; VisSim Block Diagram Format (VBDF)
; Copyright ©1989-1999 Visual Solutions
POa="Darko Stipanicev"
PV=3.000
PS=0
PE=20
PP=0.001
PI=173
PX=0.001
PN=1e-006
PL=5
PT=1e-005
Pn=-10,6,16,"Times New Roman"
Pc=46
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="Compound"*104x30#3,1<C>
n="PID regulator"
Ms=3200,0,0,6000,0,0
Ml=0
Mr=0
Mh=0
Mp=0
Mw=""
N.2="summingJunction"*76x34#3,1<M>
N.3="label"*6x56<M>
n="Feedback"
N.4="variable"*61x67<M>
n=":Proportional Gain"
N.5="label"*43x64<M>
n="==== Parameters ===="
N.6="variable"*61x70<M>
n=":Integral Gain"
N.7="variable"*61x74<M>
n=":Derivative Gain"
N.8="const"(3.6)*43x67<M>
N.9="const"(2.225)*43x70<M>
N.10="const"(0.55625)*43x74<M>
N.11="*"*89x46<M>
N.12="*"*44x49<M>
N.13="variable"*56x52<M>
n=":Proportional Gain"
N.14="variable"*5x29<M>
n=":Integral Gain"
N.15="variable"*21x48<M>
n=":Derivative Gain"
N.16="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.17="summingJunction"*36x30<M>
N.18="integrator"(0,1,0)*32x38<MR>
N.19="/"*91x31<M>
N.20="label"*5x26<M>
n="Input signal"
N.21="label"*136x25<M>
n="Output signal"
N.22="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.23="variable"*61x32<M>
n=":time constant"
N.24="label"*12x49<M>
n="==== Parameters ===="
N.25="variable"*26x53<M>
n=":time constant"
N.26="const"(0.01)*7x53<M>
N.27="integrator"(0,0,0)*53x28<M>
N.28="1/X"*28x29<M>
N.29="*"*42x27<M>
N.30="plot"*144x16*74x46
pt="Sustav vodjen kont. PID reg."
px="Vrijeme (sec)"
pax=0
pf=S
pb=2,0
pbx=20,0
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.31="summingJunction"*93x31
N.32="gain"(1)*121x45<R>
N.33="step"(0,1)*85x31
N.34="step"(0,1)*98x80
N.35="gain"(1)*119x94<R>
N.36="summingJunction"*108x80
N.37="plot"*145x65*74x46
pt="Kriticni odziv kontinuiranog sustava"
px="Vrijeme (sec)"
pax=0
pf=S
pb=2,0
pbx=20,0
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.38="gain"(3)*117x81
N.39="transferFunction"*124x30
n="vabcd.m"
Xi="0 "
Xg=1
Xn="1 "
Xd="1 3 2 0 "
XF=0,0,0,0,0,0,0,0,0,0
N.40="transferFunction"*124x79
n="vabcd.m"
Xi="0 "
Xg=1
Xn="1 "
Xd="1 3 2 0 "
XF=0,0,0,0,0,0,0,0,0,0
N.41="const"(0.55625)*111x50
N.42="const"(2.225)*101x50
N.43="const"(3.6)*92x50
N.44="label"*93x48
n="K"
N.45="label"*103x48
n="Ti"
N.46="label"*113x48
n="Td"
G.1=2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,27,28,29,
I.1.o1=11.o1
I.1.i1=31.o1
I.1.i2=31.o1
I.1.i3=31.o1
I.2.i1=27.o1
I.2.i2=1.i2
I.2.i3=16.o1
I.4.i1=8.o1
I.6.i1=9.o1
I.7.i1=10.o1
I.11.i1=2.o1
I.11.i2=13.o1
I.12.i1=15.o1
I.12.i2=1.i3
G.16=17,18,19,20,21,22,23,24,25,26,
I.16.o1=19.o1
I.16.i1=12.o1
I.17.i1=16.i1
f17.2.i=-
I.17.i2=18.o1
I.18.i1=19.o1
f19.1.i=ll
I.19.i1=17.o1
f19.2.i=lr
I.19.i2=23.o1
I.25.i1=26.o1
I.27.i1=29.o1
I.28.i1=14.o1
I.29.i1=1.i1
I.29.i2=28.o1
I.30.i2=39.o1
I.31.i1=33.o1
f31.2.i=-
I.31.i2=32.o1
I.32.i1=39.o1
I.35.i1=40.o1
I.36.i1=34.o1
f36.2.i=-
I.36.i2=35.o1
I.37.i2=40.o1
I.38.i1=36.o1
I.39.i1=1.o1
I.40.i1=38.o1
cEOF