Trabalho 7 - Trabalho de Substituição

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7 - Trabalho de Substitui��o/Backup.rar
7 - Trabalho de Substitui��o/f_anima.m
function anima(z,o,L,T)
%ANIMA (z,o,L,T) 
%
% z -> vetor com as posicoes da bola
% o -> vetor com a inclinacao do trilho
% L -> comprimento da haste
% T -> periodo de amostragem
figure(2)
for k =1:length(z)
 plot([-L/2*cos(o(k)) L/2*cos(o(k))],[-L/2*sin(o(k)) L/2*sin(o(k))])
 hold on
 plot(z(k)*cos(o(k)),z(k)*sin(o(k)+0.01),'r.','LineWidth',50)
 axis off;
 axis equal;
 drawnow
 hold off; 
end
end
7 - Trabalho de Substitui��o/IMG_20150629_210357851.jpg
7 - Trabalho de Substitui��o/Original/f_anima.m
function f_anima(z,o,L,T)
%ANIMA (z,o,L,T) 
%
% z -> vetor com as posicoes da bola
% o -> vetor com a inclinacao do trilho
% L -> comprimento da haste
% T -> periodo de amostragem
figure(2)
for k =1:length(z)
 plot([-L/2*cos(o(k)) L/2*cos(o(k))],[-L/2*sin(o(k)) L/2*sin(o(k))])
 hold on
 plot(z(k)*cos(o(k)),z(k)*sin(o(k)+0.01),'r.','LineWidth',50)
 axis off;
 axis equal;
 drawnow
 hold off; 
end
end
7 - Trabalho de Substitui��o/PSTopicosII.pdf
Faculdade de Engenharia
PS - To´picos Especiais II - ECA
Controle do Sistema Bola e Trilho
Sistema
Como descrito na Figura 1, o sistema considerado neste trabalho consiste em
uma bola de massa m sendo equilibrada em um trilho de cumprimento l. O
objetivo e´ o desenvolvimento de uma lei de controle u que estabilize a bola e
comande sua posic¸a˜o.
y(t)
u(t) θ(t)
Figura 1: Sistema Trilho-Bola descritos pelas equac¸o˜es em (1)
A posic¸a˜o da bola em relac¸a˜o ao centro do trilho e a inclinac¸a˜o do trilho
em relac¸a˜o ao plano horizontal sa˜o descritos por z e θ, respectivamente. As
equac¸o˜es que descrevem a dinaˆmica do sistema sa˜o,
(JbR
2 +M)z¨ = −Mg sin(θ) +Mzθ˙2
Jhθ¨ = −cθ˙ −Mg cos(θ)z + Tm
(1)
onde u = Tm representa o torque mecaˆnico aplicado ao centro da haste e,
Tabela 1: Paraˆmetros do sistema.
M 1 [kg] massa do trilho
m 0.11 [kg] massa da bola
R 0.015 [m] raio da bola
g 9.8 [m/s2] gravidade
L 1 [m] cumprimento da haste
c 0.01 [N.s/rad] atrito da haste
Jb 2mR2/5 [kg.m2] momento de inercia da bola
Jh ML2/12 [kg.m2] momento de inercia da haste
z - [m] posic¸a˜o da bola
θ - [rad] aˆngulo da haste
1
Tarefas
Apresente na aula do dia 27/11/2014 as seguintes tarefas:
1. (10 pontos) Encontre uma representac¸a˜o em espac¸o de estados para
este sistema sendo x1 := z, x2 := z˙, x3 := θ e x4 := θ˙;
2. (10 pontos) Linearize a representac¸a˜o encontrada no item anterior en-
torno do seu ponto de equil´ıbrio, colocando o sistema na forma,
x˙ = Ax+Bu (2)
3. Construa um ambiente de simulac¸a˜o no Simulink comparando o sistema
na˜o linear original com o sistema linearizado em sua forma cont´ınua (10
pontos) e discreta (10 pontos);
4. Projete um controlador de realimentac¸a˜o de estados que equilibre a bola
no centro da haste dada uma condic¸a˜o inicial z = 0.5 e z˙ = θ˙ = θ = 0
(10 pontos). Implemente este controlador em sua forma discreta usando
um bloco de Matlab Function no Simulink para T = 0.01 (20 pontos);
5. Projete um observador de estados que estime a velocidade linear da
bola e angular da haste supondo que apenas z e θ sa˜o mensura´veis (10
pontos);
6. Utilizando os estados estimados na realimentac¸a˜o, fac¸a com que a bola
seja deslocada da posic¸a˜o zero para a posic¸a˜o 30 cm (10 pontos), e
depois para a posic¸a˜o -30 cm (10 pontos);
Este trabalho e´ individual.
2
7 - Trabalho de Substitui��o/SimBola.mdl
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	 MultiwordLength	 2048
	 GenerateFullHeader on
	 GenerateSampleERTMain off
	 GenerateTestInterfaces off
	 ModelReferenceCompliant on
	 ParMdlRefBuildCompliant on
	 CompOptLevelCompliant on
	 ConcurrentExecutionCompliant on
	 IncludeMdlTerminateFcn on
	 GeneratePreprocessorConditionals "Disable all"
	 CombineOutputUpdateFcns off
	 CombineSignalStateStructs	off
	 SuppressErrorStatus off
	 ERTFirstTimeCompliant off
	 IncludeFileDelimiter "Auto"
	 ERTCustomFileBanners off
	 SupportAbsoluteTime on
	 LogVarNameModifier "rt_"
	 MatFileLogging	 on
	 MultiInstanceERTCode off
	 CodeInterfacePackaging "Nonreusable function"
	 SupportNonFinite	 on
	 SupportComplex	 on
PurelyIntegerCode	 off
	 SupportContinuousTime on
	 SupportNonInlinedSFcns on
	 SupportVariableSizeSignals off
	 EnableShiftOperators on
	 ParenthesesLevel	 "Nominal"
	 MATLABClassNameForMDSCustomization "Simulink.SoftwareTarget.GRTCustomization"
	 ModelStepFunctionPrototypeControlCompliant off
	 CPPClassGenCompliant on
	 AutosarCompliant	 off
	 GRTInterface	 on
	 GenerateAllocFcn	 off
	 UseMalloc		 off
	 ExtMode		 off
	 ExtModeStaticAlloc off
	 ExtModeTesting	 off
	 ExtModeStaticAllocSize 1000000
	 ExtModeTransport	 0
	 ExtModeMexFile	 "ext_comm"
	 ExtModeIntrfLevel	 "Level1"
	 RTWCAPISignals	 off
	 RTWCAPIParams	 off
	 RTWCAPIStates	 off
	 RTWCAPIRootIO	 off
	 GenerateASAP2	 off
	 MultiInstanceErrorCode "Error"
	 }
	 PropName		 "Components"
	 }
	}
	PropName		"Components"
 }
 Name		 "Configuration"
 CurrentDlgPage	 "Solver"
 ConfigPrmDlgPosition [ 243, 69, 1123, 699 ] 
 }
 PropName		 "ConfigurationSets"
 }
 Simulink.ConfigSet {
 $PropName		 "ActiveConfigurationSet"
 $ObjectID		 7
 }
 Object {
 $PropName		 "DataTransfer"
 $ObjectID		 18
 $ClassName		 "Simulink.GlobalDataTransfer"
 DefaultTransitionBetweenSyncTasks "Ensure deterministic transfer (maximum delay)"
 DefaultTransitionBetweenAsyncTasks "Ensure data integrity only"
 DefaultTransitionBetweenContTasks "Ensure deterministic transfer (minimum delay)"
 DefaultExtrapolationMethodBetweenContTasks "None"
 AutoInsertRateTranBlk [0]
 }
 ExplicitPartitioning	 off
 BlockDefaults {
 ForegroundColor	 "black"
 BackgroundColor	 "white"
 DropShadow		 off
 NamePlacement	 "normal"
 FontName		 "Helvetica"
 FontSize		 10
 FontWeight		 "normal"
 FontAngle		 "normal"
 ShowName		 on
 BlockRotation	 0
 BlockMirror		 off
 }
 AnnotationDefaults {
 HorizontalAlignment	 "center"
 VerticalAlignment	 "middle"
 ForegroundColor	 "black"
 BackgroundColor	 "white"
 DropShadow		 off
 FontName		 "Helvetica"
 FontSize		 10
 FontWeight		 "normal"
 FontAngle		 "normal"
 UseDisplayTextAsClickCallback off
 }
 LineDefaults {
 FontName		 "Helvetica"
 FontSize		 9
 FontWeight		 "normal"
 FontAngle		 "normal"
 }
 MaskDefaults {
 SelfModifiable	 "off"
 IconFrame		 "on"
 IconOpaque		 "on"
 RunInitForIconRedraw "off"
 IconRotate		 "none"
 PortRotate		 "default"
 IconUnits		 "autoscale"
 }
 MaskParameterDefaults {
 Evaluate		 "on"
 Tunable		 "on"
 NeverSave		 "off"
 Internal		 "off"
 ReadOnly		 "off"
 Enabled		 "on"
 Visible		 "on"
 ToolTip		 "on"
 }
 BlockParameterDefaults {
 Block {
 BlockType		 Constant
 Value		 "1"
 VectorParams1D	 on
 SamplingMode	 "Sample based"
 OutMin		 "[]"
 OutMax		 "[]"
 OutDataTypeStr	 "Inherit: Inherit from 'Constant value'"
 LockScale		 off
 SampleTime	 "inf"
 FramePeriod	 "inf"
 PreserveConstantTs off
 }
 Block {
 BlockType		 DiscreteStateSpace
 A			 "1"
 B			 "1"
 C			 "1"
 D			 "1"
 X0		 "0"
 SampleTime	 "1"
 StateMustResolveToSignalObject off
 RTWStateStorageClass "Auto"
 Realization	 "auto"
 }
 Block {
 BlockType		 Fcn
 Expr		 "sin(u[1])"
 SampleTime	 "-1"
 }
 Block {
 BlockType		 Inport
 Port		 "1"
 OutputFunctionCall off
 OutMin		 "[]"
 OutMax		 "[]"
 OutDataTypeStr	 "Inherit: auto"
 LockScale		 off
 BusOutputAsStruct	 off
 PortDimensions	 "-1"
 VarSizeSig	 "Inherit"
 SampleTime	 "-1"
 SignalType	 "auto"
 SamplingMode	 "auto"
 LatchByDelayingOutsideSignal off
 LatchInputForFeedbackSignals off
 Interpolate	 on
 }
 Block {
 BlockType		 Integrator
 ExternalReset	 "none"
 InitialConditionSource "internal"
 InitialCondition	 "0"
 LimitOutput	 off
 UpperSaturationLimit "inf"
 LowerSaturationLimit "-inf"
 ShowSaturationPort off
 ShowStatePort	 off
 AbsoluteTolerance	 "auto"
 IgnoreLimit	 off
 ZeroCross		 on
 ContinuousStateAttributes	"''"
 }
 Block {
 BlockType		 Mux
 Inputs		 "4"
 DisplayOption	 "none"
 UseBusObject	 off
 BusObject		 "BusObject"
 NonVirtualBus	 off
 }
 Block {
 BlockType		 Outport
 Port		 "1"
 OutMin		 "[]"
 OutMax		 "[]"
 OutDataTypeStr	 "Inherit: auto"
 LockScale		 off
 BusOutputAsStruct	 off
 PortDimensions	 "-1"
 VarSizeSig	 "Inherit"
 SampleTime	 "-1"
 SignalType	 "auto"
 SamplingMode	 "auto"
 SourceOfInitialOutputValue "Dialog"
 OutputWhenDisabled "held"
 InitialOutput	 "[]"
 }
 Block {
 BlockType		 Scope
 ModelBased	 off
 TickLabels	 "OneTimeTick"
 ZoomMode		 "on"
 Grid		 "on"
 TimeRange		 "auto"
 YMin		 "-5"
 YMax		 "5"
 SaveToWorkspace	 off
 SaveName		 "ScopeData"
 DataFormat	 "Array"
 LimitDataPoints	 on
 MaxDataPoints	 "5000"
 Decimation	 "1"
 SampleInput	 off
 SampleTime	 "-1"
 }
 Block {
 BlockType		 StateSpace
 A			 "1"
 B			 "1"
 C			 "1"
 D			 "1"
 X0		 "0.0"
 AbsoluteTolerance	 "auto"
 ContinuousStateAttributes	"''"
 Realization	 "auto"
 }
 Block {
 BlockType		 SubSystem
 ShowPortLabels	 "FromPortIcon"
 Permissions	 "ReadWrite"
 PermitHierarchicalResolution "All"
 TreatAsAtomicUnit	 off
 MinAlgLoopOccurrences off
 PropExecContextOutsideSubsystem off
 CheckFcnCallInpInsideContextMsg off
 SystemSampleTime	 "-1"
 RTWSystemCode	 "Auto"
 RTWFcnNameOpts	 "Auto"
 RTWFileNameOpts	 "Auto"
 FunctionInterfaceSpec "void_void"
 FunctionWithSeparateData off
 RTWMemSecFuncInitTerm "Inherit from model"
 RTWMemSecFuncExecute "Inherit from model"
 RTWMemSecDataConstants "Inherit from model"
 RTWMemSecDataInternal "Inherit from model"
 RTWMemSecDataParameters "Inherit from model"
 SimViewingDevice	 off
 DataTypeOverride	 "UseLocalSettings"
 DataTypeOverrideAppliesTo	"AllNumericTypes"
 MinMaxOverflowLogging "UseLocalSettings"
 Opaque		 off
 MaskHideContents	 off
 SFBlockType	 "NONE"
 Variant		 off
 GeneratePreprocessorConditionals off
 ContentPreviewEnabled off
 }
 Block {
 BlockType		 Terminator
 }
 }
 System {
 Name		 "SimBola"
 Location		 [891, 292, 1669, 892]
 Open		 on
 ModelBrowserVisibility off
 ModelBrowserWidth	 200
 ScreenColor		 "white"
 PaperOrientation	 "landscape"
 PaperPositionMode	 "auto"
 PaperType		 "A4"
 PaperUnits		 "centimeters"
 TiledPaperMargins	 [1.270000, 1.270000, 1.270000, 1.270000]
TiledPageScale	 1
 ShowPageBoundaries	 off
 ZoomFactor		 "100"
 ReportName		 "simulink-default.rpt"
 SIDHighWatermark	 "177"
 Block {
 BlockType		 Constant
 Name		 "Constant"
 SID		 "1"
 Position		 [145, 90, 175, 120]
 ZOrder		 -1
 Value		 "0"
 }
 Block {
 BlockType		 DiscreteStateSpace
 Name		 "Discrete State-Space"
 SID		 "173"
 Position		 [290, 301, 400, 339]
 ZOrder		 -9
 A			 "Ad"
 B			 "Bd"
 C			 "C"
 D			 "D"
 X0		 "[IC1 0 IC2 0]' "
 SampleTime	 "T"
 }
 Block {
 BlockType		 SubSystem
 Name		 "Inv Pend"
 SID		 "2"
 Ports		 [1, 4]
 Position		 [320, 71, 360, 134]
 ZOrder		 -10
 BackgroundColor	 "orange"
 RequestExecContextInheritance off
 System {
	Name			"Inv Pend"
	Location		[451, 216, 1229, 816]
	Open			off
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"white"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"usletter"
	PaperUnits		"inches"
	TiledPaperMargins	[0.500000, 0.500000, 0.500000, 0.500000]
	TiledPageScale		1
	ShowPageBoundaries	off
	ZoomFactor		"100"
	Block {
	 BlockType		 Inport
	 Name			 "In1"
	 SID			 "3"
	 Position		 [30, 278, 60, 292]
	 ZOrder		 -1
	 BlockMirror		 on
	 IconDisplay		 "Port number"
	}
	Block {
	 BlockType		 Fcn
	 Name			 "Fcn"
	 SID			 "4"
	 Position		 [55, 25, 115, 55]
	 ZOrder		 -2
	 Expr			 "(- M*g*sin(u(3))+M*u(1)*u(4)^2)/(jb*R^2+M)"
	}
	Block {
	 BlockType		 Fcn
	 Name			 "Fcn1"
	 SID			 "5"
	 Position		 [65, 170, 125, 200]
	 ZOrder		 -3
	 Expr			 "(-c*u(4)-M*g*cos(u(3))*u(1)+u(5))/jh"
	}
	Block {
	 BlockType		 Integrator
	 Name			 "Integrator"
	 SID			 "6"
	 Ports			 [1, 1]
	 Position		 [165, 25, 195, 55]
	 ZOrder		 -4
	}
	Block {
	 BlockType		 Integrator
	 Name			 "Integrator1"
	 SID			 "7"
	 Ports			 [1, 1]
	 Position		 [245, 25, 275, 55]
	 ZOrder		 -5
	 InitialCondition	 "IC1"
	 Port {
	 PortNumber		 1
	 Name		 "x"
	 RTWStorageClass	 "Auto"
	 DataLoggingNameMode	 "SignalName"
	 }
	}
	Block {
	 BlockType		 Integrator
	 Name			 "Integrator2"
	 SID			 "8"
	 Ports			 [1, 1]
	 Position		 [165, 170, 195, 200]
	 ZOrder		 -6
	}
	Block {
	 BlockType		 Integrator
	 Name			 "Integrator3"
	 SID			 "9"
	 Ports			 [1, 1]
	 Position		 [245, 170, 275, 200]
	 ZOrder		 -7
	 InitialCondition	 "IC2"
	 Port {
	 PortNumber		 1
	 Name		 "o"
	 RTWStorageClass	 "Auto"
	 DataLoggingNameMode	 "SignalName"
	 }
	}
	Block {
	 BlockType		 Mux
	 Name			 "Mux1"
	 SID			 "10"
	 Ports			 [5, 1]
	 Position		 [95, 69, 100, 131]
	 ZOrder		 -8
	 BlockMirror		 on
	 NamePlacement		 "alternate"
	 ShowName		 off
	 Inputs		 "5"
	 DisplayOption		 "bar"
	}
	Block {
	 BlockType		 Outport
	 Name			 "z"
	 SID			 "11"
	 Position		 [385, 33, 415, 47]
	 ZOrder		 -9
	 IconDisplay		 "Port number"
	}
	Block {
	 BlockType		 Outport
	 Name			 "z."
	 SID			 "12"
	 Position		 [370, 83, 400, 97]
	 ZOrder		 -10
	 Port			 "2"
	 IconDisplay		 "Port number"
	}
	Block {
	 BlockType		 Outport
	 Name			 "o"
	 SID			 "13"
	 Position		 [380, 123, 410, 137]
	 ZOrder		 -11
	 Port			 "3"
	 IconDisplay		 "Port number"
	}
	Block {
	 BlockType		 Outport
	 Name			 "o."
	 SID			 "14"
	 Position		 [380, 173, 410, 187]
	 ZOrder		 -12
	 Port			 "4"
	 IconDisplay		 "Port number"
	}
	Line {
	 ZOrder		 1
	 SrcBlock		 "Integrator"
	 SrcPort		 1
	 Points		 [20, 0]
	 Branch {
	 ZOrder		 2
	 DstBlock		 "Integrator1"
	 DstPort		 1
	 }
	 Branch {
	 ZOrder		 3
	 Points		 [0, 50]
	 Branch {
	 ZOrder		 4
	 DstBlock		 "Mux1"
	 DstPort		 2
	 }
	 Branch {
	 ZOrder		 5
	 DstBlock		 "z."
	 DstPort		 1
	 }
	 }
	}
	Line {
	 Name			 "x"
	 ZOrder		 6
	 Labels		 [1, 0]
	 SrcBlock		 "Integrator1"
	 SrcPort		 1
	 Points		 [25, 0]
	 Branch {
	 ZOrder		 7
	 DstBlock		 "z"
	 DstPort		 1
	 }
	 Branch {
	 ZOrder		 8
	 Points		 [0, 40]
	 DstBlock		 "Mux1"
	 DstPort		 1
	 }
	}
	Line {
	 ZOrder		 9
	 SrcBlock		 "Integrator2"
	 SrcPort		 1
	 Points		 [15, 0]
	 Branch {
	 ZOrder		 11
	 Points		 [0, -75]
	 DstBlock		 "Mux1"
	 DstPort		 4
	 }
	 Branch {
	 ZOrder		 13
	 Points		 [0, 42; 75, 0; 0, -47]
	 DstBlock		 "o."
	 DstPort		 1
	 }
	 Branch {
	 ZOrder		 10
	 DstBlock		 "Integrator3"
	 DstPort		 1
	 }
	}
	Line {
	 ZOrder		 14
	 SrcBlock		 "Fcn"
	 SrcPort		 1
	 DstBlock		 "Integrator"
	 DstPort		 1
	}
	Line {
	 Name			 "o"
	 ZOrder		 15
	 Labels		 [0, 0]
	 SrcBlock		 "Integrator3"
	 SrcPort		 1
	 Points		 [0, -20; 20, 0; 0, -35]
	 Branch {
	 ZOrder		 16
	 Points		 [0, -30]
	 DstBlock		 "Mux1"
	 DstPort		 3
	 }
	 Branch {
	 ZOrder		 17
	 DstBlock		 "o"
	 DstPort		 1
	 }
	}
	Line {
	 ZOrder		 18
	 SrcBlock		 "Mux1"
	 SrcPort		 1
	 Points		 [-60, 0]
	 Branch {
	 ZOrder		 19
	 Points		 [0, -60]
	 DstBlock		 "Fcn"
	 DstPort		 1
	 }
	 Branch {
	 ZOrder		 20
	 Points		 [0, 85]
	 DstBlock		 "Fcn1"
	 DstPort		 1
	 }
	}
	Line {
	 ZOrder		 21
	 SrcBlock		 "Fcn1"
	 SrcPort		 1
	 DstBlock		 "Integrator2"
	 DstPort		 1
	}
	Line {
	 ZOrder		 22
	 SrcBlock		 "In1"
	 SrcPort		 1
	 Points		 [-9, 0; 0, -39; 123, 0; 0, -126]
	 DstBlock		 "Mux1"
	 DstPort		 5
	}
 }
 }
 Block {
 BlockType		 Mux
 Name		 "Mux"
 SID		 "15"
 Ports		 [2, 1]
 Position		 [500, 66, 505, 124]
 ZOrder		 -11
 ShowName		 off
 Inputs		 "2"
 DisplayOption	 "bar"
 }
 Block {
 BlockType		 Mux
 Name		 "Mux1"
 SID		 "50"
 Ports		 [3, 1]
 Position		 [550, 201, 555, 259]
 ZOrder		 -12
 ShowName		 off
 Inputs		 "3"
 DisplayOption	 "bar"
 }
 Block {
 BlockType		 Scope
 Name		 "Scope"
 SID		 "49"
 Ports		 [1]
 Position		 [600, 214, 630, 246]
 ZOrder		 -3
 Floating		 off
 Location		 [260, 81, 1078, 886]
 Open		 off
 NumInputPorts	 "1"
 ZoomMode		 "yonly"
 List {
	ListType		AxesTitles
	axes1			"%<SignalLabel>"
 }
 List {
	ListType		ScopeGraphics
	FigureColor		"[0.5 0.5 0.5]"
	AxesColor		"[0 0 0]"
	AxesTickColor		"[1 1 1]"
	LineColors		"[1 1 0;1 0 1;0 1 1;1 0 0;0 1 0;0 0 1]"
	LineStyles		"-|-|-|-|-|-"
	LineWidths		"[0.5 0.5 0.5 0.5 0.5 0.5]"
	MarkerStyles		"none|none|none|none|none|none"
 }
 ShowLegends	 off
 TimeRange		 "1"
 YMin		 "-5e+14"
 YMax		 "1e+16"
 DataFormat	 "StructureWithTime"
 LimitDataPoints	 off
 SampleTime	 "0"
 }
 Block {
 BlockType		 Scope
 Name		 "Scope1"
 SID		 "172"
 Ports		 [1]
 Position		 [585, 134, 615, 166]
 ZOrder		 -3
 Floating		 off
 Location		 [1071, 95, 1913, 900]
 Open		 on
 NumInputPorts	 "1"
 ZoomMode		 "xonly"
 List {
	ListType		AxesTitles
	axes1			"%<SignalLabel>"
 }
 List
{
	ListType		ScopeGraphics
	FigureColor		"[0.5 0.5 0.5]"
	AxesColor		"[0 0 0]"
	AxesTickColor		"[1 1 1]"
	LineColors		"[1 1 0;1 0 1;0 1 1;1 0 0;0 1 0;0 0 1]"
	LineStyles		"-|-|-|-|-|-"
	LineWidths		"[0.5 0.5 0.5 0.5 0.5 0.5]"
	MarkerStyles		"none|none|none|none|none|none"
 }
 ShowLegends	 off
 TimeRange		 "1"
 YMin		 "-5e+07"
 YMax		 "8.5e+08"
 SaveToWorkspace	 on
 SaveName		 "zo"
 LimitDataPoints	 off
 SampleInput	 on
 SampleTime	 "T"
 }
 Block {
 BlockType		 Scope
 Name		 "Scope7"
 SID		 "125"
 Ports		 [1]
 Position		 [800, 1579, 830, 1611]
 ZOrder		 -3
 Floating		 off
 Location		 [5, 48, 1445, 869]
 Open		 off
 NumInputPorts	 "1"
 List {
	ListType		AxesTitles
	axes1			"%<SignalLabel>"
 }
 List {
	ListType		ScopeGraphics
	FigureColor		"[0.5 0.5 0.5]"
	AxesColor		"[0 0 0]"
	AxesTickColor		"[1 1 1]"
	LineColors		"[1 1 0;1 0 1;0 1 1;1 0 0;0 1 0;0 0 1]"
	LineStyles		"-|-|-|-|-|-"
	LineWidths		"[0.5 0.5 0.5 0.5 0.5 0.5]"
	MarkerStyles		"none|none|none|none|none|none"
 }
 ShowLegends	 off
 TimeRange		 "20"
 YMin		 "-0.4"
 YMax		 "1"
 SaveName		 "ScopeData7"
 DataFormat	 "StructureWithTime"
 SampleTime	 "0"
 }
 Block {
 BlockType		 StateSpace
 Name		 "State-Space"
 SID		 "48"
 Ports		 [1, 1]
 Position		 [310, 213, 370, 247]
 ZOrder		 -8
 A			 "A0"
 B			 "B"
 C			 "C"
 D			 "D"
 X0		 "[IC1 0 IC2 0]' "
 }
 Block {
 BlockType		 Terminator
 Name		 "Terminator"
 SID		 "16"
 Position		 [390, 115, 410, 135]
 ZOrder		 -17
 ShowName		 off
 }
 Block {
 BlockType		 Terminator
 Name		 "Terminator1"
 SID		 "17"
 Position		 [390, 85, 410, 105]
 ZOrder		 -18
 ShowName		 off
 }
 Line {
 ZOrder		 1
 SrcBlock		 "Constant"
 SrcPort		 1
 Points		 [65, 0]
 Branch {
	ZOrder			2
	DstBlock		"Inv Pend"
	DstPort			1
 }
 Branch {
	ZOrder			3
	Points			[0, 125]
	Branch {
	 ZOrder		 16
	 Points		 [0, 90]
	 DstBlock		 "Discrete State-Space"
	 DstPort		 1
	}
	Branch {
	 ZOrder		 4
	 DstBlock		 "State-Space"
	 DstPort		 1
	}
 }
 }
 Line {
 ZOrder		 6
 SrcBlock		 "Inv Pend"
 SrcPort		 2
 DstBlock		 "Terminator1"
 DstPort		 1
 }
 Line {
 ZOrder		 7
 SrcBlock		 "Inv Pend"
 SrcPort		 4
 DstBlock		 "Terminator"
 DstPort		 1
 }
 Line {
 ZOrder		 8
 SrcBlock		 "Inv Pend"
 SrcPort		 3
 DstBlock		 "Mux"
 DstPort		 2
 }
 Line {
 ZOrder		 9
 SrcBlock		 "Inv Pend"
 SrcPort		 1
 DstBlock		 "Mux"
 DstPort		 1
 }
 Line {
 ZOrder		 10
 SrcBlock		 "State-Space"
 SrcPort		 1
 DstBlock		 "Mux1"
 DstPort		 2
 }
 Line {
 ZOrder		 11
 SrcBlock		 "Mux"
 SrcPort		 1
 Points		 [10, 0; 0, 55]
 Branch {
	ZOrder			12
	DstBlock		"Scope1"
	DstPort			1
 }
 Branch {
	ZOrder			13
	Points			[0, 60]
	DstBlock		"Mux1"
	DstPort			1
 }
 }
 Line {
 ZOrder		 15
 SrcBlock		 "Mux1"
 SrcPort		 1
 DstBlock		 "Scope"
 DstPort		 1
 }
 }
}
#Finite State Machines
#
# Stateflow Version 8.1 (R2014a) dated Feb 8 2014, 02:29:12
#
#
Stateflow {
 machine {
 id			 1
 name		 "SimBola"
 created		 "14-Oct-2014 18:50:28"
 isLibrary		 0
 firstTarget		 2
 sfVersion		 76014001.002
 }
 target {
 id			 2
 name		 "sfun"
 description		 "Default Simulink S-Function Target."
 machine		 1
 linkNode		 [1 0 0]
 }
}
7 - Trabalho de Substitui��o/SimBola.mdl.r2011b
Model {
 Name			 "SimBola"
 Version		 7.8
 MdlSubVersion		 0
 GraphicalInterface {
 NumRootInports	 0
 NumRootOutports	 0
 ParameterArgumentNames ""
 ComputedModelVersion "1.133"
 NumModelReferences	 0
 NumTestPointedSignals 0
 }
 SavedCharacterEncoding "windows-1252"
 SaveDefaultBlockParams on
 ScopeRefreshTime	 0.035000
 OverrideScopeRefreshTime on
 DisableAllScopes	 off
 DataTypeOverride	 "UseLocalSettings"
 DataTypeOverrideAppliesTo "AllNumericTypes"
 MinMaxOverflowLogging	 "UseLocalSettings"
 MinMaxOverflowArchiveMode "Overwrite"
 FPTRunName		 "Run 1"
 MaxMDLFileLineLength	 120
 Created		 "Fri Sep 16 18:52:27 2011"
 Creator		 "Aurelio Salton"
 UpdateHistory		 "UpdateHistoryNever"
 ModifiedByFormat	 "%<Auto>"
 LastModifiedBy	 "09105014"
 ModifiedDateFormat	 "%<Auto>"
 LastModifiedDate	 "Thu Nov 27 18:34:04 2014"
 RTWModifiedTimeStamp	 339014035
 ModelVersionFormat	 "1.%<AutoIncrement:133>"
 ConfigurationManager	 "None"
 SampleTimeColors	 off
 SampleTimeAnnotations	 off
 LibraryLinkDisplay	 "none"
 WideLines		 off
 ShowLineDimensions	 off
 ShowPortDataTypes	 off
 ShowDesignRanges	 off
 ShowLoopsOnError	 on
 IgnoreBidirectionalLines off
 ShowStorageClass	 off
 ShowTestPointIcons	 on
 ShowSignalResolutionIcons on
 ShowViewerIcons	 on
 SortedOrder		 off
 ExecutionContextIcon	 off
 ShowLinearizationAnnotations on
 BlockNameDataTip	 off
 BlockParametersDataTip off
 BlockDescriptionStringDataTip	off
 ToolBar		 on
 StatusBar		 on
 BrowserShowLibraryLinks off
 BrowserLookUnderMasks	 off
 SimulationMode	 "normal"
 LinearizationMsg	 "none"
 Profile		 off
 ParamWorkspaceSource	 "MATLABWorkspace"
 AccelSystemTargetFile	 "accel.tlc"
 AccelTemplateMakefile	 "accel_default_tmf"
 AccelMakeCommand	 "make_rtw"
 TryForcingSFcnDF	 off
 RecordCoverage	 off
 CovPath		 "/"
 CovSaveName		 "covdata"
 CovMetricSettings	 "dw"
 CovNameIncrementing	 off
 CovHtmlReporting	 on
 CovForceBlockReductionOff on
 covSaveCumulativeToWorkspaceVar on
 CovSaveSingleToWorkspaceVar on
 CovCumulativeVarName	 "covCumulativeData"
 CovCumulativeReport	 off
 CovReportOnPause	 on
 CovModelRefEnable	 "Off"
 CovExternalEMLEnable	 off
 ExtModeBatchMode	 off
 ExtModeEnableFloating	 on
 ExtModeTrigType	 "manual"
 ExtModeTrigMode	 "normal"
 ExtModeTrigPort	 "1"
 ExtModeTrigElement	 "any"
 ExtModeTrigDuration	 1000
 ExtModeTrigDurationFloating "auto"
 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
 ShowModelReferenceBlockVersion off
 ShowModelReferenceBlockIO off
 Array {
 Type		 "Handle"
 Dimension		 1
 Simulink.ConfigSet {
 $ObjectID		 1
 Version		 "1.11.1"
 Array {
	Type			"Handle"
	Dimension		8
	Simulink.SolverCC {
	 $ObjectID		 2
	 Version		 "1.11.1"
	 StartTime		 "0.0"
	 StopTime		 "3"
	 AbsTol		 "auto"
	 FixedStep		 "auto"
	 InitialStep		 "auto"
	 MaxNumMinSteps	 "-1"
	 MaxOrder		 5
	 ZcThreshold		 "auto"
	 ConsecutiveZCsStepRelTol "10*128*eps"
	 MaxConsecutiveZCs	 "1000"
	 ExtrapolationOrder	 4
	 NumberNewtonIterations
1
	 MaxStep		 "auto"
	 MinStep		 "auto"
	 MaxConsecutiveMinStep	 "1"
	 RelTol		 "1e-3"
	 SolverMode		 "Auto"
	 ConcurrentTasks	 off
	 Solver		 "ode45"
	 SolverName		 "ode45"
	 SolverJacobianMethodControl "auto"
	 ShapePreserveControl	 "DisableAll"
	 ZeroCrossControl	 "UseLocalSettings"
	 ZeroCrossAlgorithm	 "Nonadaptive"
	 AlgebraicLoopSolver	 "TrustRegion"
	 SolverResetMethod	 "Fast"
	 PositivePriorityOrder	 off
	 AutoInsertRateTranBlk	 off
	 SampleTimeConstraint	 "Unconstrained"
	 InsertRTBMode		 "Whenever possible"
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	Simulink.DataIOCC {
	 $ObjectID		 3
	 Version		 "1.11.1"
	 Decimation		 "1"
	 ExternalInput		 "[t, u]"
	 FinalStateName	 "xFinal"
	 InitialState		 "xInitial"
	 LimitDataPoints	 on
	 MaxDataPoints		 "1000"
	 LoadExternalInput	 off
	 LoadInitialState	 off
	 SaveFinalState	 off
	 SaveCompleteFinalSimState off
	 SaveFormat		 "Array"
	 SignalLoggingSaveFormat "ModelDataLogs"
	 SaveOutput		 on
	 SaveState		 off
	 SignalLogging		 on
	 DSMLogging		 on
	 InspectSignalLogs	 off
	 SaveTime		 on
	 ReturnWorkspaceOutputs off
	 StateSaveName		 "xout"
	 TimeSaveName		 "tout"
	 OutputSaveName	 "yout"
	 SignalLoggingName	 "logsout"
	 DSMLoggingName	 "dsmout"
	 OutputOption		 "RefineOutputTimes"
	 OutputTimes		 "[]"
	 ReturnWorkspaceOutputsName "out"
	 Refine		 "1"
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	Simulink.OptimizationCC {
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	 Cell		 "ZeroExternalMemoryAtStartup"
	 Cell		 "ZeroInternalMemoryAtStartup"
	 Cell		 "NoFixptDivByZeroProtection"
	 Cell		 "OptimizeModelRefInitCode"
	 PropName		 "DisabledProps"
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	 BlockReduction	 on
	 BooleanDataType	 on
	 ConditionallyExecuteInputs on
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	 UseFloatMulNetSlope	 off
	 UseSpecifiedMinMax	 off
	 InlineInvariantSignals off
	 OptimizeBlockIOStorage on
	 BufferReuse		 on
	 EnhancedBackFolding	 off
	 StrengthReduction	 off
	 ExpressionFolding	 on
	 BooleansAsBitfields	 off
	 BitfieldContainerType	 "uint_T"
	 EnableMemcpy		 on
	 MemcpyThreshold	 64
	 PassReuseOutputArgsAs	 "Structure reference"
	 ExpressionDepthLimit	 2147483647
	 FoldNonRolledExpr	 on
	 LocalBlockOutputs	 on
	 RollThreshold		 5
	 SystemCodeInlineAuto	 off
	 StateBitsets		 off
	 DataBitsets		 off
	 UseTempVars		 off
	 ZeroExternalMemoryAtStartup on
	 ZeroInternalMemoryAtStartup on
	 InitFltsAndDblsToZero	 on
	 NoFixptDivByZeroProtection off
	 EfficientFloat2IntCast off
	 EfficientMapNaN2IntZero on
	 OptimizeModelRefInitCode off
	 LifeSpan		 "inf"
	 MaxStackSize		 "Inherit from target"
	 BufferReusableBoundary on
	 SimCompilerOptimization "Off"
	 AccelVerboseBuild	 off
	 AccelParallelForEachSubsystem	on
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	Simulink.DebuggingCC {
	 $ObjectID		 5
	 Version		 "1.11.1"
	 RTPrefix		 "error"
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	 SignalInfNanChecking	 "none"
	 SignalRangeChecking	 "none"
	 ReadBeforeWriteMsg	 "UseLocalSettings"
	 WriteAfterWriteMsg	 "UseLocalSettings"
	 WriteAfterReadMsg	 "UseLocalSettings"
	 AlgebraicLoopMsg	 "warning"
	 ArtificialAlgebraicLoopMsg "warning"
	 SaveWithDisabledLinksMsg "warning"
	 SaveWithParameterizedLinksMsg	"none"
	 CheckSSInitialOutputMsg on
	 UnderspecifiedInitializationDetection	"Classic"
	 MergeDetectMultiDrivingBlocksExec "none"
	 CheckExecutionContextPreStartOutputMsg off
	 CheckExecutionContextRuntimeOutputMsg	off
	 SignalResolutionControl "UseLocalSettings"
	 BlockPriorityViolationMsg "warning"
	 MinStepSizeMsg	 "warning"
	 TimeAdjustmentMsg	 "none"
	 MaxConsecutiveZCsMsg	 "error"
	 MaskedZcDiagnostic	 "warning"
	 IgnoredZcDiagnostic	 "warning"
	 SolverPrmCheckMsg	 "warning"
	 InheritedTsInSrcMsg	 "warning"
	 DiscreteInheritContinuousMsg "warning"
	 MultiTaskDSMMsg	 "warning"
	 MultiTaskCondExecSysMsg "none"
	 MultiTaskRateTransMsg	 "error"
	 SingleTaskRateTransMsg "none"
	 TasksWithSamePriorityMsg "warning"
	 SigSpecEnsureSampleTimeMsg "warning"
	 CheckMatrixSingularityMsg "none"
	 IntegerOverflowMsg	 "warning"
	 Int32ToFloatConvMsg	 "warning"
	 ParameterDowncastMsg	 "error"
	 ParameterOverflowMsg	 "error"
	 ParameterUnderflowMsg	 "none"
	 ParameterPrecisionLossMsg "warning"
	 ParameterTunabilityLossMsg "warning"
	 FixptConstUnderflowMsg "none"
	 FixptConstOverflowMsg	 "none"
	 FixptConstPrecisionLossMsg "none"
	 UnderSpecifiedDataTypeMsg "none"
	 UnnecessaryDatatypeConvMsg "none"
	 VectorMatrixConversionMsg "none"
	 InvalidFcnCallConnMsg	 "error"
	 FcnCallInpInsideContextMsg "Use local settings"
	 SignalLabelMismatchMsg "none"
	 UnconnectedInputMsg	 "warning"
	 UnconnectedOutputMsg	 "warning"
	 UnconnectedLineMsg	 "warning"
	 SFcnCompatibilityMsg	 "none"
	 FrameProcessingCompatibilityMsg "warning"
	 UniqueDataStoreMsg	 "none"
	 BusObjectLabelMismatch "warning"
	 RootOutportRequireBusObject "warning"
	 AssertControl		 "UseLocalSettings"
	 EnableOverflowDetection off
	 ModelReferenceIOMsg	 "none"
	 ModelReferenceMultiInstanceNormalModeStructChecksumCheck "error"
	 ModelReferenceVersionMismatchMessage "none"
	 ModelReferenceIOMismatchMessage "none"
	 ModelReferenceCSMismatchMessage "none"
	 UnknownTsInhSupMsg	 "warning"
	 ModelReferenceDataLoggingMessage "warning"
	 ModelReferenceSymbolNameMessage "warning"
	 ModelReferenceExtraNoncontSigs "error"
	 StateNameClashWarn	 "warning"
	 SimStateInterfaceChecksumMismatchMsg "warning"
	 SimStateOlderReleaseMsg "error"
	 InitInArrayFormatMsg	 "warning"
	 StrictBusMsg		 "None"
	 BusNameAdapt		 "WarnAndRepair"
	 NonBusSignalsTreatedAsBus "none"
	 LoggingUnavailableSignals "error"
	 BlockIODiagnostic	 "none"
	 SFUnusedDataAndEventsDiag "warning"
	 SFUnexpectedBacktrackingDiag "warning"
	 SFInvalidInputDataAccessInChartInitDiag "warning"
	 SFNoUnconditionalDefaultTransitionDiag "warning"
	 SFTransitionOutsideNaturalParentDiag "warning"
	 SFUnconditionalTransitionShadowingDiag "warning"
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	Simulink.HardwareCC {
	 $ObjectID		 6
	 Version		 "1.11.1"
	 ProdBitPerChar	 8
	 ProdBitPerShort	 16
	 ProdBitPerInt		 32
	 ProdBitPerLong	 32
	 ProdBitPerFloat	 32
	 ProdBitPerDouble	 64
	 ProdBitPerPointer	 32
	 ProdLargestAtomicInteger "Char"
	 ProdLargestAtomicFloat "None"
	 ProdIntDivRoundTo	 "Undefined"
	 ProdEndianess		 "Unspecified"
	 ProdWordSize		 32
	 ProdShiftRightIntArith on
	 ProdHWDeviceType	 "32-bit Generic"
	 TargetBitPerChar	 8
	 TargetBitPerShort	 16
	 TargetBitPerInt	 32
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	 TargetBitPerFloat	 32
	 TargetBitPerDouble	 64
	 TargetBitPerPointer	 32
	 TargetLargestAtomicInteger "Char"
	 TargetLargestAtomicFloat "None"
	 TargetShiftRightIntArith on
	 TargetIntDivRoundTo	 "Undefined"
	 TargetEndianess	 "Unspecified"
	 TargetWordSize	 32
	 TargetTypeEmulationWarnSuppressLevel 0
	 TargetPreprocMaxBitsSint 32
	 TargetPreprocMaxBitsUint 32
	 TargetHWDeviceType	 "32-bit Generic"
	 TargetUnknown		 off
	 ProdEqTarget		 on
	}
	Simulink.ModelReferenceCC {
	 $ObjectID		 7
	 Version		 "1.11.1"
	 UpdateModelReferenceTargets "IfOutOfDateOrStructuralChange"
	 CheckModelReferenceTargetMessage "error"
	 EnableParallelModelReferenceBuilds off
	 ParallelModelReferenceErrorOnInvalidPool on
	 ParallelModelReferenceMATLABWorkerInit "None"
	 ModelReferenceNumInstancesAllowed "Multi"
	 PropagateVarSize	 "Infer from blocks in model"
	 ModelReferencePassRootInputsByReference on
	 ModelReferenceMinAlgLoopOccurrences off
	 PropagateSignalLabelsOutOfModel off
	 SupportModelReferenceSimTargetCustomCode off
	}
	Simulink.SFSimCC {
	 $ObjectID		 8
	 Version		 "1.11.1"
SFSimEnableDebug	 on
	 SFSimOverflowDetection on
	 SFSimEcho		 on
	 SimBlas		 on
	 SimCtrlC		 on
	 SimExtrinsic		 on
	 SimIntegrity		 on
	 SimUseLocalCustomCode	 off
	 SimParseCustomCode	 on
	 SimBuildMode		 "sf_incremental_build"
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	Simulink.RTWCC {
	 $BackupClass		 "Simulink.RTWCC"
	 $ObjectID		 9
	 Version		 "1.11.1"
	 Array {
	 Type		 "Cell"
	 Dimension		 6
	 Cell		 "IncludeHyperlinkInReport"
	 Cell		 "GenerateTraceInfo"
	 Cell		 "GenerateTraceReport"
	 Cell		 "GenerateTraceReportSl"
	 Cell		 "GenerateTraceReportSf"
	 Cell		 "GenerateTraceReportEml"
	 PropName		 "DisabledProps"
	 }
	 SystemTargetFile	 "grt.tlc"
	 GenCodeOnly		 off
	 MakeCommand		 "make_rtw"
	 GenerateMakefile	 on
	 TemplateMakefile	 "grt_default_tmf"
	 GenerateReport	 off
	 SaveLog		 off
	 RTWVerbose		 on
	 RetainRTWFile		 off
	 ProfileTLC		 off
	 TLCDebug		 off
	 TLCCoverage		 off
	 TLCAssert		 off
	 ProcessScriptMode	 "Default"
	 ConfigurationMode	 "Optimized"
	 ConfigAtBuild		 off
	 RTWUseLocalCustomCode	 off
	 RTWUseSimCustomCode	 off
	 IncludeHyperlinkInReport off
	 LaunchReport		 off
	 TargetLang		 "C"
	 IncludeBusHierarchyInRTWFileBlockHierarchyMap	off
	 IncludeERTFirstTime	 on
	 GenerateTraceInfo	 off
	 GenerateTraceReport	 off
	 GenerateTraceReportSl	 off
	 GenerateTraceReportSf	 off
	 GenerateTraceReportEml off
	 GenerateCodeInfo	 off
	 GenerateSLWebview	 off
	 GenerateCodeMetricsReport off
	 RTWCompilerOptimization "Off"
	 CheckMdlBeforeBuild	 "Off"
	 CustomRebuildMode	 "OnUpdate"
	 Array {
	 Type		 "Handle"
	 Dimension		 2
	 Simulink.CodeAppCC {
	 $ObjectID		 10
	 Version		 "1.11.1"
	 Array {
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		Dimension		16
		Cell			"IgnoreCustomStorageClasses"
		Cell			"InsertBlockDesc"
		Cell			"SFDataObjDesc"
		Cell			"SimulinkDataObjDesc"
		Cell			"DefineNamingRule"
		Cell			"SignalNamingRule"
		Cell			"ParamNamingRule"
		Cell			"InlinedPrmAccess"
		Cell			"CustomSymbolStr"
		Cell			"CustomSymbolStrGlobalVar"
		Cell			"CustomSymbolStrType"
		Cell			"CustomSymbolStrField"
		Cell			"CustomSymbolStrFcn"
		Cell			"CustomSymbolStrBlkIO"
		Cell			"CustomSymbolStrTmpVar"
		Cell			"CustomSymbolStrMacro"
		PropName		"DisabledProps"
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	 ForceParamTrailComments off
	 GenerateComments	 on
	 IgnoreCustomStorageClasses on
	 IgnoreTestpoints	 off
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	 SimulinkDataObjDesc off
	 SFDataObjDesc	 off
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	 IncDataTypeInIds	 off
	 MangleLength	 1
	 CustomSymbolStrGlobalVar "$R$N$M"
	 CustomSymbolStrType "$N$R$M"
	 CustomSymbolStrField "$N$M"
	 CustomSymbolStrFcn "$R$N$M$F"
	 CustomSymbolStrFcnArg "rt$I$N$M"
	 CustomSymbolStrBlkIO "rtb_$N$M"
	 CustomSymbolStrTmpVar "$N$M"
	 CustomSymbolStrMacro "$R$N$M"
	 DefineNamingRule	 "None"
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	 InsertPolySpaceComments off
	 SimulinkBlockComments on
	 MATLABSourceComments off
	 EnableCustomComments off
	 InlinedPrmAccess	 "Literals"
	 ReqsInCode	 off
	 UseSimReservedNames off
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	 Simulink.GRTTargetCC {
	 $BackupClass	 "Simulink.TargetCC"
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		Cell			"SuppressErrorStatus"
		Cell			"ERTCustomFileBanners"
		Cell			"GenerateSampleERTMain"
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		Cell			"ModelStepFunctionPrototypeControlCompliant"
		Cell			"CPPClassGenCompliant"
		Cell			"MultiInstanceERTCode"
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		Cell			"PortableWordSizes"
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		Cell			"SupportContinuousTime"
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	 ERTMultiwordLength 256
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	 PropName		 "Components"
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	PropName		"Components"
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 Name		 "Configuration"
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 PropName		 "ConfigurationSets"
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 Simulink.ConfigSet {
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 BlockDefaults {
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 BlockParameterDefaults {
 Block {
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 Block {
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 Block {
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 Block {
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 Block {
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 Block {
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 Block {
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 Block {
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 Block {
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 Block {
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 CheckFcnCallInpInsideContextMsg off
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 RTWFcnNameOpts	 "Auto"
 RTWFileNameOpts	 "Auto"
 RTWMemSecFuncInitTerm "Inherit from model"
 RTWMemSecFuncExecute "Inherit from model"
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 System {
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	Line {
	 Name			 "x"
	 Labels		 [1, 0]
	 SrcBlock		 "Integrator1"
	 SrcPort		 1
	 Points		 [25, 0]
	 Branch {
	 DstBlock		 "z"
	 DstPort		 1
	 }
	 Branch {
	 Points		 [0, 40]
	 DstBlock		 "Mux1"
	 DstPort		 1
	 }
	}
	Line {
	 SrcBlock		 "Integrator2"
	 SrcPort		 1
	 Points		 [15, 0]
	 Branch {
	 DstBlock		 "Integrator3"
	 DstPort		 1
	 }
	 Branch {
	 Points		 [0, -55]
	 Branch {
	 Points		 [0, -20]
	 DstBlock		 "Mux1"
	 DstPort		 4
	 }
	 Branch {
	 DstBlock		 "o."
	 DstPort		 1
	 }
	 }
	}
	Line {
	 SrcBlock		 "Fcn"
	 SrcPort		 1
	 DstBlock		 "Integrator"
	 DstPort		 1
	}
	Line {
	 Name			 "o"
	 Labels		 [0, 0]
	 SrcBlock		 "Integrator3"
	 SrcPort		 1
	 Points		 [0, -20; 20, 0]
	 Branch {
	 Points		 [0, -65]
	 DstBlock		 "Mux1"
	 DstPort		 3
	 }
	 Branch {
	 DstBlock		 "o"
	 DstPort		 1
	 }
	}
	Line {
	 SrcBlock		 "Mux1"
	 SrcPort		 1
	 Points		 [-60, 0]
	 Branch {
	 Points		 [0, -60]
	 DstBlock		 "Fcn"
	 DstPort		 1
	 }
	 Branch {
	 Points		 [0, 85]
	 DstBlock		 "Fcn1"
	 DstPort		 1
	 }
	}
	Line {
	 SrcBlock		 "Fcn1"
	 SrcPort		 1
	 DstBlock		 "Integrator2"
	 DstPort		 1
	}
	Line {
	 SrcBlock		 "In1"
	 SrcPort		 1
	 DstBlock		 "Mux1"
	 DstPort		 5
	}
 }
 }
 Block {
 BlockType		 Mux
 Name		 "Mux"
 SID		 "15"
 Ports		 [2, 1]
 Position		 [500, 66, 505, 124]
 ShowName		 off
 Inputs		 "2"
 DisplayOption	 "bar"
 }
 Block {
 BlockType		 Mux
 Name		 "Mux1"
 SID		 "50"
 Ports		 [3, 1]
 Position		 [550, 201, 555, 259]
 ShowName		 off
 Inputs		 "3"
 DisplayOption	 "bar"
 }
 Block {
 BlockType		 Scope
 Name		 "Scope"
 SID		 "49"
 Ports		 [1]
 Position		 [600, 214, 630, 246]
 ZOrder		 -3
 Floating		 off
 Location		 [260, 81, 964, 886]
 Open		 off
 NumInputPorts	 "1"
 ZoomMode		 "yonly"
 List {
	ListType		AxesTitles
	axes1			"%<SignalLabel>"
 }
 List {
	ListType		ScopeGraphics
	FigureColor		"[0.5 0.5 0.5]"
	AxesColor		"[0 0 0]"
	AxesTickColor		"[1 1 1]"
	LineColors		"[1 1 0;1 0 1;0 1 1;1 0 0;0 1 0;0 0 1]"
	LineStyles		"-|-|-|-|-|-"
	LineWidths		"[0.5 0.5 0.5 0.5 0.5 0.5]"
	MarkerStyles		"none|none|none|none|none|none"
 }
 TimeRange		 "1"
 YMin		 "-2.5e+016"
 YMax		 "4.75e+017"
 DataFormat	 "StructureWithTime"
 LimitDataPoints	 off
 SampleTime	 "0"
 }
 Block {
 BlockType		 Scope
 Name		 "Scope1"
 SID		 "172"
 Ports		 [1]
 Position		 [585, 134, 615, 166]
 ZOrder		 -3
 Floating		 off
 Location		 [621, 159, 1463, 964]
 Open		 off
 NumInputPorts	 "1"
 ZoomMode		 "xonly"
 List {
	ListType		AxesTitles
	axes1			"%<SignalLabel>"
 }
 List {
	ListType		ScopeGraphics
	FigureColor		"[0.5 0.5 0.5]"
	AxesColor		"[0 0 0]"
	AxesTickColor		"[1 1 1]"
	LineColors		"[1 1 0;1 0 1;0 1 1;1 0 0;0 1 0;0 0 1]"
	LineStyles		"-|-|-|-|-|-"
	LineWidths		"[0.5 0.5 0.5 0.5 0.5 0.5]"
	MarkerStyles		"none|none|none|none|none|none"
 }
 TimeRange		 "1"
 YMin		 "-10"
 YMax		 "4"
 SaveToWorkspace	 on
 SaveName		 "zo"
 DataFormat	 "Array"
 LimitDataPoints	 off
 SampleInput	 on
 SampleTime	 "T"
 }
 Block {
 BlockType		 Scope
 Name		 "Scope7"
 SID		 "125"
 Ports		 [1]
 Position		 [800, 1579, 830, 1611]
 ZOrder		 -3
 Floating		 off
 Location		 [5, 48, 1445, 869]
 Open		 off
 NumInputPorts	 "1"
 List {
	ListType		AxesTitles
	axes1			"%<SignalLabel>"
 }
 List {
	ListType		ScopeGraphics
	FigureColor		"[0.5 0.5 0.5]"
	AxesColor		"[0 0 0]"
	AxesTickColor		"[1 1 1]"
	LineColors		"[1 1 0;1 0 1;0 1 1;1 0 0;0 1 0;0 0 1]"
	LineStyles		"-|-|-|-|-|-"
	LineWidths		"[0.5 0.5 0.5 0.5 0.5 0.5]"
	MarkerStyles		"none|none|none|none|none|none"
 }
 TimeRange		 "20"
 YMin		 "-0.4"
 YMax		 "1"
 SaveName		 "ScopeData7"
 DataFormat	 "StructureWithTime"
 SampleTime	 "0"
 }
 Block {
 BlockType		 StateSpace
 Name		 "State-Space"
 SID		 "48"
 Position		 [310, 213, 370, 247]
 ZOrder		 -8
 A			 "A0"
 B			 "B"
 C			 "C"
 D			 "D"
 X0		 "[IC1 0 IC2 0]' "
 }
 Block {
 BlockType		 Terminator
 Name		 "Terminator"
 SID		 "16"
 Position		 [390, 115, 410, 135]
 ShowName		 off
 }
 Block {
 BlockType		 Terminator
 Name		 "Terminator1"
 SID		 "17"
 Position		 [390, 85, 410, 105]
 ShowName		 off
 }
 Line {
 SrcBlock		 "Constant"
 SrcPort		 1
 Points		 [65, 0]
 Branch {
	DstBlock		"Inv Pend"
	DstPort			1
 }
 Branch {
	Points			[0, 135]
	Branch {
	 Points		 [0, -10]
	 DstBlock		 "State-Space"
	 DstPort		 1
	}
	Branch {
	 Points		 [0, 80]
	 DstBlock		 "Discrete State-Space"
	 DstPort		 1
	}
 }
 }
 Line {
 SrcBlock		 "Inv Pend"
 SrcPort		 2
 DstBlock		 "Terminator1"
 DstPort		 1
 }
 Line {
 SrcBlock		 "Inv Pend"
 SrcPort		 4
 DstBlock		 "Terminator"
 DstPort		 1
 }
 Line {
 SrcBlock		 "Inv Pend"
 SrcPort		 3
 DstBlock		 "Mux"
 DstPort		 2
 }
 Line {
 SrcBlock		 "Inv Pend"
 SrcPort		 1
 DstBlock		 "Mux"
 DstPort		 1
 }
 Line {
 SrcBlock		 "State-Space"
 SrcPort		 1
 DstBlock		 "Mux1"
 DstPort		 2
 }
 Line {
 SrcBlock		 "Mux"
 SrcPort		 1
 Points		 [10, 0; 0, 55]
 Branch {
	DstBlock		"Scope1"
	DstPort			1
 }
 Branch {
	Points			[0, 60]
	DstBlock		"Mux1"
	DstPort			1
 }
 }
 Line {
 SrcBlock		 "Discrete State-Space"
 SrcPort		 1
 Points		 [130, 0]
 DstBlock		 "Mux1"
 DstPort		 3
 }
 Line {
 SrcBlock		 "Mux1"
 SrcPort		 1
 DstBlock		 "Scope"
 DstPort		 1
 }
 }
}
# Finite State Machines
#
# Stateflow Version 7.6 (R2011b) dated Aug 6 2011, 17:15:36
#
#
Stateflow {
 machine {
 id			 1
 name		 "SimBola"
 created		 "14-Oct-2014 18:50:28"
 isLibrary		 0
 firstTarget		 2
 sfVersion		 76014001.0002
 }
 target {
 id			 2
 name		 "sfun"
 description		 "Default Simulink S-Function Target."
 machine		 1
 linkNode		 [1 0 0]
 }
}
7 - Trabalho de Substitui��o/SimBolaMF.mdl
Model {
 Name			 "SimBolaMF"
 Version		 8.3
 MdlSubVersion		 0
 SavedCharacterEncoding "windows-1252"
 GraphicalInterface {
 NumRootInports	 0
 NumRootOutports