; VisSim Block Diagram Format (VBDF)
; Copyright ©1989-1999 Visual Solutions
POa="Darko Stipanicev"
PV=3.000
PS=0
PE=10
PP=0.01
PI=173
PX=1
PN=1e-006
PL=5
PT=1e-005
Pn=-10,6,16,"Times New Roman"
Pc=41
Po=0.01,50,664,0
Ppl=0
Ppp=0
Ppt=0
Ppf=1
Pe=0
PD=1600x1200
Pf=0x0
Ps=3200,0,0,6000,0,0
PM=1,1,1,1
N.1="const"(4.88)*49x44
N.2="label"*50x42
n="K"
N.3="Compound"*62x26#3,1<C>
n="PID regulator"
Ms=3200,0,0,6000,0,0
Ml=0
Mr=0
Mh=0
Mp=0
Mw=""
N.4="summingJunction"*76x34#3,1<M>
N.5="label"*6x56<M>
n="Feedback"
N.6="variable"*61x67<M>
n=":Proportional Gain"
N.7="label"*43x64<M>
n="==== Parameters ===="
N.8="variable"*61x70<M>
n=":Integral Gain"
N.9="variable"*61x74<M>
n=":Derivative Gain"
N.10="const"(4.88)*43x67<M>
N.11="const"(0.3)*43x70<M>
N.12="const"(0.075)*43x74<M>
N.13="*"*89x46<M>
N.14="*"*44x49<M>
N.15="variable"*56x52<M>
n=":Proportional Gain"
N.16="variable"*5x29<M>
n=":Integral Gain"
N.17="variable"*21x48<M>
n=":Derivative Gain"
N.18="Compound"*54x40#1,1<MC>
n="     d
    ----
      dt
Derivative"
Ms=1359,0,0,939,0,0
Ml=0
Mr=0
Mh=0
Mp=0
Mw=""
N.19="summingJunction"*36x30<M>
N.20="integrator"(0,1,0)*32x38<MR>
N.21="/"*91x31<M>
N.22="label"*5x26<M>
n="Input signal"
N.23="label"*136x25<M>
n="Output signal"
N.24="comment"*3x0*120x15<M>
C="Derivative Model:	

This model is used to take the derivative of a signal using a lag filter.  The derivative is valid for frequencies up to (1/ time constant).  For higher frequencies the time constant must be decreased.

Limitations: 
1.  time constant > 0
2.  Simulation stepsize must be less than the time constant for stability."
N.25="variable"*61x32<M>
n=":time constant"
N.26="label"*12x49<M>
n="==== Parameters ===="
N.27="variable"*26x53<M>
n=":time constant"
N.28="const"(0.01)*7x53<M>
N.29="integrator"(0,0,0)*53x28<M>
N.30="1/X"*28x29<M>
N.31="*"*42x27<M>
N.32="label"*53x62
n="SUSTAV VOĐENJA S KONTINUIRANIM PID REGULATOROM"
Of=-21,0,400,0,0,0,18,"Times New Roman"
N.33="plot"*109x12*74x46
pt="Sustav vodjen kontinuiranim PID reg."
px="Vrijeme (sec)"
pax=0
pf=S
pb=2,0
pbx=10,0
pbY=0,0
pbX=0,0
pm=-1,0
pb.0=0,0
pb.1=2,0
pb.2=0,0
pb.3=0,0
N.34="summingJunction"*52x27
N.35="gain"(1)*79x40<R>
N.36="step"(0,1)*42x27
N.37="transferFunction"*82x26
n="vabcd.m"
Xi="0 "
Xg=1.68
Xn="1 "
Xd=".231 1.3 1 "
XF=0,0,0,0,0,0,0,0,0,0
N.38="label"*70x42
n="Td"
N.39="label"*61x42
n="Ti"
N.40="const"(0.075)*69x44
N.41="const"(0.3)*60x44
G.3=4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,29,30,31,
I.3.o1=13.o1
I.3.i1=34.o1
I.3.i2=34.o1
I.3.i3=34.o1
I.4.i1=29.o1
I.4.i2=3.i2
I.4.i3=18.o1
I.6.i1=10.o1
I.8.i1=11.o1
I.9.i1=12.o1
I.13.i1=4.o1
I.13.i2=15.o1
I.14.i1=17.o1
I.14.i2=3.i3
G.18=19,20,21,22,23,24,25,26,27,28,
I.18.o1=21.o1
I.18.i1=14.o1
I.19.i1=18.i1
f19.2.i=-
I.19.i2=20.o1
I.20.i1=21.o1
f21.1.i=ll
I.21.i1=19.o1
f21.2.i=lr
I.21.i2=25.o1
I.27.i1=28.o1
I.29.i1=31.o1
I.30.i1=16.o1
I.31.i1=3.i1
I.31.i2=30.o1
I.33.i2=37.o1
I.34.i1=36.o1
f34.2.i=-
I.34.i2=35.o1
I.35.i1=37.o1
I.37.i1=3.o1
cEOF