Model {
  Name			  "adaptive_controller"
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  Created		  "Wed Jun 09 15:26:50 2010"
  Creator		  "throne"
  UpdateHistory		  "UpdateHistoryNever"
  ModifiedByFormat	  "%<Auto>"
  LastModifiedBy	  "throne"
  ModifiedDateFormat	  "%<Auto>"
  LastModifiedDate	  "Wed Oct 24 12:00:25 2012"
  RTWModifiedTimeStamp	  272980242
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  BlockDescriptionStringDataTip	off
  ToolBar		  on
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  BrowserShowLibraryLinks off
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	  SaveWithDisabledLinksMsg "warning"
	  SaveWithParameterizedLinksMsg	"warning"
	  CheckSSInitialOutputMsg on
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	  MultiTaskCondExecSysMsg "error"
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	  FixptConstUnderflowMsg  "none"
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	  VectorMatrixConversionMsg "none"
	  InvalidFcnCallConnMsg	  "error"
	  FcnCallInpInsideContextMsg "Use local settings"
	  SignalLabelMismatchMsg  "none"
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	  ParallelModelReferenceMATLABWorkerInit "None"
	  ModelReferenceNumInstancesAllowed "Multi"
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	    Simulink.CodeAppCC {
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      OutMin		      "[]"
      OutMax		      "[]"
      OutDataTypeStr	      "Inherit: Same as input"
      LockScale		      off
      RndMeth		      "Floor"
    }
    Block {
      BlockType		      SubSystem
      ShowPortLabels	      "FromPortIcon"
      Permissions	      "ReadWrite"
      PermitHierarchicalResolution "All"
      TreatAsAtomicUnit	      off
      CheckFcnCallInpInsideContextMsg off
      SystemSampleTime	      "-1"
      RTWFcnNameOpts	      "Auto"
      RTWFileNameOpts	      "Auto"
      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"
      Variant		      off
      GeneratePreprocessorConditionals off
    }
    Block {
      BlockType		      Sum
      IconShape		      "rectangular"
      Inputs		      "++"
      CollapseMode	      "All dimensions"
      CollapseDim	      "1"
      InputSameDT	      on
      AccumDataTypeStr	      "Inherit: Inherit via internal rule"
      OutMin		      "[]"
      OutMax		      "[]"
      OutDataTypeStr	      "Inherit: Same as first input"
      LockScale		      off
      RndMeth		      "Floor"
      SaturateOnIntegerOverflow	on
      SampleTime	      "-1"
    }
    Block {
      BlockType		      Terminator
    }
    Block {
      BlockType		      ToWorkspace
      VariableName	      "simulink_output"
      MaxDataPoints	      "1000"
      Decimation	      "1"
      SampleTime	      "0"
      FixptAsFi		      off
      NumInputs		      "1"
    }
  }
  System {
    Name		    "adaptive_controller"
    Location		    [251, 341, 1459, 751]
    Open		    on
    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"
    ReportName		    "simulink-default.rpt"
    SIDHighWatermark	    "15"
    Block {
      BlockType		      SubSystem
      Name		      "Adaptive Controller"
      SID		      "1"
      Ports		      [2, 1]
      Position		      [400, 121, 525, 234]
      ForegroundColor	      "blue"
      ErrorFcn		      "Stateflow.Translate.translate"
      PermitHierarchicalResolution "ExplicitOnly"
      TreatAsAtomicUnit	      on
      MinAlgLoopOccurrences   off
      PropExecContextOutsideSubsystem off
      RTWSystemCode	      "Auto"
      FunctionWithSeparateData off
      Opaque		      off
      RequestExecContextInheritance off
      MaskHideContents	      off
      MaskType		      "Stateflow"
      MaskDescription	      "Embedded MATLAB block"
      MaskSelfModifiable      on
      MaskDisplay	      "bgColor = Simulink.Root.ColorString2Rgb(get_param(gcbh, 'BackgroundColor')); image(imread('pr"
      "ivate/eml_membrane_16.png','png','BackgroundColor',bgColor(1:3)),'center'); disp([10 10 'fcn']);"
      MaskIconFrame	      on
      MaskIconOpaque	      off
      MaskIconRotate	      "none"
      MaskPortRotate	      "default"
      MaskIconUnits	      "normalized"
      System {
	Name			"Adaptive Controller"
	Location		[257, 457, 812, 717]
	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"
	SIDHighWatermark	"10"
	Block {
	  BlockType		  Inport
	  Name			  "u_in"
	  SID			  "1::1"
	  Position		  [20, 101, 40, 119]
	  IconDisplay		  "Port number"
	}
	Block {
	  BlockType		  Inport
	  Name			  "e_in"
	  SID			  "1::2"
	  Position		  [20, 136, 40, 154]
	  Port			  "2"
	  IconDisplay		  "Port number"
	}
	Block {
	  BlockType		  Demux
	  Name			  " Demux "
	  SID			  "1::8"
	  Ports			  [1, 1]
	  Position		  [270, 160, 320, 200]
	  Outputs		  "1"
	}
	Block {
	  BlockType		  S-Function
	  Name			  " SFunction "
	  SID			  "1::7"
	  Tag			  "Stateflow S-Function adaptive_controller 1"
	  Ports			  [2, 2]
	  Position		  [180, 100, 230, 160]
	  FunctionName		  "sf_sfun"
	  Parameters		  "D,Nbc,Nbp,Ts"
	  PortCounts		  "[2 2]"
	  EnableBusSupport	  on
	  Port {
	    PortNumber		    2
	    Name		    "u_out"
	    RTWStorageClass	    "Auto"
	    DataLoggingNameMode	    "SignalName"
	  }
	}
	Block {
	  BlockType		  Terminator
	  Name			  " Terminator "
	  SID			  "1::10"
	  Position		  [460, 171, 480, 189]
	}
	Block {
	  BlockType		  Outport
	  Name			  "u_out"
	  SID			  "1::6"
	  Position		  [460, 101, 480, 119]
	  IconDisplay		  "Port number"
	}
	Line {
	  SrcBlock		  "u_in"
	  SrcPort		  1
	  DstBlock		  " SFunction "
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "e_in"
	  SrcPort		  1
	  DstBlock		  " SFunction "
	  DstPort		  2
	}
	Line {
	  Name			  "u_out"
	  Labels		  [0, 0]
	  SrcBlock		  " SFunction "
	  SrcPort		  2
	  DstBlock		  "u_out"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  " Demux "
	  SrcPort		  1
	  DstBlock		  " Terminator "
	  DstPort		  1
	}
	Line {
	  SrcBlock		  " SFunction "
	  SrcPort		  1
	  DstBlock		  " Demux "
	  DstPort		  1
	}
      }
    }
    Block {
      BlockType		      Clock
      Name		      "Clock"
      SID		      "2"
      Position		      [150, 75, 170, 95]
      Decimation	      "1"
    }
    Block {
      BlockType		      FromWorkspace
      Name		      "From\nWorkspace"
      SID		      "3"
      Position		      [100, 193, 165, 217]
      VariableName	      "rt"
      SampleTime	      "0"
      ZeroCross		      on
    }
    Block {
      BlockType		      Gain
      Name		      "Gain"
      SID		      "4"
      Position		      [210, 190, 240, 220]
      Gain		      "Gpf"
      ParamDataTypeStr	      "Inherit: Inherit via internal rule"
      OutDataTypeStr	      "Inherit: Inherit via internal rule"
      SaturateOnIntegerOverflow	off
    }
    Block {
      BlockType		      Saturate
      Name		      "Saturation"
      SID		      "5"
      Ports		      [1, 1]
      Position		      [705, 165, 735, 195]
      InputPortMap	      "u0"
      UpperLimit	      "saturation_level"
      LowerLimit	      "-saturation_level"
    }
    Block {
      BlockType		      Sum
      Name		      "Sum"
      SID		      "6"
      Ports		      [2, 1]
      Position		      [285, 195, 305, 215]
      ShowName		      off
      IconShape		      "round"
      Inputs		      "|+-"
      InputSameDT	      off
      OutDataTypeStr	      "Inherit: Inherit via internal rule"
      SaturateOnIntegerOverflow	off
    }
    Block {
      BlockType		      Reference
      Name		      "Tapped Delay1"
      SID		      "7"
      Ports		      [1, 1]
      Position		      [340, 187, 375, 223]
      LibraryVersion	      "1.236"
      SourceBlock	      "simulink/Discrete/Tapped Delay"
      SourceType	      "Tapped Delay Line"
      vinit		      "0.0"
      samptime		      "-1"
      NumDelays		      "Nbc-1"
      DelayOrder	      "Newest"
      includeCurrent	      on
    }
    Block {
      BlockType		      Reference
      Name		      "Tapped Delay2"
      SID		      "8"
      Ports		      [1, 1]
      Position		      [455, 42, 490, 78]
      BlockMirror	      on
      LibraryVersion	      "1.236"
      SourceBlock	      "simulink/Discrete/Tapped Delay"
      SourceType	      "Tapped Delay Line"
      vinit		      "0.0"
      samptime		      "-1"
      NumDelays		      "Nbc-1"
      DelayOrder	      "Newest"
      includeCurrent	      off
    }
    Block {
      BlockType		      Reference
      Name		      "Tapped Delay3"
      SID		      "9"
      Ports		      [1, 1]
      Position		      [875, 32, 910, 68]
      BlockMirror	      on
      LibraryVersion	      "1.236"
      SourceBlock	      "simulink/Discrete/Tapped Delay"
      SourceType	      "Tapped Delay Line"
      vinit		      "0.0"
      samptime		      "-1"
      NumDelays		      "Nbp-1"
      DelayOrder	      "Newest"
      includeCurrent	      off
    }
    Block {
      BlockType		      Reference
      Name		      "Tapped Delay4"
      SID		      "10"
      Ports		      [1, 1]
      Position		      [605, 162, 640, 198]
      LibraryVersion	      "1.236"
      SourceBlock	      "simulink/Discrete/Tapped Delay"
      SourceType	      "Tapped Delay Line"
      vinit		      "0.0"
      samptime		      "-1"
      NumDelays		      "Nbp-1"
      DelayOrder	      "Newest"
      includeCurrent	      on
    }
    Block {
      BlockType		      Reference
      Name		      "Tapped Delay5"
      SID		      "11"
      Ports		      [1, 1]
      Position		      [660, 312, 695, 348]
      BlockMirror	      on
      LibraryVersion	      "1.236"
      SourceBlock	      "simulink/Discrete/Tapped Delay"
      SourceType	      "Tapped Delay Line"
      vinit		      "0.0"
      samptime		      "-1"
      NumDelays		      "1"
      DelayOrder	      "Newest"
      includeCurrent	      off
    }
    Block {
      BlockType		      ToWorkspace
      Name		      "To Workspace"
      SID		      "12"
      Ports		      [1]
      Position		      [1065, 140, 1125, 170]
      VariableName	      "ys"
      MaxDataPoints	      "inf"
      SampleTime	      "-1"
      SaveFormat	      "Array"
    }
    Block {
      BlockType		      ToWorkspace
      Name		      "To Workspace1"
      SID		      "13"
      Ports		      [1]
      Position		      [245, 70, 305, 100]
      VariableName	      "ts"
      MaxDataPoints	      "inf"
      SampleTime	      "Ts"
      SaveFormat	      "Array"
    }
    Block {
      BlockType		      ToWorkspace
      Name		      "To Workspace2"
      SID		      "14"
      Ports		      [1]
      Position		      [820, 255, 880, 285]
      VariableName	      "us"
      MaxDataPoints	      "inf"
      SampleTime	      "-1"
      SaveFormat	      "Array"
    }
    Block {
      BlockType		      SubSystem
      Name		      "Varying Plant"
      SID		      "15"
      Ports		      [2, 1]
      Position		      [830, 107, 955, 203]
      ForegroundColor	      "blue"
      ErrorFcn		      "Stateflow.Translate.translate"
      PermitHierarchicalResolution "ExplicitOnly"
      TreatAsAtomicUnit	      on
      MinAlgLoopOccurrences   off
      PropExecContextOutsideSubsystem off
      RTWSystemCode	      "Auto"
      FunctionWithSeparateData off
      Opaque		      off
      RequestExecContextInheritance off
      MaskHideContents	      off
      MaskType		      "Stateflow"
      MaskDescription	      "Embedded MATLAB block"
      MaskSelfModifiable      on
      MaskDisplay	      "bgColor = Simulink.Root.ColorString2Rgb(get_param(gcbh, 'BackgroundColor')); image(imread('pr"
      "ivate/eml_membrane_16.png','png','BackgroundColor',bgColor(1:3)),'center'); disp([10 10 'fcn']);"
      MaskIconFrame	      on
      MaskIconOpaque	      off
      MaskIconRotate	      "none"
      MaskPortRotate	      "default"
      MaskIconUnits	      "normalized"
      System {
	Name			"Varying Plant"
	Location		[257, 457, 812, 717]
	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"
	SIDHighWatermark	"10"
	Block {
	  BlockType		  Inport
	  Name			  "y_in"
	  SID			  "15::1"
	  Position		  [20, 101, 40, 119]
	  IconDisplay		  "Port number"
	}
	Block {
	  BlockType		  Inport
	  Name			  "u_in"
	  SID			  "15::2"
	  Position		  [20, 136, 40, 154]
	  Port			  "2"
	  IconDisplay		  "Port number"
	}
	Block {
	  BlockType		  Demux
	  Name			  " Demux "
	  SID			  "15::8"
	  Ports			  [1, 1]
	  Position		  [270, 160, 320, 200]
	  Outputs		  "1"
	}
	Block {
	  BlockType		  S-Function
	  Name			  " SFunction "
	  SID			  "15::7"
	  Tag			  "Stateflow S-Function adaptive_controller 2"
	  Ports			  [2, 2]
	  Position		  [180, 100, 230, 160]
	  FunctionName		  "sf_sfun"
	  Parameters		  "Nbp,Ts"
	  PortCounts		  "[2 2]"
	  EnableBusSupport	  on
	  Port {
	    PortNumber		    2
	    Name		    "y_out"
	    RTWStorageClass	    "Auto"
	    DataLoggingNameMode	    "SignalName"
	  }
	}
	Block {
	  BlockType		  Terminator
	  Name			  " Terminator "
	  SID			  "15::10"
	  Position		  [460, 171, 480, 189]
	}
	Block {
	  BlockType		  Outport
	  Name			  "y_out"
	  SID			  "15::6"
	  Position		  [460, 101, 480, 119]
	  IconDisplay		  "Port number"
	}
	Line {
	  SrcBlock		  "y_in"
	  SrcPort		  1
	  DstBlock		  " SFunction "
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "u_in"
	  SrcPort		  1
	  DstBlock		  " SFunction "
	  DstPort		  2
	}
	Line {
	  Name			  "y_out"
	  Labels		  [0, 0]
	  SrcBlock		  " SFunction "
	  SrcPort		  2
	  DstBlock		  "y_out"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  " Demux "
	  SrcPort		  1
	  DstBlock		  " Terminator "
	  DstPort		  1
	}
	Line {
	  SrcBlock		  " SFunction "
	  SrcPort		  1
	  DstBlock		  " Demux "
	  DstPort		  1
	}
      }
    }
    Line {
      SrcBlock		      "Clock"
      SrcPort		      1
      DstBlock		      "To Workspace1"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Tapped Delay3"
      SrcPort		      1
      Points		      [-65, 0; 0, 80]
      DstBlock		      "Varying Plant"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Tapped Delay2"
      SrcPort		      1
      Points		      [-75, 0; 0, 90]
      DstBlock		      "Adaptive Controller"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Tapped Delay1"
      SrcPort		      1
      DstBlock		      "Adaptive Controller"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Sum"
      SrcPort		      1
      DstBlock		      "Tapped Delay1"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Tapped Delay5"
      SrcPort		      1
      Points		      [-360, 0]
      DstBlock		      "Sum"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Gain"
      SrcPort		      1
      DstBlock		      "Sum"
      DstPort		      1
    }
    Line {
      SrcBlock		      "From\nWorkspace"
      SrcPort		      1
      DstBlock		      "Gain"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Adaptive Controller"
      SrcPort		      1
      Points		      [25, 0]
      Branch {
	DstBlock		"Tapped Delay4"
	DstPort			1
      }
      Branch {
	Points			[0, -120]
	DstBlock		"Tapped Delay2"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Saturation"
      SrcPort		      1
      Points		      [30, 0]
      Branch {
	DstBlock		"Varying Plant"
	DstPort			2
      }
      Branch {
	Points			[0, 90]
	DstBlock		"To Workspace2"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Tapped Delay4"
      SrcPort		      1
      DstBlock		      "Saturation"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Varying Plant"
      SrcPort		      1
      Points		      [35, 0]
      Branch {
	DstBlock		"To Workspace"
	DstPort			1
      }
      Branch {
	Points			[0, -105]
	DstBlock		"Tapped Delay3"
	DstPort			1
      }
      Branch {
	Points			[0, 175]
	DstBlock		"Tapped Delay5"
	DstPort			1
      }
    }
  }
}
# Finite State Machines
#
#    Stateflow Version 7.5 (R2010a) dated Mar  5 2011, 00:01:50
#
#


Stateflow {
  machine {
    id			    1
    name		    "adaptive_controller"
    created		    "09-Jun-2010 15:54:16"
    isLibrary		    0
    firstTarget		    24
    sfVersion		    75014001
  }
  chart {
    id			    2
    name		    "Adaptive Controller"
    windowPosition	    [399.879 291.305 200.25 189.75]
    viewLimits		    [0 156.75 0 153.75]
    screen		    [1 1 1680 1050 1.333333333333333]
    treeNode		    [0 3 0 0]
    firstTransition	    5
    firstJunction	    4
    viewObj		    2
    machine		    1
    toolbarMode		    LIBRARY_TOOLBAR
    ssIdHighWaterMark	    33
    decomposition	    CLUSTER_CHART
    type		    EML_CHART
    firstData		    6
    chartFileNumber	    1
    disableImplicitCasting  1
    eml {
      name		      "fcn"
    }
    supportVariableSizing   0
  }
  state {
    id			    3
    labelString		    "eML_blk_kernel()"
    position		    [18 64.5 118 66]
    fontSize		    12
    chart		    2
    treeNode		    [2 0 0 0]
    superState		    SUBCHART
    subviewer		    2
    ssIdNumber		    1
    type		    FUNC_STATE
    decomposition	    CLUSTER_STATE
    eml {
      isEML		      1
      script		      "function u_out  = fcn(u_in, e_in, Nbc, D, Nbp, Ts)\n% This block supports the Embedded MATLAB sub"
      "set.\n% See the help menu for details.\n%\npersistent initial_flag;   % is this the first time through the algor"
      "ithm\npersistent n;              % number of times this routine has been called\npersistent Tlast;\n%\n  if isem"
      "pty(initial_flag)\n    initial_flag = 1;\n    n=1;\n    Tlast = eye(4,4);\n  else\n    n=n+1;\n  end;\n%\n%  get"
      " the current time\n%\n  tc = n*Ts; \n%\n%  initialize the matrices and vectors\n%\n  Bp= zeros(1,2);\n  Ap = zer"
      "os(1,2);\n  Bc = zeros(1,3);\n  Ac = zeros(1,3);\n  T = zeros(4,4);\n  Y = zeros(4,1);\n  X = zeros(4,1);\n%\n% "
      " start off with the known plant values, comment these out when using the \n%  least squares estimates\n%\n   Bp "
      "= [0.5 0.8+0.5*cos(2*pi*tc)];\n   Ap = [1 0.1+0.5*cos(1*pi*tc)];\n%   \n%  uncomment these to use the estimated "
      "plant values\n%\n%   Ap(1) = -theta_in(1);\n%   Bp(1) = theta_in(2); Bp(2) = theta_in(3);\n%\n%  solve the for t"
      "he controller\n% \n  T = zeros(4,4);\n  Y = zeros(4,1);\n  T(1,1) = -1; T(1,2) = Bp(1);\n  T(2,1) = 1-Ap(2); T(2"
      ",2)=Bp(2); T(2,3) = Bp(1);\n  T(3,1) = Ap(2); T(3,3) = Bp(2); T(3,4) = Bp(1);\n  T(4,4) = Bp(2); \n  Y(1) = D(2)"
      "-Ap(2)+1;\n  Y(2) = D(3)+Ap(2);\n  Y(3) = D(4);\n  Y(4) = D(5);\n%\n%  check to see if T has nan, if yes, use th"
      "e last T\n%\n  if(sum(sum(isnan(T))) > 0 )\n      T = Tlast;\n  else\n      Tlast = T;\n  end;  \n%\n%  solve th"
      "e matrix equations\n%\n  X = pinv(T,0.0001)*Y;\n%\n%  get the controller coefficients\n%\n  alpha = X(1);\n  Bc("
      "1) = X(2);\n  Bc(2) = X(3);\n  Bc(3) = X(4);\n  Ac(1) = 1;\n  Ac(2) = -1-alpha;\n  Ac(3) = alpha;\n%\n%  now com"
      "pute the control effort\n%\n  u_out = Bc(1)*e_in(1);\n  for k = 2:Nbc\n    u_out = u_out-Ac(k)*u_in(k-1)+Bc(k)*e"
      "_in(k);\n  end;\n%  u_out = 0.333*(u_out+u_in(1)+u_in(2));\n% u_out = 0.5*(u_out+u_in(1));\n%\n%  we need to use"
      " a simple P controller to get the system started\n%\n  if (n < 4) u_out = 0.1*e_in(1); end;"
      editorLayout	      "100 M4x1[600 249 945 631]"
      fimathString	      "fimath(...\n'RoundMode', 'floor',...\n'OverflowMode', 'wrap',...\n'ProductMode', 'KeepLSB', "
      "'ProductWordLength', 32,...\n'SumMode', 'KeepLSB', 'SumWordLength', 32,...\n'CastBeforeSum', true)"
      fimathForFiConstructors FimathMatlabFactoryDefault
      emlDefaultFimath	      FimathUserSpecified
    }
  }
  junction {
    id			    4
    position		    [23.5747 49.5747 7]
    chart		    2
    linkNode		    [2 0 0]
    subviewer		    2
    ssIdNumber		    3
    type		    CONNECTIVE_JUNCTION
  }
  transition {
    id			    5
    labelString		    "{eML_blk_kernel();}"
    labelPosition	    [32.125 19.875 102.544 14.964]
    fontSize		    12
    src {
      intersection	      [0 0 1 0 23.5747 14.625 0 0]
    }
    dst {
      id		      4
      intersection	      [7 0 -1 -1 23.5747 42.5747 0 0]
    }
    midPoint		    [23.5747 24.9468]
    chart		    2
    linkNode		    [2 0 0]
    dataLimits		    [23.575 23.575 14.625 34.575]
    subviewer		    2
    drawStyle		    SMART
    executionOrder	    1
    ssIdNumber		    2
  }
  data {
    id			    6
    ssIdNumber		    4
    name		    "u_in"
    linkNode		    [2 0 7]
    scope		    INPUT_DATA
    machine		    1
    props {
      array {
	size			"[Nbc-1 1]"
      }
      type {
	method			SF_INHERITED_TYPE
	primitive		SF_DOUBLE_TYPE
      }
      complexity	      SF_COMPLEX_INHERITED
    }
    dataType		    "Inherit: Same as Simulink"
  }
  data {
    id			    7
    ssIdNumber		    17
    name		    "e_in"
    linkNode		    [2 6 8]
    scope		    INPUT_DATA
    machine		    1
    props {
      array {
	size			"[Nbc 1]"
      }
      type {
	method			SF_INHERITED_TYPE
	primitive		SF_DOUBLE_TYPE
	isSigned		1
	wordLength		"16"
      }
      complexity	      SF_COMPLEX_INHERITED
      frame		      SF_FRAME_INHERITED
    }
    dataType		    "Inherit: Same as Simulink"
  }
  data {
    id			    8
    ssIdNumber		    10
    name		    "u_out"
    linkNode		    [2 7 9]
    scope		    OUTPUT_DATA
    machine		    1
    props {
      array {
	size			"-1"
      }
      type {
	method			SF_INHERITED_TYPE
	primitive		SF_DOUBLE_TYPE
	isSigned		1
	wordLength		"16"
      }
      complexity	      SF_COMPLEX_INHERITED
      frame		      SF_FRAME_NO
    }
    dataType		    "Inherit: Same as Simulink"
  }
  data {
    id			    9
    ssIdNumber		    22
    name		    "Nbc"
    linkNode		    [2 8 10]
    scope		    PARAMETER_DATA
    initFromWorkspace	    1
    paramIndexForInitFromWorkspace 1
    machine		    1
    props {
      array {
	size			"-1"
      }
      type {
	method			SF_INHERITED_TYPE
	primitive		SF_DOUBLE_TYPE
	isSigned		1
	wordLength		"16"
      }
      complexity	      SF_COMPLEX_INHERITED
      frame		      SF_FRAME_INHERITED
    }
    dataType		    "Inherit: Same as Simulink"
  }
  data {
    id			    10
    ssIdNumber		    30
    name		    "D"
    linkNode		    [2 9 11]
    scope		    PARAMETER_DATA
    initFromWorkspace	    1
    machine		    1
    props {
      array {
	size			"[1 2*Nbp+1]"
      }
      type {
	method			SF_INHERITED_TYPE
	primitive		SF_DOUBLE_TYPE
	isSigned		1
	wordLength		"16"
      }
      complexity	      SF_COMPLEX_INHERITED
      frame		      SF_FRAME_INHERITED
    }
    dataType		    "Inherit: Same as Simulink"
  }
  data {
    id			    11
    ssIdNumber		    32
    name		    "Nbp"
    linkNode		    [2 10 12]
    scope		    PARAMETER_DATA
    paramIndexForInitFromWorkspace 2
    machine		    1
    props {
      array {
	size			"-1"
      }
      type {
	method			SF_INHERITED_TYPE
	primitive		SF_DOUBLE_TYPE
	isSigned		1
	wordLength		"16"
      }
      complexity	      SF_COMPLEX_INHERITED
      frame		      SF_FRAME_INHERITED
    }
    dataType		    "Inherit: Same as Simulink"
  }
  data {
    id			    12
    ssIdNumber		    33
    name		    "Ts"
    linkNode		    [2 11 0]
    scope		    PARAMETER_DATA
    paramIndexForInitFromWorkspace 3
    machine		    1
    props {
      array {
	size			"-1"
      }
      type {
	method			SF_INHERITED_TYPE
	primitive		SF_DOUBLE_TYPE
	isSigned		1
	wordLength		"16"
      }
      complexity	      SF_COMPLEX_INHERITED
      frame		      SF_FRAME_INHERITED
    }
    dataType		    "Inherit: Same as Simulink"
  }
  instance {
    id			    13
    name		    "Adaptive Controller"
    machine		    1
    chart		    2
  }
  chart {
    id			    14
    name		    "Varying Plant"
    windowPosition	    [369.879 321.305 200.25 189.75]
    viewLimits		    [0 156.75 0 153.75]
    screen		    [1 1 1680 1050 1.333333333333333]
    treeNode		    [0 15 0 0]
    firstTransition	    17
    firstJunction	    16
    viewObj		    14
    machine		    1
    toolbarMode		    LIBRARY_TOOLBAR
    ssIdHighWaterMark	    20
    decomposition	    CLUSTER_CHART
    type		    EML_CHART
    firstData		    18
    chartFileNumber	    2
    disableImplicitCasting  1
    eml {
      name		      "fcn"
    }
    supportVariableSizing   0
  }
  state {
    id			    15
    labelString		    "eML_blk_kernel()"
    position		    [18 64.5 118 66]
    fontSize		    12
    chart		    14
    treeNode		    [14 0 0 0]
    superState		    SUBCHART
    subviewer		    14
    ssIdNumber		    1
    type		    FUNC_STATE
    decomposition	    CLUSTER_STATE
    eml {
      isEML		      1
      script		      "function y_out  = fcn(y_in, u_in, Ts, Nbp)\n% This block supports the Embedded MATLAB subset.\n% "
      "See the help menu for details. \n%\npersistent initial_flag;   % is this the first time through the algorithm\np"
      "ersistent n;              % number of times this routine has been called\npersistent Tlast;\n%\n%  initialize th"
      "e arrays\n%\n  Bp = zeros(1,2);\n  Ap = zeros(1,2);\n%\n  if isempty(initial_flag)\n    initial_flag = 1;\n    n"
      "=1;\n  else\n    n=n+1;\n  end;\n%\n%  get the current time\n%\n  tc = n*Ts;\n%\n%  get the coefficients for the"
      " plants\n%\n   Bp = [0.5 0.8+0.5*cos(2*pi*tc)];\n   Ap = [1 0.1+0.5*cos(1*pi*tc)];\n%\n  y_out = Bp(1)*u_in(1);\n"
      "  for k = 2:Nbp\n    y_out = y_out-Ap(k)*y_in(k-1)+Bp(k)*u_in(k);\n  end;\n\n"
      editorLayout	      "100 M4x1[600 249 945 631]"
      fimathString	      "fimath(...\n'RoundMode', 'floor',...\n'OverflowMode', 'wrap',...\n'ProductMode', 'KeepLSB', "
      "'ProductWordLength', 32,...\n'SumMode', 'KeepLSB', 'SumWordLength', 32,...\n'CastBeforeSum', true)"
      fimathForFiConstructors FimathMatlabFactoryDefault
      emlDefaultFimath	      FimathUserSpecified
    }
  }
  junction {
    id			    16
    position		    [23.5747 49.5747 7]
    chart		    14
    linkNode		    [14 0 0]
    subviewer		    14
    ssIdNumber		    3
    type		    CONNECTIVE_JUNCTION
  }
  transition {
    id			    17
    labelString		    "{eML_blk_kernel();}"
    labelPosition	    [32.125 19.875 102.544 14.964]
    fontSize		    12
    src {
      intersection	      [0 0 1 0 23.5747 14.625 0 0]
    }
    dst {
      id		      16
      intersection	      [7 0 -1 -1 23.5747 42.5747 0 0]
    }
    midPoint		    [23.5747 24.9468]
    chart		    14
    linkNode		    [14 0 0]
    dataLimits		    [23.575 23.575 14.625 34.575]
    subviewer		    14
    drawStyle		    SMART
    executionOrder	    1
    ssIdNumber		    2
  }
  data {
    id			    18
    ssIdNumber		    4
    name		    "y_in"
    linkNode		    [14 0 19]
    scope		    INPUT_DATA
    machine		    1
    props {
      array {
	size			"[Nbp-1 1]"
      }
      type {
	method			SF_INHERITED_TYPE
	primitive		SF_DOUBLE_TYPE
      }
      complexity	      SF_COMPLEX_INHERITED
    }
    dataType		    "Inherit: Same as Simulink"
  }
  data {
    id			    19
    ssIdNumber		    17
    name		    "u_in"
    linkNode		    [14 18 20]
    scope		    INPUT_DATA
    machine		    1
    props {
      array {
	size			"[Nbp 1]"
      }
      type {
	method			SF_INHERITED_TYPE
	primitive		SF_DOUBLE_TYPE
	isSigned		1
	wordLength		"16"
      }
      complexity	      SF_COMPLEX_INHERITED
      frame		      SF_FRAME_INHERITED
    }
    dataType		    "Inherit: Same as Simulink"
  }
  data {
    id			    20
    ssIdNumber		    10
    name		    "y_out"
    linkNode		    [14 19 21]
    scope		    OUTPUT_DATA
    machine		    1
    props {
      array {
	size			"-1"
      }
      type {
	method			SF_INHERITED_TYPE
	primitive		SF_DOUBLE_TYPE
	isSigned		1
	wordLength		"16"
      }
      complexity	      SF_COMPLEX_INHERITED
      frame		      SF_FRAME_NO
    }
    dataType		    "Inherit: Same as Simulink"
  }
  data {
    id			    21
    ssIdNumber		    15
    name		    "Ts"
    linkNode		    [14 20 22]
    scope		    PARAMETER_DATA
    initFromWorkspace	    1
    paramIndexForInitFromWorkspace 1
    machine		    1
    props {
      array {
	size			"-1"
      }
      type {
	method			SF_INHERITED_TYPE
	primitive		SF_DOUBLE_TYPE
	isSigned		1
	wordLength		"16"
      }
      complexity	      SF_COMPLEX_INHERITED
      frame		      SF_FRAME_INHERITED
    }
    dataType		    "Inherit: Same as Simulink"
  }
  data {
    id			    22
    ssIdNumber		    19
    name		    "Nbp"
    linkNode		    [14 21 0]
    scope		    PARAMETER_DATA
    initFromWorkspace	    1
    machine		    1
    props {
      array {
	size			"-1"
      }
      type {
	method			SF_INHERITED_TYPE
	primitive		SF_DOUBLE_TYPE
	isSigned		1
	wordLength		"16"
      }
      complexity	      SF_COMPLEX_INHERITED
      frame		      SF_FRAME_INHERITED
    }
    dataType		    "Inherit: Same as Simulink"
  }
  instance {
    id			    23
    name		    "Varying Plant"
    machine		    1
    chart		    14
  }
  target {
    id			    24
    name		    "sfun"
    codeFlags		    ""
    machine		    1
    linkNode		    [1 0 0]
  }
}