
N=N(1);
% y(:,1)=simout.signals.values(:,1);
% y(:,2)=simout.signals.values(:,2);
y(:,1)=simout.signals.values(1:10:end,1);
y(:,2)=simout.signals.values(1:10:end,2);
 
for k =1:length(y(:,1))
 Z1 = [y(k,1)-0.3 y(k,1)+0.3];
 Z2 = [0 0];
 plot(Z1,Z2,'r','LineWidth',7);
 hold on
 plot([-5 -1 -1 -1 0 0 0 1 1 1 5],[-0.1 -0.1 -0.2 -0.1 -0.1 -0.2 -0.1 -0.1 -0.2 -0.1 -0.1],'k','LineWidth',1);
 plot([y(k,1) y(k,1)+l*sin(y(k,2))],[0 -l*cos(y(k,2))],'LineWidth',0.5);
 plot([y(k,1)+l*sin(y(k,2))],[-l*cos(y(k,2))],'*','LineWidth',5);
axis off;
 axis equal;
 axis([-3 3 -3 3]);
 drawnow
 hold off
 pause(0.01)
end
 
return
5 - Lyapunov e Energia/Parte 1/slprj/_sfprj/SysPenduloInvZero/_self/sfun/info/binfo.mat
5 - Lyapunov e Energia/Parte 1/slprj/_sfprj/SysPenduloInvZero/_self/sfun/info/chart2_wbGiK8XvQs0sikmJ2oz8aG.mat
5 - Lyapunov e Energia/Parte 1/slprj/_sfprj/SysPenduloInvZero/_self/sfun/src/c2_SysPenduloInvZero.c
/* Include files */
#include "blascompat32.h"
#include "SysPenduloInvZero_sfun.h"
#include "c2_SysPenduloInvZero.h"
#include "mwmathutil.h"
#define CHARTINSTANCE_CHARTNUMBER (chartInstance->chartNumber)
#define CHARTINSTANCE_INSTANCENUMBER (chartInstance->instanceNumber)
#include "SysPenduloInvZero_sfun_debug_macros.h"
/* Type Definitions */
/* Named Constants */
/* Variable Declarations */
/* Variable Definitions */
static const char * c2_debug_family_names[17] = { "nargin", "nargout", "r", "x",
 "F", "K", "KK", "th", "J", "m", "g", "l", "b1", "b2", "T", "u", "u2" };
/* Function Declarations */
static void initialize_c2_SysPenduloInvZero(SFc2_SysPenduloInvZeroInstanceStruct
 *chartInstance);
static void initialize_params_c2_SysPenduloInvZero
 (SFc2_SysPenduloInvZeroInstanceStruct *chartInstance);
static void enable_c2_SysPenduloInvZero(SFc2_SysPenduloInvZeroInstanceStruct
 *chartInstance);
static void disable_c2_SysPenduloInvZero(SFc2_SysPenduloInvZeroInstanceStruct
 *chartInstance);
static void c2_update_debugger_state_c2_SysPenduloInvZero
 (SFc2_SysPenduloInvZeroInstanceStruct *chartInstance);
static const mxArray *get_sim_state_c2_SysPenduloInvZero
 (SFc2_SysPenduloInvZeroInstanceStruct *chartInstance);
static void set_sim_state_c2_SysPenduloInvZero
 (SFc2_SysPenduloInvZeroInstanceStruct *chartInstance, const mxArray *c2_st);
static void finalize_c2_SysPenduloInvZero(SFc2_SysPenduloInvZeroInstanceStruct
 *chartInstance);
static void sf_c2_SysPenduloInvZero(SFc2_SysPenduloInvZeroInstanceStruct
 *chartInstance);
static void initSimStructsc2_SysPenduloInvZero
 (SFc2_SysPenduloInvZeroInstanceStruct *chartInstance);
static void init_script_number_translation(uint32_T c2_machineNumber, uint32_T
 c2_chartNumber);
static const mxArray *c2_sf_marshallOut(void *chartInstanceVoid, void *c2_inData);
static real_T c2_emlrt_marshallIn(SFc2_SysPenduloInvZeroInstanceStruct
 *chartInstance, const mxArray *c2_u2, const char_T *c2_identifier);
static real_T c2_b_emlrt_marshallIn(SFc2_SysPenduloInvZeroInstanceStruct
 *chartInstance, const mxArray *c2_u, const emlrtMsgIdentifier *c2_parentId);
static void c2_sf_marshallIn(void *chartInstanceVoid, const mxArray
 *c2_mxArrayInData, const char_T *c2_varName, void *c2_outData);
static const mxArray *c2_b_sf_marshallOut(void *chartInstanceVoid, void
 *c2_inData);
static void c2_c_emlrt_marshallIn(SFc2_SysPenduloInvZeroInstanceStruct
 *chartInstance, const mxArray *c2_u, const emlrtMsgIdentifier *c2_parentId,
 real_T c2_y[4]);
static void c2_b_sf_marshallIn(void *chartInstanceVoid, const mxArray
 *c2_mxArrayInData, const char_T *c2_varName, void *c2_outData);
static const mxArray *c2_c_sf_marshallOut(void *chartInstanceVoid, void
 *c2_inData);
static const mxArray *c2_d_sf_marshallOut(void *chartInstanceVoid, void
 *c2_inData);
static int32_T c2_d_emlrt_marshallIn(SFc2_SysPenduloInvZeroInstanceStruct
 *chartInstance, const mxArray *c2_u, const emlrtMsgIdentifier *c2_parentId);
static void c2_c_sf_marshallIn(void *chartInstanceVoid, const mxArray
 *c2_mxArrayInData, const char_T *c2_varName, void *c2_outData);
static uint8_T c2_e_emlrt_marshallIn(SFc2_SysPenduloInvZeroInstanceStruct
 *chartInstance, const mxArray *c2_b_is_active_c2_SysPenduloInvZero, const
 char_T *c2_identifier);
static uint8_T c2_f_emlrt_marshallIn(SFc2_SysPenduloInvZeroInstanceStruct
 *chartInstance, const mxArray *c2_u, const emlrtMsgIdentifier *c2_parentId);
static void init_dsm_address_info(SFc2_SysPenduloInvZeroInstanceStruct
 *chartInstance);
/* Function Definitions */
static void initialize_c2_SysPenduloInvZero(SFc2_SysPenduloInvZeroInstanceStruct
 *chartInstance)
{
 chartInstance->c2_sfEvent = CALL_EVENT;
 _sfTime_ = (real_T)ssGetT(chartInstance->S);
 chartInstance->c2_is_active_c2_SysPenduloInvZero = 0U;
}
static void initialize_params_c2_SysPenduloInvZero
 (SFc2_SysPenduloInvZeroInstanceStruct *chartInstance)
{
 real_T c2_d0;
 real_T c2_dv0[4];
 int32_T c2_i0;
 real_T c2_d1;
 real_T c2_d2;
 real_T c2_d3;
 real_T c2_d4;
 real_T c2_d5;
 real_T c2_d6;
 real_T c2_d7;
 real_T c2_d8;
 sf_set_error_prefix_string(
 "Error evaluating data 'F' in the parent workspace.\n");
 sf_mex_import_named("F", sf_mex_get_sfun_param(chartInstance->S, 0, 0), &c2_d0,
 0, 0, 0U, 0, 0U, 0);
 chartInstance->c2_F = c2_d0;
 sf_set_error_prefix_string("Stateflow Runtime Error (chart): ");
 sf_set_error_prefix_string(
 "Error evaluating data 'K' in the parent workspace.\n");
 sf_mex_import_named("K", sf_mex_get_sfun_param(chartInstance->S, 2, 0), c2_dv0,
 0, 0, 0U, 1, 0U, 2, 1, 4);
 for (c2_i0 = 0; c2_i0 < 4; c2_i0++) {
 chartInstance->c2_K[c2_i0] = c2_dv0[c2_i0];
 }
 sf_set_error_prefix_string("Stateflow Runtime Error (chart): ");
 sf_set_error_prefix_string(
 "Error evaluating data 'KK' in the parent workspace.\n");
 sf_mex_import_named("KK", sf_mex_get_sfun_param(chartInstance->S, 3, 0),
 &c2_d1, 0, 0, 0U, 0, 0U, 0);
 chartInstance->c2_KK = c2_d1;
 sf_set_error_prefix_string("Stateflow Runtime Error (chart): ");
 sf_set_error_prefix_string(
 "Error evaluating data 'th' in the parent workspace.\n");
 sf_mex_import_named("th", sf_mex_get_sfun_param(chartInstance->S, 9, 0),
 &c2_d2, 0, 0, 0U, 0, 0U, 0);
 chartInstance->c2_th = c2_d2;
 sf_set_error_prefix_string("Stateflow Runtime Error (chart): ");
 sf_set_error_prefix_string(
 "Error evaluating data 'J' in the parent workspace.\n");
 sf_mex_import_named("J", sf_mex_get_sfun_param(chartInstance->S, 1, 0), &c2_d3,
 0, 0, 0U, 0, 0U, 0);
 chartInstance->c2_J = c2_d3;
 sf_set_error_prefix_string("Stateflow Runtime Error (chart): ");
 sf_set_error_prefix_string(
 "Error evaluating data 'm' in the parent workspace.\n");
 sf_mex_import_named("m", sf_mex_get_sfun_param(chartInstance->S, 8, 0), &c2_d4,
 0, 0, 0U, 0, 0U, 0);
 chartInstance->c2_m = c2_d4;
 sf_set_error_prefix_string("Stateflow Runtime Error (chart): ");
 sf_set_error_prefix_string(
 "Error evaluating data 'g' in the parent workspace.\n");
 sf_mex_import_named("g", sf_mex_get_sfun_param(chartInstance->S, 6, 0), &c2_d5,
 0, 0, 0U, 0, 0U, 0);
 chartInstance->c2_g = c2_d5;
 sf_set_error_prefix_string("Stateflow Runtime Error (chart): ");
 sf_set_error_prefix_string(
 "Error evaluating data 'l' in the parent workspace.\n");
 sf_mex_import_named("l", sf_mex_get_sfun_param(chartInstance->S, 7, 0), &c2_d6,
 0, 0, 0U, 0, 0U, 0);
 chartInstance->c2_l = c2_d6;
 sf_set_error_prefix_string("Stateflow Runtime Error (chart): ");
 sf_set_error_prefix_string(
 "Error evaluating data 'b1' in the parent workspace.\n");
 sf_mex_import_named("b1", sf_mex_get_sfun_param(chartInstance->S, 5, 0),
 &c2_d7, 0, 0, 0U, 0, 0U, 0);
 chartInstance->c2_b1 = c2_d7;
 sf_set_error_prefix_string("Stateflow Runtime Error (chart): ");
 sf_set_error_prefix_string(
 "Error evaluating data 'T' in the parent workspace.\n");
 sf_mex_import_named("T", sf_mex_get_sfun_param(chartInstance->S, 4, 0), &c2_d8,
 0, 0, 0U, 0, 0U, 0);
 chartInstance->c2_T = c2_d8;
 sf_set_error_prefix_string("Stateflow Runtime Error (chart): ");
}
static void enable_c2_SysPenduloInvZero(SFc2_SysPenduloInvZeroInstanceStruct
 *chartInstance)
{
 _sfTime_
= (real_T)ssGetT(chartInstance->S);
}
static void disable_c2_SysPenduloInvZero(SFc2_SysPenduloInvZeroInstanceStruct
 *chartInstance)
{
 _sfTime_ = (real_T)ssGetT(chartInstance->S);
}
static void c2_update_debugger_state_c2_SysPenduloInvZero
 (SFc2_SysPenduloInvZeroInstanceStruct *chartInstance)
{
}
static const mxArray *get_sim_state_c2_SysPenduloInvZero
 (SFc2_SysPenduloInvZeroInstanceStruct *chartInstance)
{
 const mxArray *c2_st;
 const mxArray *c2_y = NULL;
 real_T c2_hoistedGlobal;
 real_T c2_u;
 const mxArray *c2_b_y = NULL;
 real_T c2_b_hoistedGlobal;
 real_T c2_b_u;
 const mxArray *c2_c_y = NULL;
 uint8_T c2_c_hoistedGlobal;
 uint8_T c2_c_u;
 const mxArray *c2_d_y = NULL;
 real_T *c2_d_u;
 real_T *c2_u2;
 c2_u2 = (real_T *)ssGetOutputPortSignal(chartInstance->S, 2);
 c2_d_u = (real_T *)ssGetOutputPortSignal(chartInstance->S, 1);
 c2_st = NULL;
 c2_st = NULL;
 c2_y = NULL;
 sf_mex_assign(&c2_y, sf_mex_createcellarray(3), FALSE);
 c2_hoistedGlobal = *c2_d_u;
 c2_u = c2_hoistedGlobal;
 c2_b_y = NULL;
 sf_mex_assign(&c2_b_y, sf_mex_create("y", &c2_u, 0, 0U, 0U, 0U, 0), FALSE);
 sf_mex_setcell(c2_y, 0, c2_b_y);
 c2_b_hoistedGlobal = *c2_u2;
 c2_b_u = c2_b_hoistedGlobal;
 c2_c_y = NULL;
 sf_mex_assign(&c2_c_y, sf_mex_create("y", &c2_b_u, 0, 0U, 0U, 0U, 0), FALSE);
 sf_mex_setcell(c2_y, 1, c2_c_y);
 c2_c_hoistedGlobal = chartInstance->c2_is_active_c2_SysPenduloInvZero;
 c2_c_u = c2_c_hoistedGlobal;
 c2_d_y = NULL;
 sf_mex_assign(&c2_d_y, sf_mex_create("y", &c2_c_u, 3, 0U, 0U, 0U, 0), FALSE);
 sf_mex_setcell(c2_y, 2, c2_d_y);
 sf_mex_assign(&c2_st, c2_y, FALSE);
 return c2_st;
}
static void set_sim_state_c2_SysPenduloInvZero
 (SFc2_SysPenduloInvZeroInstanceStruct *chartInstance, const mxArray *c2_st)
{
 const mxArray *c2_u;
 real_T *c2_b_u;
 real_T *c2_u2;
 c2_u2 = (real_T *)ssGetOutputPortSignal(chartInstance->S, 2);
 c2_b_u = (real_T *)ssGetOutputPortSignal(chartInstance->S, 1);
 chartInstance->c2_doneDoubleBufferReInit = TRUE;
 c2_u = sf_mex_dup(c2_st);
 *c2_b_u = c2_emlrt_marshallIn(chartInstance, sf_mex_dup(sf_mex_getcell(c2_u, 0)),
 "u");
 *c2_u2 = c2_emlrt_marshallIn(chartInstance, sf_mex_dup(sf_mex_getcell(c2_u, 1)),
 "u2");
 chartInstance->c2_is_active_c2_SysPenduloInvZero = c2_e_emlrt_marshallIn
 (chartInstance, sf_mex_dup(sf_mex_getcell(c2_u, 2)),
 "is_active_c2_SysPenduloInvZero");
 sf_mex_destroy(&c2_u);
 c2_update_debugger_state_c2_SysPenduloInvZero(chartInstance);
 sf_mex_destroy(&c2_st);
}
static void finalize_c2_SysPenduloInvZero(SFc2_SysPenduloInvZeroInstanceStruct
 *chartInstance)
{
}
static void sf_c2_SysPenduloInvZero(SFc2_SysPenduloInvZeroInstanceStruct
 *chartInstance)
{
 int32_T c2_i1;
 int32_T c2_i2;
 real_T c2_hoistedGlobal;
 real_T c2_b_hoistedGlobal;
 real_T c2_c_hoistedGlobal;
 real_T c2_d_hoistedGlobal;
 real_T c2_e_hoistedGlobal;
 real_T c2_f_hoistedGlobal;
 real_T c2_g_hoistedGlobal;
 real_T c2_h_hoistedGlobal;
 real_T c2_i_hoistedGlobal;
 real_T c2_j_hoistedGlobal;
 real_T c2_k_hoistedGlobal;
 real_T c2_r;
 int32_T c2_i3;
 real_T c2_x[4];
 real_T c2_b_F;
 int32_T c2_i4;
 real_T c2_b_K[4];
 real_T c2_b_KK;
 real_T c2_b_th;
 real_T c2_b_J;
 real_T c2_b_m;
 real_T c2_b_g;
 real_T c2_b_l;
 real_T c2_b_b1;
 real_T c2_b2;
 real_T c2_b_T;
 uint32_T c2_debug_family_var_map[17];
 real_T c2_nargin = 13.0;
 real_T c2_nargout = 2.0;
 real_T c2_u;
 real_T c2_u2;
 real_T c2_a;
 real_T c2_b_a;
 real_T c2_ak;
 real_T c2_c;
 real_T c2_c_a;
 real_T c2_b;
 real_T c2_y;
 real_T c2_A;
 real_T c2_b_x;
 real_T c2_c_x;
 real_T c2_b_y;
 real_T c2_d_a;
 real_T c2_b_b;
 real_T c2_c_y;
 real_T c2_e_a;
 real_T c2_c_b;
 real_T c2_d_y;
 real_T c2_d_x;
 real_T c2_e_x;
 real_T c2_f_a;
 real_T c2_d_b;
 real_T c2_e_y;
 real_T c2_g_a;
 real_T c2_e_b;
 real_T c2_f_y;
 real_T c2_h_a;
 real_T c2_f_b;
 real_T c2_g_y;
 real_T c2_i_a;
 real_T c2_g_b;
 real_T c2_h_y;
 real_T c2_f_x;
 real_T c2_g_x;
 real_T c2_j_a;
 real_T c2_h_b;
 real_T c2_i_y;
 real_T c2_k_a;
 real_T c2_i_b;
 real_T c2_l_a;
 real_T c2_j_b;
 real_T c2_j_y;
 real_T c2_m_a;
 real_T c2_k_b;
 real_T c2_k_y;
 real_T c2_n_a;
 real_T c2_l_b;
 real_T c2_l_y;
 real_T c2_o_a;
 real_T c2_m_b;
 real_T c2_m_y;
 real_T c2_p_a;
 real_T c2_n_b;
 real_T c2_n_y;
 real_T *c2_b_u2;
 real_T *c2_b_u;
 real_T *c2_b_b2;
 real_T *c2_b_r;
 real_T (*c2_h_x)[4];
 c2_b_u2 = (real_T *)ssGetOutputPortSignal(chartInstance->S, 2);
 c2_b_b2 = (real_T *)ssGetInputPortSignal(chartInstance->S, 2);
 c2_h_x = (real_T (*)[4])ssGetInputPortSignal(chartInstance->S, 1);
 c2_b_r = (real_T *)ssGetInputPortSignal(chartInstance->S, 0);
 c2_b_u = (real_T *)ssGetOutputPortSignal(chartInstance->S, 1);
 _sfTime_ = (real_T)ssGetT(chartInstance->S);
 _SFD_CC_CALL(CHART_ENTER_SFUNCTION_TAG, 0U, chartInstance->c2_sfEvent);
 _SFD_DATA_RANGE_CHECK(*c2_b_u, 0U);
 _SFD_DATA_RANGE_CHECK(*c2_b_r, 1U);
 for (c2_i1 = 0; c2_i1 < 4; c2_i1++) {
 _SFD_DATA_RANGE_CHECK((*c2_h_x)[c2_i1], 2U);
 }
 _SFD_DATA_RANGE_CHECK(chartInstance->c2_F, 3U);
 for (c2_i2 = 0; c2_i2 < 4; c2_i2++) {
 _SFD_DATA_RANGE_CHECK(chartInstance->c2_K[c2_i2], 4U);
 }
 _SFD_DATA_RANGE_CHECK(chartInstance->c2_KK, 5U);
 _SFD_DATA_RANGE_CHECK(chartInstance->c2_th, 6U);
 _SFD_DATA_RANGE_CHECK(chartInstance->c2_J, 7U);
 _SFD_DATA_RANGE_CHECK(chartInstance->c2_m, 8U);
 _SFD_DATA_RANGE_CHECK(chartInstance->c2_g, 9U);
 _SFD_DATA_RANGE_CHECK(chartInstance->c2_l, 10U);
 _SFD_DATA_RANGE_CHECK(chartInstance->c2_b1, 11U);
 _SFD_DATA_RANGE_CHECK(*c2_b_b2, 12U);
 _SFD_DATA_RANGE_CHECK(chartInstance->c2_T, 13U);
 _SFD_DATA_RANGE_CHECK(*c2_b_u2, 14U);
 chartInstance->c2_sfEvent = CALL_EVENT;
 _SFD_CC_CALL(CHART_ENTER_DURING_FUNCTION_TAG, 0U, chartInstance->c2_sfEvent);
 c2_hoistedGlobal = *c2_b_r;
 c2_b_hoistedGlobal = chartInstance->c2_F;
 c2_c_hoistedGlobal = chartInstance->c2_KK;
 c2_d_hoistedGlobal = chartInstance->c2_th;
 c2_e_hoistedGlobal = chartInstance->c2_J;
 c2_f_hoistedGlobal = chartInstance->c2_m;
 c2_g_hoistedGlobal = chartInstance->c2_g;
 c2_h_hoistedGlobal = chartInstance->c2_l;
 c2_i_hoistedGlobal = chartInstance->c2_b1;
 c2_j_hoistedGlobal = *c2_b_b2;
 c2_k_hoistedGlobal = chartInstance->c2_T;
 c2_r = c2_hoistedGlobal;
 for (c2_i3 = 0; c2_i3 < 4; c2_i3++) {
 c2_x[c2_i3] = (*c2_h_x)[c2_i3];
 }
 c2_b_F = c2_b_hoistedGlobal;
 for (c2_i4 = 0; c2_i4 < 4; c2_i4++) {
 c2_b_K[c2_i4] = chartInstance->c2_K[c2_i4];
 }
 c2_b_KK = c2_c_hoistedGlobal;
 c2_b_th = c2_d_hoistedGlobal;
 c2_b_J = c2_e_hoistedGlobal;
 c2_b_m = c2_f_hoistedGlobal;
 c2_b_g = c2_g_hoistedGlobal;
 c2_b_l = c2_h_hoistedGlobal;
 c2_b_b1 = c2_i_hoistedGlobal;
 c2_b2 = c2_j_hoistedGlobal;
 c2_b_T = c2_k_hoistedGlobal;
 sf_debug_symbol_scope_push_eml(0U, 17U, 17U, c2_debug_family_names,
 c2_debug_family_var_map);
 sf_debug_symbol_scope_add_eml_importable(&c2_nargin, 0U, c2_sf_marshallOut,
 c2_sf_marshallIn);
 sf_debug_symbol_scope_add_eml_importable(&c2_nargout, 1U, c2_sf_marshallOut,
 c2_sf_marshallIn);
 sf_debug_symbol_scope_add_eml(&c2_r, 2U, c2_sf_marshallOut);
 sf_debug_symbol_scope_add_eml(c2_x, 3U, c2_c_sf_marshallOut);
 sf_debug_symbol_scope_add_eml_importable(&c2_b_F, 4U, c2_sf_marshallOut,
 c2_sf_marshallIn);
 sf_debug_symbol_scope_add_eml_importable(c2_b_K, 5U, c2_b_sf_marshallOut,
 c2_b_sf_marshallIn);
 sf_debug_symbol_scope_add_eml_importable(&c2_b_KK, 6U, c2_sf_marshallOut,
 c2_sf_marshallIn);
 sf_debug_symbol_scope_add_eml_importable(&c2_b_th, 7U, c2_sf_marshallOut,
 c2_sf_marshallIn);
 sf_debug_symbol_scope_add_eml_importable(&c2_b_J, 8U, c2_sf_marshallOut,
 c2_sf_marshallIn);
 sf_debug_symbol_scope_add_eml_importable(&c2_b_m, 9U, c2_sf_marshallOut,
c2_sf_marshallIn);
 sf_debug_symbol_scope_add_eml_importable(&c2_b_g, 10U, c2_sf_marshallOut,
 c2_sf_marshallIn);
 sf_debug_symbol_scope_add_eml_importable(&c2_b_l, 11U, c2_sf_marshallOut,
 c2_sf_marshallIn);
 sf_debug_symbol_scope_add_eml_importable(&c2_b_b1, 12U, c2_sf_marshallOut,
 c2_sf_marshallIn);
 sf_debug_symbol_scope_add_eml(&c2_b2, 13U, c2_sf_marshallOut);
 sf_debug_symbol_scope_add_eml_importable(&c2_b_T, 14U, c2_sf_marshallOut,
 c2_sf_marshallIn);
 sf_debug_symbol_scope_add_eml_importable(&c2_u, 15U, c2_sf_marshallOut,
 c2_sf_marshallIn);
 sf_debug_symbol_scope_add_eml_importable(&c2_u2, 16U, c2_sf_marshallOut,
 c2_sf_marshallIn);
 CV_EML_FCN(0, 0);
 _SFD_EML_CALL(0U, chartInstance->c2_sfEvent, 4);
 c2_u2 = 0.0;
 _SFD_EML_CALL(0U, chartInstance->c2_sfEvent, 5);
 c2_a = c2_x[3];
 c2_b_a = c2_a;
 c2_ak = c2_b_a;
 c2_c = muDoubleScalarPower(c2_ak, 2.0);
 c2_c_a = c2_b_J;
 c2_b = c2_c;
 c2_y = c2_c_a * c2_b;
 c2_A = c2_y;
 c2_b_x = c2_A;
 c2_c_x = c2_b_x;
 c2_b_y = c2_c_x / 2.0;
 c2_d_a = c2_b_m;
 c2_b_b = c2_b_g;
 c2_c_y = c2_d_a * c2_b_b;
 c2_e_a = c2_c_y;
 c2_c_b = c2_b_l;
 c2_d_y = c2_e_a * c2_c_b;
 c2_d_x = c2_x[2];
 c2_e_x = c2_d_x;
 c2_e_x = muDoubleScalarCos(c2_e_x);
 c2_f_a = c2_d_y;
 c2_d_b = 1.0 + c2_e_x;
 c2_e_y = c2_f_a * c2_d_b;
 c2_g_a = c2_b_KK;
 c2_e_b = c2_b_y - c2_e_y;
 c2_f_y = c2_g_a * c2_e_b;
 c2_h_a = c2_x[3];
 c2_f_b = c2_b_m;
 c2_g_y = c2_h_a * c2_f_b;
 c2_i_a = c2_g_y;
 c2_g_b = c2_b_l;
 c2_h_y = c2_i_a * c2_g_b;
 c2_f_x = c2_x[2];
 c2_g_x = c2_f_x;
 c2_g_x = muDoubleScalarCos(c2_g_x);
 c2_j_a = c2_h_y;
 c2_h_b = c2_g_x;
 c2_i_y = c2_j_a * c2_h_b;
 c2_k_a = c2_f_y;
 c2_i_b = c2_i_y;
 c2_u = c2_k_a * c2_i_b;
 _SFD_EML_CALL(0U, chartInstance->c2_sfEvent, 7);
 if (CV_EML_IF(0, 1, 0, c2_x[2] >= c2_b_th)) {
 _SFD_EML_CALL(0U, chartInstance->c2_sfEvent, 8);
 c2_l_a = c2_b_F;
 c2_j_b = c2_r;
 c2_j_y = c2_l_a * c2_j_b;
 c2_m_a = c2_b_K[0];
 c2_k_b = c2_x[0];
 c2_k_y = c2_m_a * c2_k_b;
 c2_n_a = c2_b_K[1];
 c2_l_b = c2_x[1];
 c2_l_y = c2_n_a * c2_l_b;
 c2_o_a = c2_b_K[2];
 c2_m_b = c2_x[2] - 3.1415926535897931;
 c2_m_y = c2_o_a * c2_m_b;
 c2_p_a = c2_b_K[3];
 c2_n_b = c2_x[3];
 c2_n_y = c2_p_a * c2_n_b;
 c2_u = (((c2_j_y - c2_k_y) - c2_l_y) - c2_m_y) - c2_n_y;
 _SFD_EML_CALL(0U, chartInstance->c2_sfEvent, 9);
 c2_u2 = 1.0;
 }
 _SFD_EML_CALL(0U, chartInstance->c2_sfEvent, -9);
 sf_debug_symbol_scope_pop();
 *c2_b_u = c2_u;
 *c2_b_u2 = c2_u2;
 _SFD_CC_CALL(EXIT_OUT_OF_FUNCTION_TAG, 0U, chartInstance->c2_sfEvent);
 sf_debug_check_for_state_inconsistency(_SysPenduloInvZeroMachineNumber_,
 chartInstance->chartNumber, chartInstance->instanceNumber);
}
static void initSimStructsc2_SysPenduloInvZero
 (SFc2_SysPenduloInvZeroInstanceStruct *chartInstance)
{
}
static void init_script_number_translation(uint32_T c2_machineNumber, uint32_T
 c2_chartNumber)
{
}
static const mxArray *c2_sf_marshallOut(void *chartInstanceVoid, void *c2_inData)
{
 const mxArray *c2_mxArrayOutData = NULL;
 real_T c2_u;
 const mxArray *c2_y = NULL;
 SFc2_SysPenduloInvZeroInstanceStruct *chartInstance;
 chartInstance = (SFc2_SysPenduloInvZeroInstanceStruct *)chartInstanceVoid;
 c2_mxArrayOutData = NULL;
 c2_u = *(real_T *)c2_inData;
 c2_y = NULL;
 sf_mex_assign(&c2_y, sf_mex_create("y", &c2_u, 0, 0U, 0U, 0U, 0), FALSE);
 sf_mex_assign(&c2_mxArrayOutData, c2_y, FALSE);
 return c2_mxArrayOutData;
}
static real_T c2_emlrt_marshallIn(SFc2_SysPenduloInvZeroInstanceStruct
 *chartInstance, const mxArray *c2_u2, const char_T *c2_identifier)
{
 real_T c2_y;
 emlrtMsgIdentifier c2_thisId;
 c2_thisId.fIdentifier = c2_identifier;
 c2_thisId.fParent = NULL;
 c2_y = c2_b_emlrt_marshallIn(chartInstance, sf_mex_dup(c2_u2), &c2_thisId);
 sf_mex_destroy(&c2_u2);
 return c2_y;
}
static real_T c2_b_emlrt_marshallIn(SFc2_SysPenduloInvZeroInstanceStruct
 *chartInstance, const mxArray *c2_u, const emlrtMsgIdentifier *c2_parentId)
{
 real_T c2_y;
 real_T c2_d9;
 sf_mex_import(c2_parentId, sf_mex_dup(c2_u), &c2_d9, 1, 0, 0U, 0, 0U, 0);
 c2_y = c2_d9;
 sf_mex_destroy(&c2_u);
 return c2_y;
}
static void c2_sf_marshallIn(void *chartInstanceVoid, const mxArray
 *c2_mxArrayInData, const char_T *c2_varName, void *c2_outData)
{
 const mxArray *c2_u2;
 const char_T *c2_identifier;
 emlrtMsgIdentifier c2_thisId;
 real_T c2_y;
 SFc2_SysPenduloInvZeroInstanceStruct *chartInstance;
 chartInstance = (SFc2_SysPenduloInvZeroInstanceStruct *)chartInstanceVoid;
 c2_u2 = sf_mex_dup(c2_mxArrayInData);
 c2_identifier = c2_varName;
 c2_thisId.fIdentifier = c2_identifier;
 c2_thisId.fParent = NULL;
 c2_y = c2_b_emlrt_marshallIn(chartInstance, sf_mex_dup(c2_u2), &c2_thisId);
 sf_mex_destroy(&c2_u2);
 *(real_T *)c2_outData = c2_y;
 sf_mex_destroy(&c2_mxArrayInData);
}
static const mxArray *c2_b_sf_marshallOut(void *chartInstanceVoid, void
 *c2_inData)
{
 const mxArray *c2_mxArrayOutData = NULL;
 int32_T c2_i5;
 real_T c2_b_inData[4];
 int32_T c2_i6;
 real_T c2_u[4];
 const mxArray *c2_y = NULL;
 SFc2_SysPenduloInvZeroInstanceStruct *chartInstance;
 chartInstance = (SFc2_SysPenduloInvZeroInstanceStruct *)chartInstanceVoid;
 c2_mxArrayOutData = NULL;
 for (c2_i5 = 0; c2_i5 < 4; c2_i5++) {
 c2_b_inData[c2_i5] = (*(real_T (*)[4])c2_inData)[c2_i5];
 }
 for (c2_i6 = 0; c2_i6 < 4; c2_i6++) {
 c2_u[c2_i6] = c2_b_inData[c2_i6];
 }
 c2_y = NULL;
 sf_mex_assign(&c2_y, sf_mex_create("y", c2_u, 0, 0U, 1U, 0U, 2, 1, 4), FALSE);
 sf_mex_assign(&c2_mxArrayOutData, c2_y, FALSE);
 return c2_mxArrayOutData;
}
static void c2_c_emlrt_marshallIn(SFc2_SysPenduloInvZeroInstanceStruct
 *chartInstance, const mxArray *c2_u, const emlrtMsgIdentifier *c2_parentId,
 real_T c2_y[4])
{
 real_T c2_dv1[4];
 int32_T c2_i7;
 sf_mex_import(c2_parentId, sf_mex_dup(c2_u), c2_dv1, 1, 0, 0U, 1, 0U, 2, 1, 4);
 for (c2_i7 = 0; c2_i7 < 4; c2_i7++) {
 c2_y[c2_i7] = c2_dv1[c2_i7];
 }
 sf_mex_destroy(&c2_u);
}
static void c2_b_sf_marshallIn(void *chartInstanceVoid, const mxArray
 *c2_mxArrayInData, const char_T *c2_varName, void *c2_outData)
{
 const mxArray *c2_b_K;
 const char_T *c2_identifier;
 emlrtMsgIdentifier c2_thisId;
 real_T c2_y[4];
 int32_T c2_i8;
 SFc2_SysPenduloInvZeroInstanceStruct *chartInstance;
 chartInstance = (SFc2_SysPenduloInvZeroInstanceStruct *)chartInstanceVoid;
 c2_b_K = sf_mex_dup(c2_mxArrayInData);
 c2_identifier = c2_varName;
 c2_thisId.fIdentifier = c2_identifier;
 c2_thisId.fParent = NULL;
 c2_c_emlrt_marshallIn(chartInstance, sf_mex_dup(c2_b_K), &c2_thisId, c2_y);
 sf_mex_destroy(&c2_b_K);
 for (c2_i8 = 0; c2_i8 < 4; c2_i8++) {
 (*(real_T (*)[4])c2_outData)[c2_i8] = c2_y[c2_i8];
 }
 sf_mex_destroy(&c2_mxArrayInData);
}
static const mxArray *c2_c_sf_marshallOut(void *chartInstanceVoid, void
 *c2_inData)
{
 const mxArray *c2_mxArrayOutData = NULL;
 int32_T c2_i9;
 real_T c2_b_inData[4];
 int32_T c2_i10;
 real_T c2_u[4];
 const mxArray *c2_y = NULL;
 SFc2_SysPenduloInvZeroInstanceStruct *chartInstance;
 chartInstance = (SFc2_SysPenduloInvZeroInstanceStruct *)chartInstanceVoid;
 c2_mxArrayOutData = NULL;
 for (c2_i9 = 0; c2_i9 < 4; c2_i9++) {
 c2_b_inData[c2_i9] = (*(real_T (*)[4])c2_inData)[c2_i9];
 }
 for (c2_i10 = 0; c2_i10 < 4; c2_i10++) {
 c2_u[c2_i10] = c2_b_inData[c2_i10];
 }
 c2_y = NULL;
 sf_mex_assign(&c2_y, sf_mex_create("y", c2_u, 0, 0U, 1U, 0U, 1, 4), FALSE);
 sf_mex_assign(&c2_mxArrayOutData, c2_y, FALSE);
 return c2_mxArrayOutData;
}
const mxArray *sf_c2_SysPenduloInvZero_get_eml_resolved_functions_info(void)
{
 const mxArray *c2_nameCaptureInfo;
 c2_ResolvedFunctionInfo c2_info[11];
 c2_ResolvedFunctionInfo (*c2_b_info)[11];
 const
mxArray *c2_m0 = NULL;
 int32_T c2_i11;
 c2_ResolvedFunctionInfo *c2_r0;
 c2_nameCaptureInfo = NULL;
 c2_nameCaptureInfo = NULL;
 c2_b_info = (c2_ResolvedFunctionInfo (*)[11])c2_info;
 (*c2_b_info)[0].context = "";
 (*c2_b_info)[0].name = "mpower";
 (*c2_b_info)[0].dominantType = "double";
 (*c2_b_info)[0].resolved =
 "[ILXE]$matlabroot$/toolbox/eml/lib/matlab/ops/mpower.m";
 (*c2_b_info)[0].fileTimeLo = 1286836842U;
 (*c2_b_info)[0].fileTimeHi = 0U;
 (*c2_b_info)[0].mFileTimeLo = 0U;
 (*c2_b_info)[0].mFileTimeHi = 0U;
 (*c2_b_info)[1].context =
 "[ILXE]$matlabroot$/toolbox/eml/lib/matlab/ops/mpower.m";
 (*c2_b_info)[1].name = "power";
 (*c2_b_info)[1].dominantType = "double";
 (*c2_b_info)[1].resolved =
 "[ILXE]$matlabroot$/toolbox/eml/lib/matlab/ops/power.m";
 (*c2_b_info)[1].fileTimeLo = 1294078744U;
 (*c2_b_info)[1].fileTimeHi = 0U;
 (*c2_b_info)[1].mFileTimeLo = 0U;
 (*c2_b_info)[1].mFileTimeHi = 0U;
 (*c2_b_info)[2].context =
 "[ILXE]$matlabroot$/toolbox/eml/lib/matlab/ops/power.m";
 (*c2_b_info)[2].name = "eml_scalar_eg";
 (*c2_b_info)[2].dominantType = "double";
 (*c2_b_info)[2].resolved =
 "[ILXE]$matlabroot$/toolbox/eml/lib/matlab/eml/eml_scalar_eg.m";
 (*c2_b_info)[2].fileTimeLo = 1286836796U;
 (*c2_b_info)[2].fileTimeHi = 0U;
 (*c2_b_info)[2].mFileTimeLo = 0U;
 (*c2_b_info)[2].mFileTimeHi = 0U;
 (*c2_b_info)[3].context =
 "[ILXE]$matlabroot$/toolbox/eml/lib/matlab/ops/power.m";
 (*c2_b_info)[3].name = "eml_scalexp_alloc";
 (*c2_b_info)[3].dominantType = "double";
 (*c2_b_info)[3].resolved =
 "[ILXE]$matlabroot$/toolbox/eml/lib/matlab/eml/eml_scalexp_alloc.m";
 (*c2_b_info)[3].fileTimeLo = 1286836796U;
 (*c2_b_info)[3].fileTimeHi = 0U;
 (*c2_b_info)[3].mFileTimeLo = 0U;
 (*c2_b_info)[3].mFileTimeHi = 0U;
 (*c2_b_info)[4].context =
 "[ILXE]$matlabroot$/toolbox/eml/lib/matlab/ops/power.m";
 (*c2_b_info)[4].name = "eml_scalar_floor";
 (*c2_b_info)[4].dominantType = "double";
 (*c2_b_info)[4].resolved =
 "[ILXE]$matlabroot$/toolbox/eml/lib/matlab/elfun/eml_scalar_floor.m";
 (*c2_b_info)[4].fileTimeLo = 1286836726U;
 (*c2_b_info)[4].fileTimeHi = 0U;
 (*c2_b_info)[4].mFileTimeLo = 0U;
 (*c2_b_info)[4].mFileTimeHi = 0U;
 (*c2_b_info)[5].context = "";
 (*c2_b_info)[5].name = "mtimes";
 (*c2_b_info)[5].dominantType = "double";
 (*c2_b_info)[5].resolved =
 "[ILXE]$matlabroot$/toolbox/eml/lib/matlab/ops/mtimes.m";
 (*c2_b_info)[5].fileTimeLo = 1289530492U;
 (*c2_b_info)[5].fileTimeHi = 0U;
 (*c2_b_info)[5].mFileTimeLo = 0U;
 (*c2_b_info)[5].mFileTimeHi = 0U;
 (*c2_b_info)[6].context = "";
 (*c2_b_info)[6].name = "mrdivide";
 (*c2_b_info)[6].dominantType = "double";
 (*c2_b_info)[6].resolved =
 "[ILXE]$matlabroot$/toolbox/eml/lib/matlab/ops/mrdivide.p";
 (*c2_b_info)[6].fileTimeLo = 1310155456U;
 (*c2_b_info)[6].fileTimeHi = 0U;
 (*c2_b_info)[6].mFileTimeLo = 1289530492U;
 (*c2_b_info)[6].mFileTimeHi = 0U;
 (*c2_b_info)[7].context =
 "[ILXE]$matlabroot$/toolbox/eml/lib/matlab/ops/mrdivide.p";
 (*c2_b_info)[7].name = "rdivide";
 (*c2_b_info)[7].dominantType = "double";
 (*c2_b_info)[7].resolved =
 "[ILXE]$matlabroot$/toolbox/eml/lib/matlab/ops/rdivide.m";
 (*c2_b_info)[7].fileTimeLo = 1286836844U;
 (*c2_b_info)[7].fileTimeHi = 0U;
 (*c2_b_info)[7].mFileTimeLo = 0U;
 (*c2_b_info)[7].mFileTimeHi = 0U;
 (*c2_b_info)[8].context =
 "[ILXE]$matlabroot$/toolbox/eml/lib/matlab/ops/rdivide.m";
 (*c2_b_info)[8].name = "eml_div";
 (*c2_b_info)[8].dominantType = "double";
 (*c2_b_info)[8].resolved =
 "[ILXE]$matlabroot$/toolbox/eml/lib/matlab/eml/eml_div.m";
 (*c2_b_info)[8].fileTimeLo = 1305336000U;
 (*c2_b_info)[8].fileTimeHi = 0U;
 (*c2_b_info)[8].mFileTimeLo = 0U;
 (*c2_b_info)[8].mFileTimeHi = 0U;
 (*c2_b_info)[9].context = "";
 (*c2_b_info)[9].name = "cos";
 (*c2_b_info)[9].dominantType = "double";
 (*c2_b_info)[9].resolved =
 "[ILXE]$matlabroot$/toolbox/eml/lib/matlab/elfun/cos.m";
 (*c2_b_info)[9].fileTimeLo = 1286836706U;
 (*c2_b_info)[9].fileTimeHi = 0U;
 (*c2_b_info)[9].mFileTimeLo = 0U;
 (*c2_b_info)[9].mFileTimeHi = 0U;
 (*c2_b_info)[10].context =
 "[ILXE]$matlabroot$/toolbox/eml/lib/matlab/elfun/cos.m";
 (*c2_b_info)[10].name = "eml_scalar_cos";
 (*c2_b_info)[10].dominantType = "double";
 (*c2_b_info)[10].resolved =
 "[ILXE]$matlabroot$/toolbox/eml/lib/matlab/elfun/eml_scalar_cos.m";
 (*c2_b_info)[10].fileTimeLo = 1286836722U;
 (*c2_b_info)[10].fileTimeHi = 0U;
 (*c2_b_info)[10].mFileTimeLo = 0U;
 (*c2_b_info)[10].mFileTimeHi = 0U;
 sf_mex_assign(&c2_m0, sf_mex_createstruct("nameCaptureInfo", 1, 11), FALSE);
 for (c2_i11 = 0; c2_i11 < 11; c2_i11++) {
 c2_r0 = &c2_info[c2_i11];
 sf_mex_addfield(c2_m0, sf_mex_create("nameCaptureInfo", c2_r0->context, 15,
 0U, 0U, 0U, 2, 1, strlen(c2_r0->context)), "context", "nameCaptureInfo",
 c2_i11);
 sf_mex_addfield(c2_m0, sf_mex_create("nameCaptureInfo", c2_r0->name, 15, 0U,
 0U, 0U, 2, 1, strlen(c2_r0->name)), "name", "nameCaptureInfo", c2_i11);
 sf_mex_addfield(c2_m0, sf_mex_create("nameCaptureInfo", c2_r0->dominantType,
 15, 0U, 0U, 0U, 2, 1, strlen(c2_r0->dominantType)), "dominantType",
 "nameCaptureInfo", c2_i11);
 sf_mex_addfield(c2_m0, sf_mex_create("nameCaptureInfo", c2_r0->resolved, 15,
 0U, 0U, 0U, 2, 1, strlen(c2_r0->resolved)), "resolved", "nameCaptureInfo",
 c2_i11);
 sf_mex_addfield(c2_m0, sf_mex_create("nameCaptureInfo", &c2_r0->fileTimeLo,
 7, 0U, 0U, 0U, 0), "fileTimeLo", "nameCaptureInfo", c2_i11);
 sf_mex_addfield(c2_m0, sf_mex_create("nameCaptureInfo", &c2_r0->fileTimeHi,
 7, 0U, 0U, 0U, 0), "fileTimeHi", "nameCaptureInfo", c2_i11);
 sf_mex_addfield(c2_m0, sf_mex_create("nameCaptureInfo", &c2_r0->mFileTimeLo,
 7, 0U, 0U, 0U, 0), "mFileTimeLo", "nameCaptureInfo", c2_i11);
 sf_mex_addfield(c2_m0, sf_mex_create("nameCaptureInfo", &c2_r0->mFileTimeHi,
 7, 0U, 0U, 0U, 0), "mFileTimeHi", "nameCaptureInfo", c2_i11);
 }
 sf_mex_assign(&c2_nameCaptureInfo, c2_m0, FALSE);
 return c2_nameCaptureInfo;
}
static const mxArray *c2_d_sf_marshallOut(void *chartInstanceVoid, void
 *c2_inData)
{
 const mxArray *c2_mxArrayOutData = NULL;
 int32_T c2_u;
 const mxArray *c2_y = NULL;
 SFc2_SysPenduloInvZeroInstanceStruct *chartInstance;
 chartInstance = (SFc2_SysPenduloInvZeroInstanceStruct *)chartInstanceVoid;
 c2_mxArrayOutData = NULL;
 c2_u = *(int32_T *)c2_inData;
 c2_y = NULL;
 sf_mex_assign(&c2_y, sf_mex_create("y", &c2_u, 6, 0U, 0U, 0U, 0), FALSE);
 sf_mex_assign(&c2_mxArrayOutData, c2_y, FALSE);
 return c2_mxArrayOutData;
}
static int32_T c2_d_emlrt_marshallIn(SFc2_SysPenduloInvZeroInstanceStruct
 *chartInstance, const mxArray *c2_u, const emlrtMsgIdentifier *c2_parentId)
{
 int32_T c2_y;
 int32_T c2_i12;
 sf_mex_import(c2_parentId, sf_mex_dup(c2_u), &c2_i12, 1, 6, 0U, 0, 0U, 0);
 c2_y = c2_i12;
 sf_mex_destroy(&c2_u);
 return c2_y;
}
static void c2_c_sf_marshallIn(void *chartInstanceVoid, const mxArray
 *c2_mxArrayInData, const char_T *c2_varName, void *c2_outData)
{
 const mxArray *c2_b_sfEvent;
 const char_T *c2_identifier;
 emlrtMsgIdentifier c2_thisId;
 int32_T c2_y;
 SFc2_SysPenduloInvZeroInstanceStruct *chartInstance;
 chartInstance = (SFc2_SysPenduloInvZeroInstanceStruct *)chartInstanceVoid;
 c2_b_sfEvent = sf_mex_dup(c2_mxArrayInData);
 c2_identifier = c2_varName;
 c2_thisId.fIdentifier = c2_identifier;
 c2_thisId.fParent = NULL;
 c2_y = c2_d_emlrt_marshallIn(chartInstance, sf_mex_dup(c2_b_sfEvent),
 &c2_thisId);
 sf_mex_destroy(&c2_b_sfEvent);
 *(int32_T *)c2_outData = c2_y;
 sf_mex_destroy(&c2_mxArrayInData);
}
static uint8_T c2_e_emlrt_marshallIn(SFc2_SysPenduloInvZeroInstanceStruct
 *chartInstance, const mxArray *c2_b_is_active_c2_SysPenduloInvZero,
const
 char_T *c2_identifier)
{
 uint8_T c2_y;
 emlrtMsgIdentifier c2_thisId;
 c2_thisId.fIdentifier = c2_identifier;
 c2_thisId.fParent = NULL;
 c2_y = c2_f_emlrt_marshallIn(chartInstance, sf_mex_dup
 (c2_b_is_active_c2_SysPenduloInvZero), &c2_thisId);
 sf_mex_destroy(&c2_b_is_active_c2_SysPenduloInvZero);
 return c2_y;
}
static uint8_T c2_f_emlrt_marshallIn(SFc2_SysPenduloInvZeroInstanceStruct
 *chartInstance, const mxArray *c2_u, const emlrtMsgIdentifier *c2_parentId)
{
 uint8_T c2_y;
 uint8_T c2_u0;
 sf_mex_import(c2_parentId, sf_mex_dup(c2_u), &c2_u0, 1, 3, 0U, 0, 0U, 0);
 c2_y = c2_u0;
 sf_mex_destroy(&c2_u);
 return c2_y;
}
static void init_dsm_address_info(SFc2_SysPenduloInvZeroInstanceStruct
 *chartInstance)
{
}
/* SFunction Glue Code */
void sf_c2_SysPenduloInvZero_get_check_sum(mxArray *plhs[])
{
 ((real_T *)mxGetPr((plhs[0])))[0] = (real_T)(4171968214U);
 ((real_T *)mxGetPr((plhs[0])))[1] = (real_T)(375742619U);
 ((real_T *)mxGetPr((plhs[0])))[2] = (real_T)(649569432U);
 ((real_T *)mxGetPr((plhs[0])))[3] = (real_T)(2706307423U);
}
mxArray *sf_c2_SysPenduloInvZero_get_autoinheritance_info(void)
{
 const char *autoinheritanceFields[] = { "checksum", "inputs", "parameters",
 "outputs", "locals" };
 mxArray *mxAutoinheritanceInfo = mxCreateStructMatrix(1,1,5,
 autoinheritanceFields);
 {
 mxArray *mxChecksum = mxCreateString("pKR3YAYjZgvk9TBpwI7WCE");
 mxSetField(mxAutoinheritanceInfo,0,"checksum",mxChecksum);
 }
 {
 const char *dataFields[] = { "size", "type", "complexity" };
 mxArray *mxData = mxCreateStructMatrix(1,3,3,dataFields);
 {
 mxArray *mxSize = mxCreateDoubleMatrix(1,2,mxREAL);
 double *pr = mxGetPr(mxSize);
 pr[0] = (double)(1);
 pr[1] = (double)(1);
 mxSetField(mxData,0,"size",mxSize);
 }
 {
 const char *typeFields[] = { "base", "fixpt" };
 mxArray *mxType = mxCreateStructMatrix(1,1,2,typeFields);
 mxSetField(mxType,0,"base",mxCreateDoubleScalar(10));
 mxSetField(mxType,0,"fixpt",mxCreateDoubleMatrix(0,0,mxREAL));
 mxSetField(mxData,0,"type",mxType);
 }
 mxSetField(mxData,0,"complexity",mxCreateDoubleScalar(0));
 {
 mxArray *mxSize = mxCreateDoubleMatrix(1,2,mxREAL);
 double *pr = mxGetPr(mxSize);
 pr[0] = (double)(4);
 pr[1] = (double)(1);
 mxSetField(mxData,1,"size",mxSize);
 }
 {
 const char *typeFields[] = { "base", "fixpt" };
 mxArray *mxType = mxCreateStructMatrix(1,1,2,typeFields);
 mxSetField(mxType,0,"base",mxCreateDoubleScalar(10));
 mxSetField(mxType,0,"fixpt",mxCreateDoubleMatrix(0,0,mxREAL));
 mxSetField(mxData,1,"type",mxType);
 }
 mxSetField(mxData,1,"complexity",mxCreateDoubleScalar(0));
 {
 mxArray *mxSize = mxCreateDoubleMatrix(1,2,mxREAL);
 double *pr = mxGetPr(mxSize);
 pr[0] = (double)(1);
 pr[1] = (double)(1);
 mxSetField(mxData,2,"size",mxSize);
 }
 {
 const char *typeFields[] = { "base", "fixpt" };
 mxArray *mxType = mxCreateStructMatrix(1,1,2,typeFields);
 mxSetField(mxType,0,"base",mxCreateDoubleScalar(10));
 mxSetField(mxType,0,"fixpt",mxCreateDoubleMatrix(0,0,mxREAL));
 mxSetField(mxData,2,"type",mxType);
 }
 mxSetField(mxData,2,"complexity",mxCreateDoubleScalar(0));
 mxSetField(mxAutoinheritanceInfo,0,"inputs",mxData);
 }
 {
 const char *dataFields[] = { "size", "type", "complexity" };
 mxArray *mxData = mxCreateStructMatrix(1,10,3,dataFields);
 {
 mxArray *mxSize = mxCreateDoubleMatrix(1,2,mxREAL);
 double *pr = mxGetPr(mxSize);
 pr[0] = (double)(1);
 pr[1] = (double)(1);
 mxSetField(mxData,0,"size",mxSize);
 }
 {
 const char *typeFields[] = { "base", "fixpt" };
 mxArray *mxType = mxCreateStructMatrix(1,1,2,typeFields);
 mxSetField(mxType,0,"base",mxCreateDoubleScalar(10));
 mxSetField(mxType,0,"fixpt",mxCreateDoubleMatrix(0,0,mxREAL));
 mxSetField(mxData,0,"type",mxType);
 }
 mxSetField(mxData,0,"complexity",mxCreateDoubleScalar(0));
 {
 mxArray *mxSize = mxCreateDoubleMatrix(1,2,mxREAL);
 double *pr = mxGetPr(mxSize);
 pr[0] = (double)(1);
 pr[1] = (double)(1);
 mxSetField(mxData,1,"size",mxSize);
 }
 {
 const char *typeFields[] = { "base", "fixpt" };
 mxArray *mxType = mxCreateStructMatrix(1,1,2,typeFields);
 mxSetField(mxType,0,"base",mxCreateDoubleScalar(10));
 mxSetField(mxType,0,"fixpt",mxCreateDoubleMatrix(0,0,mxREAL));
 mxSetField(mxData,1,"type",mxType);
 }
 mxSetField(mxData,1,"complexity",mxCreateDoubleScalar(0));
 {
 mxArray *mxSize = mxCreateDoubleMatrix(1,2,mxREAL);
 double *pr = mxGetPr(mxSize);
 pr[0] = (double)(1);
 pr[1] = (double)(4);
 mxSetField(mxData,2,"size",mxSize);
 }
 {
 const char *typeFields[] = { "base", "fixpt" };
 mxArray *mxType = mxCreateStructMatrix(1,1,2,typeFields);
 mxSetField(mxType,0,"base",mxCreateDoubleScalar(10));
 mxSetField(mxType,0,"fixpt",mxCreateDoubleMatrix(0,0,mxREAL));
 mxSetField(mxData,2,"type",mxType);
 }
 mxSetField(mxData,2,"complexity",mxCreateDoubleScalar(0));
 {
 mxArray *mxSize = mxCreateDoubleMatrix(1,2,mxREAL);
 double *pr = mxGetPr(mxSize);
 pr[0] = (double)(1);
 pr[1] = (double)(1);
 mxSetField(mxData,3,"size",mxSize);
 }
 {
 const char *typeFields[] = { "base", "fixpt" };
 mxArray *mxType = mxCreateStructMatrix(1,1,2,typeFields);
 mxSetField(mxType,0,"base",mxCreateDoubleScalar(10));
 mxSetField(mxType,0,"fixpt",mxCreateDoubleMatrix(0,0,mxREAL));
 mxSetField(mxData,3,"type",mxType);
 }
 mxSetField(mxData,3,"complexity",mxCreateDoubleScalar(0));
 {
 mxArray *mxSize = mxCreateDoubleMatrix(1,2,mxREAL);
 double *pr = mxGetPr(mxSize);
 pr[0] = (double)(1);
 pr[1] = (double)(1);
 mxSetField(mxData,4,"size",mxSize);
 }
 {
 const char *typeFields[] = { "base", "fixpt" };
 mxArray *mxType = mxCreateStructMatrix(1,1,2,typeFields);
 mxSetField(mxType,0,"base",mxCreateDoubleScalar(10));
 mxSetField(mxType,0,"fixpt",mxCreateDoubleMatrix(0,0,mxREAL));
 mxSetField(mxData,4,"type",mxType);
 }
 mxSetField(mxData,4,"complexity",mxCreateDoubleScalar(0));
 {
 mxArray *mxSize = mxCreateDoubleMatrix(1,2,mxREAL);
 double *pr = mxGetPr(mxSize);
 pr[0] = (double)(1);
 pr[1] = (double)(1);
 mxSetField(mxData,5,"size",mxSize);
 }
 {
 const char *typeFields[] = { "base", "fixpt" };
 mxArray *mxType = mxCreateStructMatrix(1,1,2,typeFields);
 mxSetField(mxType,0,"base",mxCreateDoubleScalar(10));
 mxSetField(mxType,0,"fixpt",mxCreateDoubleMatrix(0,0,mxREAL));
 mxSetField(mxData,5,"type",mxType);
 }
 mxSetField(mxData,5,"complexity",mxCreateDoubleScalar(0));
 {
 mxArray *mxSize = mxCreateDoubleMatrix(1,2,mxREAL);
 double *pr = mxGetPr(mxSize);
 pr[0] = (double)(1);
 pr[1] = (double)(1);
 mxSetField(mxData,6,"size",mxSize);
 }
 {
 const char *typeFields[] = { "base", "fixpt" };
 mxArray *mxType = mxCreateStructMatrix(1,1,2,typeFields);
 mxSetField(mxType,0,"base",mxCreateDoubleScalar(10));
 mxSetField(mxType,0,"fixpt",mxCreateDoubleMatrix(0,0,mxREAL));
 mxSetField(mxData,6,"type",mxType);
 }
 mxSetField(mxData,6,"complexity",mxCreateDoubleScalar(0));
 {
 mxArray *mxSize = mxCreateDoubleMatrix(1,2,mxREAL);
 double *pr = mxGetPr(mxSize);
 pr[0] = (double)(1);
 pr[1] = (double)(1);
 mxSetField(mxData,7,"size",mxSize);
 }
 {
 const char *typeFields[] = { "base", "fixpt" };
mxArray *mxType = mxCreateStructMatrix(1,1,2,typeFields);
 mxSetField(mxType,0,"base",mxCreateDoubleScalar(10));
 mxSetField(mxType,0,"fixpt",mxCreateDoubleMatrix(0,0,mxREAL));
 mxSetField(mxData,7,"type",mxType);
 }
 mxSetField(mxData,7,"complexity",mxCreateDoubleScalar(0));
 {
 mxArray *mxSize = mxCreateDoubleMatrix(1,2,mxREAL);
 double *pr = mxGetPr(mxSize);
 pr[0] = (double)(1);
 pr[1] = (double)(1);
 mxSetField(mxData,8,"size",mxSize);
 }
 {
 const char *typeFields[] = { "base", "fixpt" };
 mxArray *mxType = mxCreateStructMatrix(1,1,2,typeFields);
 mxSetField(mxType,0,"base",mxCreateDoubleScalar(10));
 mxSetField(mxType,0,"fixpt",mxCreateDoubleMatrix(0,0,mxREAL));
 mxSetField(mxData,8,"type",mxType);
 }
 mxSetField(mxData,8,"complexity",mxCreateDoubleScalar(0));
 {
 mxArray *mxSize = mxCreateDoubleMatrix(1,2,mxREAL);
 double *pr = mxGetPr(mxSize);
 pr[0] = (double)(1);
 pr[1] = (double)(1);
 mxSetField(mxData,9,"size",mxSize);
 }
 {
 const char *typeFields[] = { "base", "fixpt" };
 mxArray *mxType = mxCreateStructMatrix(1,1,2,typeFields);
 mxSetField(mxType,0,"base",mxCreateDoubleScalar(10));
 mxSetField(mxType,0,"fixpt",mxCreateDoubleMatrix(0,0,mxREAL));
 mxSetField(mxData,9,"type",mxType);
 }
 mxSetField(mxData,9,"complexity",mxCreateDoubleScalar(0));
 mxSetField(mxAutoinheritanceInfo,0,"parameters",mxData);
 }
 {
 const char *dataFields[] = { "size", "type", "complexity" };
 mxArray *mxData = mxCreateStructMatrix(1,2,3,dataFields);
 {
 mxArray *mxSize = mxCreateDoubleMatrix(1,2,mxREAL);
 double *pr = mxGetPr(mxSize);
 pr[0] = (double)(1);
 pr[1] = (double)(1);
 mxSetField(mxData,0,"size",mxSize);
 }
 {
 const char *typeFields[] = { "base", "fixpt" };
 mxArray *mxType = mxCreateStructMatrix(1,1,2,typeFields);
 mxSetField(mxType,0,"base",mxCreateDoubleScalar(10));
 mxSetField(mxType,0,"fixpt",mxCreateDoubleMatrix(0,0,mxREAL));
 mxSetField(mxData,0,"type",mxType);
 }
 mxSetField(mxData,0,"complexity",mxCreateDoubleScalar(0));
 {
 mxArray *mxSize = mxCreateDoubleMatrix(1,2,mxREAL);
 double *pr = mxGetPr(mxSize);
 pr[0] = (double)(1);
 pr[1] = (double)(1);
 mxSetField(mxData,1,"size",mxSize);
 }
 {
 const char *typeFields[] = { "base", "fixpt" };
 mxArray *mxType = mxCreateStructMatrix(1,1,2,typeFields);
 mxSetField(mxType,0,"base",mxCreateDoubleScalar(10));
 mxSetField(mxType,0,"fixpt",mxCreateDoubleMatrix(0,0,mxREAL));
 mxSetField(mxData,1,"type",mxType);
 }
 mxSetField(mxData,1,"complexity",mxCreateDoubleScalar(0));
 mxSetField(mxAutoinheritanceInfo,0,"outputs",mxData);
 }
 {
 mxSetField(mxAutoinheritanceInfo,0,"locals",mxCreateDoubleMatrix(0,0,mxREAL));
 }
 return(mxAutoinheritanceInfo);
}
static const mxArray *sf_get_sim_state_info_c2_SysPenduloInvZero(void)
{
 const char *infoFields[] = { "chartChecksum", "varInfo" };
 mxArray *mxInfo = mxCreateStructMatrix(1, 1, 2, infoFields);
 const char *infoEncStr[] = {
 "100 S1x3'type','srcId','name','auxInfo'{{M[1],M[4],T\"u\",},{M[1],M[20],T\"u2\",},{M[8],M[0],T\"is_active_c2_SysPenduloInvZero\",}}"
 };
 mxArray *mxVarInfo = sf_mex_decode_encoded_mx_struct_array(infoEncStr, 3, 10);
 mxArray *mxChecksum = mxCreateDoubleMatrix(1, 4, mxREAL);
 sf_c2_SysPenduloInvZero_get_check_sum(&mxChecksum);
 mxSetField(mxInfo, 0, infoFields[0], mxChecksum);
 mxSetField(mxInfo, 0, infoFields[1], mxVarInfo);
 return mxInfo;
}
static void chart_debug_initialization(SimStruct *S, unsigned int
 fullDebuggerInitialization)
{
 if (!sim_mode_is_rtw_gen(S)) {
 SFc2_SysPenduloInvZeroInstanceStruct *chartInstance;
 chartInstance = (SFc2_SysPenduloInvZeroInstanceStruct *) ((ChartInfoStruct *)
 (ssGetUserData(S)))->chartInstance;
 if (ssIsFirstInitCond(S) && fullDebuggerInitialization==1) {
 /* do this only if simulation is starting */
 {
 unsigned int chartAlreadyPresent;
 chartAlreadyPresent = sf_debug_initialize_chart
 (_SysPenduloInvZeroMachineNumber_,
 2,
 1,
 1,
 15,
 0,
 0,
 0,
 0,
 0,
 &(chartInstance->chartNumber),
 &(chartInstance->instanceNumber),
 ssGetPath(S),
 (void *)S);
 if (chartAlreadyPresent==0) {
 /* this is the first instance */
 init_script_number_translation(_SysPenduloInvZeroMachineNumber_,
 chartInstance->chartNumber);
 sf_debug_set_chart_disable_implicit_casting
 (_SysPenduloInvZeroMachineNumber_,chartInstance->chartNumber,1);
 sf_debug_set_chart_event_thresholds(_SysPenduloInvZeroMachineNumber_,
 chartInstance->chartNumber,
 0,
 0,
 0);
 _SFD_SET_DATA_PROPS(0,2,0,1,"u");
 _SFD_SET_DATA_PROPS(1,1,1,0,"r");
 _SFD_SET_DATA_PROPS(2,1,1,0,"x");
 _SFD_SET_DATA_PROPS(3,10,0,0,"F");
 _SFD_SET_DATA_PROPS(4,10,0,0,"K");
 _SFD_SET_DATA_PROPS(5,10,0,0,"KK");
 _SFD_SET_DATA_PROPS(6,10,0,0,"th");
 _SFD_SET_DATA_PROPS(7,10,0,0,"J");
 _SFD_SET_DATA_PROPS(8,10,0,0,"m");
 _SFD_SET_DATA_PROPS(9,10,0,0,"g");
 _SFD_SET_DATA_PROPS(10,10,0,0,"l");
 _SFD_SET_DATA_PROPS(11,10,0,0,"b1");
 _SFD_SET_DATA_PROPS(12,1,1,0,"b2");
 _SFD_SET_DATA_PROPS(13,10,0,0,"T");
 _SFD_SET_DATA_PROPS(14,2,0,1,"u2");
 _SFD_STATE_INFO(0,0,2);
 _SFD_CH_SUBSTATE_COUNT(0);
 _SFD_CH_SUBSTATE_DECOMP(0);
 }
 _SFD_CV_INIT_CHART(0,0,0,0);
 {
 _SFD_CV_INIT_STATE(0,0,0,0,0,0,NULL,NULL);
 }
 _SFD_CV_INIT_TRANS(0,0,NULL,NULL,0,NULL);
 /* Initialization of MATLAB Function Model Coverage */
 _SFD_CV_INIT_EML(0,1,1,1,0,0,0,0,0,0);
 _SFD_CV_INIT_EML_FCN(0,0,"eML_blk_kernel",0,-1,231);
 _SFD_CV_INIT_EML_IF(0,1,0,140,151,-1,231);
 _SFD_TRANS_COV_WTS(0,0,0,1,0);
 if (chartAlreadyPresent==0) {
 _SFD_TRANS_COV_MAPS(0,
 0,NULL,NULL,
 0,NULL,NULL,
 1,NULL,NULL,
 0,NULL,NULL);
 }
 _SFD_SET_DATA_COMPILED_PROPS(0,SF_DOUBLE,0,NULL,0,0,0,0.0,1.0,0,0,
 (MexFcnForType)c2_sf_marshallOut,(MexInFcnForType)c2_sf_marshallIn);
 _SFD_SET_DATA_COMPILED_PROPS(1,SF_DOUBLE,0,NULL,0,0,0,0.0,1.0,0,0,
 (MexFcnForType)c2_sf_marshallOut,(MexInFcnForType)NULL);
 {
 unsigned int dimVector[1];
 dimVector[0]= 4;
 _SFD_SET_DATA_COMPILED_PROPS(2,SF_DOUBLE,1,&(dimVector[0]),0,0,0,0.0,
 1.0,0,0,(MexFcnForType)c2_c_sf_marshallOut,(MexInFcnForType)NULL);
 }
 _SFD_SET_DATA_COMPILED_PROPS(3,SF_DOUBLE,0,NULL,0,0,0,0.0,1.0,0,0,
 (MexFcnForType)c2_sf_marshallOut,(MexInFcnForType)c2_sf_marshallIn);
 {
 unsigned int dimVector[2];
 dimVector[0]= 1;
 dimVector[1]= 4;
 _SFD_SET_DATA_COMPILED_PROPS(4,SF_DOUBLE,2,&(dimVector[0]),0,0,0,0.0,
 1.0,0,0,(MexFcnForType)c2_b_sf_marshallOut,(MexInFcnForType)
 c2_b_sf_marshallIn);
 }
 _SFD_SET_DATA_COMPILED_PROPS(5,SF_DOUBLE,0,NULL,0,0,0,0.0,1.0,0,0,
 (MexFcnForType)c2_sf_marshallOut,(MexInFcnForType)c2_sf_marshallIn);
 _SFD_SET_DATA_COMPILED_PROPS(6,SF_DOUBLE,0,NULL,0,0,0,0.0,1.0,0,0,
 (MexFcnForType)c2_sf_marshallOut,(MexInFcnForType)c2_sf_marshallIn);
 _SFD_SET_DATA_COMPILED_PROPS(7,SF_DOUBLE,0,NULL,0,0,0,0.0,1.0,0,0,
(MexFcnForType)c2_sf_marshallOut,(MexInFcnForType)c2_sf_marshallIn);
 _SFD_SET_DATA_COMPILED_PROPS(8,SF_DOUBLE,0,NULL,0,0,0,0.0,1.0,0,0,
 (MexFcnForType)c2_sf_marshallOut,(MexInFcnForType)c2_sf_marshallIn);
 _SFD_SET_DATA_COMPILED_PROPS(9,SF_DOUBLE,0,NULL,0,0,0,0.0,1.0,0,0,
 (MexFcnForType)c2_sf_marshallOut,(MexInFcnForType)c2_sf_marshallIn);
 _SFD_SET_DATA_COMPILED_PROPS(10,SF_DOUBLE,0,NULL,0,0,0,0.0,1.0,0,0,
 (MexFcnForType)c2_sf_marshallOut,(MexInFcnForType)c2_sf_marshallIn);
 _SFD_SET_DATA_COMPILED_PROPS(11,SF_DOUBLE,0,NULL,0,0,0,0.0,1.0,0,0,
 (MexFcnForType)c2_sf_marshallOut,(MexInFcnForType)c2_sf_marshallIn);
 _SFD_SET_DATA_COMPILED_PROPS(12,SF_DOUBLE,0,NULL,0,0,0,0.0,1.0,0,0,
 (MexFcnForType)c2_sf_marshallOut,(MexInFcnForType)NULL);
 _SFD_SET_DATA_COMPILED_PROPS(13,SF_DOUBLE,0,NULL,0,0,0,0.0,1.0,0,0,
 (MexFcnForType)c2_sf_marshallOut,(MexInFcnForType)c2_sf_marshallIn);
 _SFD_SET_DATA_COMPILED_PROPS(14,SF_DOUBLE,0,NULL,0,0,0,0.0,1.0,0,0,
 (MexFcnForType)c2_sf_marshallOut,(MexInFcnForType)c2_sf_marshallIn);
 {
 real_T *c2_u;
 real_T *c2_r;
 real_T *c2_b2;
 real_T *c2_u2;
 real_T (*c2_x)[4];
 c2_u2 = (real_T *)ssGetOutputPortSignal(chartInstance->S, 2);
 c2_b2 = (real_T *)ssGetInputPortSignal(chartInstance->S, 2);
 c2_x = (real_T (*)[4])ssGetInputPortSignal(chartInstance->S, 1);
 c2_r = (real_T *)ssGetInputPortSignal(chartInstance->S, 0);
 c2_u = (real_T *)ssGetOutputPortSignal(chartInstance->S, 1);
 _SFD_SET_DATA_VALUE_PTR(0U, c2_u);
 _SFD_SET_DATA_VALUE_PTR(1U, c2_r);
 _SFD_SET_DATA_VALUE_PTR(2U, *c2_x);
 _SFD_SET_DATA_VALUE_PTR(3U, &chartInstance->c2_F);
 _SFD_SET_DATA_VALUE_PTR(4U, chartInstance->c2_K);
 _SFD_SET_DATA_VALUE_PTR(5U, &chartInstance->c2_KK);
 _SFD_SET_DATA_VALUE_PTR(6U, &chartInstance->c2_th);
 _SFD_SET_DATA_VALUE_PTR(7U, &chartInstance->c2_J);
 _SFD_SET_DATA_VALUE_PTR(8U, &chartInstance->c2_m);
 _SFD_SET_DATA_VALUE_PTR(9U, &chartInstance->c2_g);
 _SFD_SET_DATA_VALUE_PTR(10U, &chartInstance->c2_l);
 _SFD_SET_DATA_VALUE_PTR(11U, &chartInstance->c2_b1);
 _SFD_SET_DATA_VALUE_PTR(12U, c2_b2);
 _SFD_SET_DATA_VALUE_PTR(13U, &chartInstance->c2_T);
 _SFD_SET_DATA_VALUE_PTR(14U, c2_u2);
 }
 }
 } else {
 sf_debug_reset_current_state_configuration
 (_SysPenduloInvZeroMachineNumber_,chartInstance->chartNumber,
 chartInstance->instanceNumber);
 }
 }
}
static void sf_opaque_initialize_c2_SysPenduloInvZero(void *chartInstanceVar)
{
 chart_debug_initialization(((SFc2_SysPenduloInvZeroInstanceStruct*)
 chartInstanceVar)->S,0);
 initialize_params_c2_SysPenduloInvZero((SFc2_SysPenduloInvZeroInstanceStruct*)
 chartInstanceVar);
 initialize_c2_SysPenduloInvZero((SFc2_SysPenduloInvZeroInstanceStruct*)
 chartInstanceVar);
}
static void sf_opaque_enable_c2_SysPenduloInvZero(void *chartInstanceVar)
{
 enable_c2_SysPenduloInvZero((SFc2_SysPenduloInvZeroInstanceStruct*)
 chartInstanceVar);
}
static void sf_opaque_disable_c2_SysPenduloInvZero(void *chartInstanceVar)
{
 disable_c2_SysPenduloInvZero((SFc2_SysPenduloInvZeroInstanceStruct*)
 chartInstanceVar);
}
static void sf_opaque_gateway_c2_SysPenduloInvZero(void *chartInstanceVar)
{
 sf_c2_SysPenduloInvZero((SFc2_SysPenduloInvZeroInstanceStruct*)
 chartInstanceVar);
}
extern const mxArray* sf_internal_get_sim_state_c2_SysPenduloInvZero(SimStruct*
 S)
{
 ChartInfoStruct *chartInfo = (ChartInfoStruct*) ssGetUserData(S);
 mxArray *plhs[1] = { NULL };
 mxArray *prhs[4];
 int mxError = 0;
 prhs[0] = mxCreateString("chart_simctx_raw2high");
 prhs[1] = mxCreateDoubleScalar(ssGetSFuncBlockHandle(S));
 prhs[2] = (mxArray*) get_sim_state_c2_SysPenduloInvZero
 ((SFc2_SysPenduloInvZeroInstanceStruct*)chartInfo->chartInstance);/* raw sim ctx */
 prhs[3] = (mxArray*) sf_get_sim_state_info_c2_SysPenduloInvZero();/* state var info */
 mxError = sf_mex_call_matlab(1, plhs, 4, prhs, "sfprivate");
 mxDestroyArray(prhs[0]);
 mxDestroyArray(prhs[1]);
 mxDestroyArray(prhs[2]);
 mxDestroyArray(prhs[3]);
 if (mxError || plhs[0] == NULL) {
 sf_mex_error_message("Stateflow Internal Error: \nError calling 'chart_simctx_raw2high'.\n");
 }
 return plhs[0];
}
extern void sf_internal_set_sim_state_c2_SysPenduloInvZero(SimStruct* S, const
 mxArray *st)
{
 ChartInfoStruct *chartInfo = (ChartInfoStruct*) ssGetUserData(S);
 mxArray *plhs[1] = { NULL };
 mxArray *prhs[4];
 int mxError = 0;
 prhs[0] = mxCreateString("chart_simctx_high2raw");
 prhs[1] = mxCreateDoubleScalar(ssGetSFuncBlockHandle(S));
 prhs[2] = mxDuplicateArray(st); /* high level simctx */
 prhs[3] = (mxArray*) sf_get_sim_state_info_c2_SysPenduloInvZero();/* state var info */
 mxError = sf_mex_call_matlab(1, plhs, 4, prhs, "sfprivate");
 mxDestroyArray(prhs[0]);
 mxDestroyArray(prhs[1]);
 mxDestroyArray(prhs[2]);
 mxDestroyArray(prhs[3]);
 if (mxError || plhs[0] == NULL) {
 sf_mex_error_message("Stateflow Internal Error: \nError calling 'chart_simctx_high2raw'.\n");
 }
 set_sim_state_c2_SysPenduloInvZero((SFc2_SysPenduloInvZeroInstanceStruct*)
 chartInfo->chartInstance, mxDuplicateArray(plhs[0]));
 mxDestroyArray(plhs[0]);
}
static const mxArray* sf_opaque_get_sim_state_c2_SysPenduloInvZero(SimStruct* S)
{
 return sf_internal_get_sim_state_c2_SysPenduloInvZero(S);
}
static void sf_opaque_set_sim_state_c2_SysPenduloInvZero(SimStruct* S, const
 mxArray *st)
{
 sf_internal_set_sim_state_c2_SysPenduloInvZero(S, st);
}
static void sf_opaque_terminate_c2_SysPenduloInvZero(void *chartInstanceVar)
{
 if (chartInstanceVar!=NULL) {
 SimStruct *S = ((SFc2_SysPenduloInvZeroInstanceStruct*) chartInstanceVar)->S;
 if (sim_mode_is_rtw_gen(S) || sim_mode_is_external(S)) {
 sf_clear_rtw_identifier(S);
 }
 finalize_c2_SysPenduloInvZero((SFc2_SysPenduloInvZeroInstanceStruct*)
 chartInstanceVar);
 free((void *)chartInstanceVar);
 ssSetUserData(S,NULL);
 }
 unload_SysPenduloInvZero_optimization_info();
}
static void sf_opaque_init_subchart_simstructs(void *chartInstanceVar)
{
 initSimStructsc2_SysPenduloInvZero((SFc2_SysPenduloInvZeroInstanceStruct*)
 chartInstanceVar);
}
extern unsigned int sf_machine_global_initializer_called(void);
static void mdlProcessParameters_c2_SysPenduloInvZero(SimStruct *S)
{
 int i;
 for (i=0;i<ssGetNumRunTimeParams(S);i++) {
 if (ssGetSFcnParamTunable(S,i)) {
 ssUpdateDlgParamAsRunTimeParam(S,i);
 }
 }
 if (sf_machine_global_initializer_called()) {
 initialize_params_c2_SysPenduloInvZero((SFc2_SysPenduloInvZeroInstanceStruct*)
 (((ChartInfoStruct *)ssGetUserData(S))->chartInstance));
 }
}
static void mdlSetWorkWidths_c2_SysPenduloInvZero(SimStruct *S)
{
 /* Actual parameters from chart:
 F J K KK T b1 g l m th
 */
 const char_T *rtParamNames[] = { "p1", "p2", "p3", "p4", "p5", "p6", "p7",
 "p8", "p9", "p10" };
 ssSetNumRunTimeParams(S,ssGetSFcnParamsCount(S));
 /* registration for F*/
 ssRegDlgParamAsRunTimeParam(S, 0, 0, rtParamNames[0], SS_DOUBLE);
 /* registration for J*/
 ssRegDlgParamAsRunTimeParam(S, 1, 1, rtParamNames[1], SS_DOUBLE);
 /* registration for K*/
 ssRegDlgParamAsRunTimeParam(S, 2, 2, rtParamNames[2], SS_DOUBLE);
 /* registration for KK*/
 ssRegDlgParamAsRunTimeParam(S, 3, 3, rtParamNames[3], SS_DOUBLE);
 /* registration for T*/
 ssRegDlgParamAsRunTimeParam(S, 4, 4, rtParamNames[4], SS_DOUBLE);
 /* registration for b1*/
 ssRegDlgParamAsRunTimeParam(S, 5, 5, rtParamNames[5], SS_DOUBLE);
 /* registration for g*/
 ssRegDlgParamAsRunTimeParam(S,
6, 6, rtParamNames[6], SS_DOUBLE);
 /* registration for l*/
 ssRegDlgParamAsRunTimeParam(S, 7, 7, rtParamNames[7], SS_DOUBLE);
 /* registration for m*/
 ssRegDlgParamAsRunTimeParam(S, 8, 8, rtParamNames[8], SS_DOUBLE);
 /* registration for th*/
 ssRegDlgParamAsRunTimeParam(S, 9, 9, rtParamNames[9], SS_DOUBLE);
 if (sim_mode_is_rtw_gen(S) || sim_mode_is_external(S)) {
 mxArray *infoStruct = load_SysPenduloInvZero_optimization_info();
 int_T chartIsInlinable =
 (int_T)sf_is_chart_inlinable(S,infoStruct,2);
 ssSetStateflowIsInlinable(S,chartIsInlinable);
 ssSetRTWCG(S,sf_rtw_info_uint_prop(S,infoStruct,2,"RTWCG"));
 ssSetEnableFcnIsTrivial(S,1);
 ssSetDisableFcnIsTrivial(S,1);
 ssSetNotMultipleInlinable(S,sf_rtw_info_uint_prop(S,infoStruct,2,
 "gatewayCannotBeInlinedMultipleTimes"));
 if (chartIsInlinable) {
 ssSetInputPortOptimOpts(S, 0, SS_REUSABLE_AND_LOCAL);
 ssSetInputPortOptimOpts(S, 1, SS_REUSABLE_AND_LOCAL);
 ssSetInputPortOptimOpts(S, 2, SS_REUSABLE_AND_LOCAL);
 sf_mark_chart_expressionable_inputs(S,infoStruct,2,3);
 sf_mark_chart_reusable_outputs(S,infoStruct,2,2);
 }
 sf_set_rtw_dwork_info(S,infoStruct,2);
 ssSetHasSubFunctions(S,!(chartIsInlinable));
 } else {
 }
 ssSetOptions(S,ssGetOptions(S)|SS_OPTION_WORKS_WITH_CODE_REUSE);
 ssSetChecksum0(S,(3297604104U));
 ssSetChecksum1(S,(1424046542U));
 ssSetChecksum2(S,(926056702U));
 ssSetChecksum3(S,(2002571367U));
 ssSetmdlDerivatives(S, NULL);
 ssSetExplicitFCSSCtrl(S,1);
}
static void mdlRTW_c2_SysPenduloInvZero(SimStruct *S)
{
 if (sim_mode_is_rtw_gen(S)) {
 ssWriteRTWStrParam(S, "StateflowChartType", "Embedded MATLAB");
 }
}
static void mdlStart_c2_SysPenduloInvZero(SimStruct *S)
{
 SFc2_SysPenduloInvZeroInstanceStruct *chartInstance;
 chartInstance = (SFc2_SysPenduloInvZeroInstanceStruct *)malloc(sizeof
 (SFc2_SysPenduloInvZeroInstanceStruct));
 memset(chartInstance, 0, sizeof(SFc2_SysPenduloInvZeroInstanceStruct));
 if (chartInstance==NULL) {
 sf_mex_error_message("Could not allocate memory for chart instance.");
 }
 chartInstance->chartInfo.chartInstance = chartInstance;
 chartInstance->chartInfo.isEMLChart = 1;
 chartInstance->chartInfo.chartInitialized = 0;
 chartInstance->chartInfo.sFunctionGateway =
 sf_opaque_gateway_c2_SysPenduloInvZero;
 chartInstance->chartInfo.initializeChart =
 sf_opaque_initialize_c2_SysPenduloInvZero;
 chartInstance->chartInfo.terminateChart =
 sf_opaque_terminate_c2_SysPenduloInvZero;
 chartInstance->chartInfo.enableChart = sf_opaque_enable_c2_SysPenduloInvZero;
 chartInstance->chartInfo.disableChart = sf_opaque_disable_c2_SysPenduloInvZero;
 chartInstance->chartInfo.getSimState =
 sf_opaque_get_sim_state_c2_SysPenduloInvZero;
 chartInstance->chartInfo.setSimState =
 sf_opaque_set_sim_state_c2_SysPenduloInvZero;
 chartInstance->chartInfo.getSimStateInfo =
 sf_get_sim_state_info_c2_SysPenduloInvZero;
 chartInstance->chartInfo.zeroCrossings = NULL;
 chartInstance->chartInfo.outputs = NULL;
 chartInstance->chartInfo.derivatives = NULL;
 chartInstance->chartInfo.mdlRTW = mdlRTW_c2_SysPenduloInvZero;
 chartInstance->chartInfo.mdlStart = mdlStart_c2_SysPenduloInvZero;
 chartInstance->chartInfo.mdlSetWorkWidths =
 mdlSetWorkWidths_c2_SysPenduloInvZero;
 chartInstance->chartInfo.extModeExec = NULL;
 chartInstance->chartInfo.restoreLastMajorStepConfiguration = NULL;
 chartInstance->chartInfo.restoreBeforeLastMajorStepConfiguration = NULL;
 chartInstance->chartInfo.storeCurrentConfiguration = NULL;
 chartInstance->S = S;
 ssSetUserData(S,(void *)(&(chartInstance->chartInfo)));/* register the chart instance with simstruct */
 init_dsm_address_info(chartInstance);
 if (!sim_mode_is_rtw_gen(S)) {
 }
 sf_opaque_init_subchart_simstructs(chartInstance->chartInfo.chartInstance);
 chart_debug_initialization(S,1);
}
void c2_SysPenduloInvZero_method_dispatcher(SimStruct *S, int_T method, void
 *data)
{
 switch (method) {
 case SS_CALL_MDL_START:
 mdlStart_c2_SysPenduloInvZero(S);
 break;
 case SS_CALL_MDL_SET_WORK_WIDTHS:
 mdlSetWorkWidths_c2_SysPenduloInvZero(S);
 break;
 case SS_CALL_MDL_PROCESS_PARAMETERS:
 mdlProcessParameters_c2_SysPenduloInvZero(S);
 break;
 default:
 /* Unhandled method */
 sf_mex_error_message("Stateflow Internal Error:\n"
 "Error calling c2_SysPenduloInvZero_method_dispatcher.\n"
 "Can't handle method %d.\n", method);
 break;
 }
}
5 - Lyapunov e Energia/Parte 1/slprj/_sfprj/SysPenduloInvZero/_self/sfun/src/c2_SysPenduloInvZero.h
#ifndef __c2_SysPenduloInvZero_h__
#define __c2_SysPenduloInvZero_h__
/* Include files */
#include "sfc_sf.h"
#include "sfc_mex.h"
#include "rtwtypes.h"
/* Type Definitions */
typedef struct {
 const char * context;
 const char * name;
 const char * dominantType;
 const char * resolved;
 uint32_T fileTimeLo;
 uint32_T fileTimeHi;
 uint32_T mFileTimeLo;
 uint32_T mFileTimeHi;
} c2_ResolvedFunctionInfo;
typedef struct {
 real_T c2_F;
 real_T c2_J;
 real_T c2_K[4];
 real_T c2_KK;
 real_T c2_T;
 real_T c2_b1;
 real_T c2_g;
 real_T c2_l;
 real_T c2_m;
 real_T c2_th;
 SimStruct *S;
 int32_T c2_sfEvent;
 uint32_T chartNumber;
 uint32_T instanceNumber;
 boolean_T c2_doneDoubleBufferReInit;
 boolean_T c2_isStable;
 uint8_T c2_is_active_c2_SysPenduloInvZero;
 ChartInfoStruct chartInfo;
} SFc2_SysPenduloInvZeroInstanceStruct;
/* Named Constants */
/* Variable Declarations */
/* Variable Definitions */
/* Function Declarations */
extern const mxArray *sf_c2_SysPenduloInvZero_get_eml_resolved_functions_info
 (void);
/* Function Definitions */
extern void sf_c2_SysPenduloInvZero_get_check_sum(mxArray *plhs[]);
extern void c2_SysPenduloInvZero_method_dispatcher(SimStruct *S, int_T method,
 void *data);
#endif
5 - Lyapunov e Energia/Parte 1/slprj/_sfprj/SysPenduloInvZero/_self/sfun/src/c2_SysPenduloInvZero.obj
5 - Lyapunov e Energia/Parte 1/slprj/_sfprj/SysPenduloInvZero/_self/sfun/src/lccstub.obj
5 - Lyapunov e Energia/Parte 1/slprj/_sfprj/SysPenduloInvZero/_self/sfun/src/rtwtypes.h
#ifndef __RTWTYPES_H__ 
 #define __RTWTYPES_H__ 
 #include "tmwtypes.h" 
 
/* This ID is used to detect inclusion of an incompatible rtwtypes.h */
#define RTWTYPES_ID_C08S16I32L32N32F1
 
 #include "simstruc_types.h" 
 #ifndef POINTER_T 
 # define POINTER_T 
 typedef void * pointer_T; 
 #endif 
 #ifndef TRUE 
 # define TRUE (1U) 
 #endif 
 #ifndef FALSE 
 # define FALSE (0U) 
 #endif 
 #ifndef MAT_FILE 
 # define MAT_FILE 0 
 #endif 
/*
 * MultiWord supporting definitions
 */
typedef long int long_T;
/*
 * MultiWord types
 */
typedef struct {
 uint32_T chunks[2];
} int64m_T;
typedef struct {
 int64m_T re;
 int64m_T im;
} cint64m_T;
typedef struct {
 uint32_T chunks[2];
} uint64m_T;
typedef struct {
 uint64m_T re;
 uint64m_T im;
} cuint64m_T;
typedef struct {
 uint32_T chunks[3];
} int96m_T;
typedef struct {
 int96m_T re;
 int96m_T im;
} cint96m_T;
typedef struct {
 uint32_T chunks[3];
} uint96m_T;
typedef struct {
 uint96m_T re;
 uint96m_T im;
} cuint96m_T;
typedef struct {
 uint32_T chunks[4];
} int128m_T;
typedef struct {
 int128m_T re;
 int128m_T im;
} cint128m_T;
typedef struct {
 uint32_T chunks[4];
} uint128m_T;
typedef struct {
 uint128m_T re;
 uint128m_T im;
} cuint128m_T;
typedef struct {
 uint32_T chunks[5];
} int160m_T;
typedef struct {
 int160m_T re;
 int160m_T im;
} cint160m_T;
typedef struct {
 uint32_T chunks[5];
} uint160m_T;
typedef struct {
 uint160m_T re;
 uint160m_T im;
} cuint160m_T;
typedef struct {
 uint32_T chunks[6];
} int192m_T;
typedef struct {
 int192m_T re;
 int192m_T im;
} cint192m_T;
typedef struct {
 uint32_T chunks[6];
} uint192m_T;
typedef struct {
 uint192m_T re;
 uint192m_T im;
} cuint192m_T;
typedef struct {
 uint32_T chunks[7];
} int224m_T;
typedef struct {
 int224m_T re;
 int224m_T im;
} cint224m_T;
typedef struct {
 uint32_T chunks[7];
} uint224m_T;
typedef struct {
 uint224m_T re;
 uint224m_T im;
} cuint224m_T;
typedef struct {
 uint32_T chunks[8];
} int256m_T;
typedef struct {
 int256m_T re;
 int256m_T im;
} cint256m_T;
typedef struct {
 uint32_T chunks[8];
} uint256m_T;
typedef struct {
 uint256m_T re;
 uint256m_T im;
} cuint256m_T;
typedef struct {
 uint32_T chunks[9];
} int288m_T;
typedef struct {
 int288m_T re;
 int288m_T im;
} cint288m_T;
typedef struct {
 uint32_T chunks[9];
} uint288m_T;
typedef struct {
 uint288m_T re;
 uint288m_T im;
} cuint288m_T;
typedef struct {
 uint32_T chunks[10];
} int320m_T;
typedef struct {
 int320m_T re;
 int320m_T im;
} cint320m_T;
typedef struct {
 uint32_T chunks[10];
} uint320m_T;
typedef struct {
 uint320m_T re;
 uint320m_T im;
} cuint320m_T;
typedef struct {
 uint32_T chunks[11];
} int352m_T;
typedef struct {
 int352m_T re;
 int352m_T im;
} cint352m_T;
typedef struct {
 uint32_T chunks[11];
} uint352m_T;
typedef struct {
 uint352m_T re;
 uint352m_T im;
} cuint352m_T;
typedef struct {
 uint32_T chunks[12];
} int384m_T;
typedef struct {
 int384m_T re;
 int384m_T im;
} cint384m_T;
typedef struct {
 uint32_T chunks[12];
} uint384m_T;
typedef struct {
 uint384m_T re;
 uint384m_T im;
} cuint384m_T;
typedef struct {
 uint32_T chunks[13];
} int416m_T;
typedef struct {
 int416m_T re;
 int416m_T im;
} cint416m_T;
typedef struct {
 uint32_T chunks[13];
} uint416m_T;
typedef struct {
 uint416m_T re;
 uint416m_T im;
} cuint416m_T;
typedef struct {
 uint32_T chunks[14];
} int448m_T;
typedef struct {
 int448m_T re;
 int448m_T im;
} cint448m_T;
typedef struct {
 uint32_T chunks[14];
} uint448m_T;
typedef struct {
 uint448m_T re;
 uint448m_T im;
} cuint448m_T;
typedef struct {
 uint32_T chunks[15];
} int480m_T;
typedef struct {
 int480m_T re;
 int480m_T im;
} cint480m_T;
typedef struct {
 uint32_T chunks[15];
} uint480m_T;
typedef struct {
 uint480m_T re;
 uint480m_T im;
} cuint480m_T;
typedef struct {
 uint32_T chunks[16];
} int512m_T;
typedef struct {
 int512m_T re;
 int512m_T im;
} cint512m_T;
typedef struct {
 uint32_T chunks[16];
} uint512m_T;
typedef struct {
 uint512m_T re;
 uint512m_T im;
} cuint512m_T;
typedef struct {
 uint32_T chunks[17];
} int544m_T;
typedef struct {
 int544m_T re;
 int544m_T im;
} cint544m_T;
typedef struct {
 uint32_T chunks[17];
} uint544m_T;
typedef struct {
 uint544m_T re;
 uint544m_T im;
} cuint544m_T;
typedef struct {
 uint32_T chunks[18];
} int576m_T;
typedef struct {
 int576m_T re;
 int576m_T im;
} cint576m_T;
typedef struct {
 uint32_T chunks[18];
} uint576m_T;
typedef struct {
 uint576m_T re;
 uint576m_T im;
} cuint576m_T;
typedef struct {
 uint32_T chunks[19];
} int608m_T;
typedef struct {
 int608m_T re;
 int608m_T im;
} cint608m_T;
typedef struct {
 uint32_T chunks[19];
} uint608m_T;
typedef struct {
 uint608m_T re;
 uint608m_T im;
} cuint608m_T;
typedef struct {
 uint32_T chunks[20];
} int640m_T;
typedef struct {
 int640m_T re;
 int640m_T im;
} cint640m_T;
typedef struct {
 uint32_T chunks[20];
} uint640m_T;
typedef struct {
 uint640m_T re;
 uint640m_T im;
} cuint640m_T;
typedef struct {
 uint32_T chunks[21];
} int672m_T;
typedef struct {
 int672m_T re;
 int672m_T im;
} cint672m_T;
typedef struct {
 uint32_T chunks[21];
} uint672m_T;
typedef struct {
 uint672m_T re;
 uint672m_T im;
} cuint672m_T;
typedef struct {
 uint32_T chunks[22];
} int704m_T;
typedef struct {
 int704m_T re;
 int704m_T im;
} cint704m_T;
typedef struct {
 uint32_T chunks[22];
} uint704m_T;
typedef struct {
 uint704m_T re;
 uint704m_T im;
} cuint704m_T;
typedef struct {
 uint32_T chunks[23];
} int736m_T;
typedef struct {
 int736m_T re;
 int736m_T im;
} cint736m_T;
typedef struct {
 uint32_T chunks[23];
} uint736m_T;
typedef struct {
 uint736m_T re;
 uint736m_T im;
} cuint736m_T;
typedef struct {
 uint32_T chunks[24];
} int768m_T;
typedef struct {
 int768m_T re;
 int768m_T im;
} cint768m_T;
typedef struct {
 uint32_T chunks[24];
} uint768m_T;
typedef struct {
 uint768m_T re;
 uint768m_T im;
} cuint768m_T;
typedef struct {
 uint32_T chunks[25];
} int800m_T;
typedef struct {
 int800m_T re;
 int800m_T im;
} cint800m_T;
typedef struct {
 uint32_T chunks[25];
} uint800m_T;
typedef struct {
 uint800m_T re;
 uint800m_T im;
} cuint800m_T;
typedef struct {
 uint32_T chunks[26];
} int832m_T;
typedef struct {
 int832m_T re;
 int832m_T im;
} cint832m_T;
typedef struct {
 uint32_T chunks[26];
} uint832m_T;
typedef struct {
 uint832m_T re;
 uint832m_T im;
} cuint832m_T;
typedef struct {
 uint32_T chunks[27];
} int864m_T;
typedef struct {
 int864m_T re;
 int864m_T im;
} cint864m_T;
typedef struct {
 uint32_T chunks[27];
} uint864m_T;
typedef struct {
 uint864m_T re;
 uint864m_T im;
} cuint864m_T;
typedef struct {
 uint32_T chunks[28];
} int896m_T;
typedef struct {
 int896m_T re;
 int896m_T im;
} cint896m_T;
typedef struct {
 uint32_T chunks[28];
} uint896m_T;
typedef struct {
 uint896m_T re;
 uint896m_T im;
} cuint896m_T;
typedef struct {
 uint32_T chunks[29];
} int928m_T;
typedef struct {
 int928m_T re;
 int928m_T im;
} cint928m_T;
typedef struct {
 uint32_T chunks[29];
} uint928m_T;
typedef struct {
 uint928m_T re;
 uint928m_T im;
} cuint928m_T;
typedef struct {
 uint32_T chunks[30];
} int960m_T;
typedef struct {
 int960m_T re;
 int960m_T im;
} cint960m_T;
typedef struct {
 uint32_T chunks[30];
} uint960m_T;
typedef struct {
 uint960m_T re;
 uint960m_T im;
} cuint960m_T;
typedef struct {
 uint32_T chunks[31];
} int992m_T;
typedef struct {
 int992m_T re;
 int992m_T im;
} cint992m_T;
typedef struct {
 uint32_T chunks[31];
} uint992m_T;
typedef struct {
 uint992m_T re;
 uint992m_T im;
} cuint992m_T;
typedef struct {
 uint32_T chunks[32];
} int1024m_T;
typedef struct {
 int1024m_T re;
 int1024m_T im;
} cint1024m_T;
typedef struct {
 uint32_T chunks[32];
} uint1024m_T;
typedef struct {
 uint1024m_T re;
 uint1024m_T im;
} cuint1024m_T;
#endif /* __RTWTYPES_H__ */ 
5 - Lyapunov e Energia/Parte 1/slprj/_sfprj/SysPenduloInvZero/_self/sfun/src/rtwtypeschksum.mat
5 - Lyapunov e Energia/Parte 1/slprj/_sfprj/SysPenduloInvZero/_self/sfun/src/SysPenduloInvZero_sfun.bat
"C:\Program Files\MATLAB\R2011b\sys\lcc\bin\lccmake" -f SysPenduloInvZero_sfun.lmk
5 - Lyapunov e Energia/Parte 1/slprj/_sfprj/SysPenduloInvZero/_self/sfun/src/SysPenduloInvZero_sfun.c
/* Include files */
#include "SysPenduloInvZero_sfun.h"
#include "c2_SysPenduloInvZero.h"
/* Type Definitions */
/* Named Constants */
/* Variable Declarations */
/* Variable Definitions */
uint32_T _SysPenduloInvZeroMachineNumber_;
real_T _sfTime_;
/* Function Declarations */
/* Function Definitions */
void SysPenduloInvZero_initializer(void)
{
}
void SysPenduloInvZero_terminator(void)
{
}