; VisSim Block Diagram Format (VBDF) ; Copyright ©1989-1999 Visual Solutions POa="Darko Stipanicev" PV=3.000 PS=0 PE=10 PP=0.001 PI=173 PX=0.001 PN=1e-006 PL=5 PT=1e-005 Pn=-10,6,16,"Arial" Pc=50 Po=1,50,664,0 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="plot"*98x1*54x36 pt="Povratna veza varijablama stanja + estimator" px="Time (sec)" pax=0 pf=H pb=0.4,-0.1 pbx=10,0 pbY=0,0 pbX=0,0 pm=20,1 pb.0=0.3,-0.1 pL.0="bez estimatora" pb.1=0.4,-0.1 pL.1="s estimatorom - prijenosna funkcija" pb.2=0,0 pb.3=0.4,-0.1 pL.3="s estimatorom " N.2="stateSpace"*48x2#1,3 n="state_space_estimator_2.m" XD=0.1 Xi=".001 1 .001 " Xm N.3="summingJunction"*38x11#3,1 N.4="gain"(-17.4814)*52x11 N.5="gain"(-11.4637)*50x13 N.6="gain"(-1.6481)*48x15 N.7="variable"*153x13 n="x2-1" N.8="variable"*89x13 n="x1-1" N.9="plot"*98x38*54x36 pt="Povratna veza varijablama stanja + estimator" px="Time (sec)" pax=0 pf=H pb=1.5,-3 pbx=10,0 pbY=0,0 pbX=0,0 pm=20,1 pb.0=1,-2 pL.0="bez estimatora" pb.1=1,-3 pL.1="s estimatorom - prijenosna funkcija" pb.2=0,0 pb.3=1,-3 pL.3="s estimatorom " N.10="variable"*71x2 n="x1st" N.11="variable"*71x4 n="x2st" N.12="variable"*71x6 n="x3st" N.13="variable"*87x41 n="x3st" N.14="variable"*152x4 n="x2st" N.15="variable"*88x4 n="x1st" N.16="plot"*162x1*54x36 pt="Povratna veza varijablama stanja + estimator" px="vrijeme (sec)" pax=0 pf=H pb=1,-1 pbx=10,0 pbY=0,0 pbX=0,0 pm=20,1 pb.0=1,-1 pL.0="bez estimatora" pb.1=1,-1 pL.1="s estimatorom - prijenosna funkcija" pb.2=0,0 pb.3=1,-1 pL.3="s estimatorom" N.17="variable"*88x50 n="x3-1" N.18="plot"*162x38*54x36 pt="Povratna veza varijablama stanja + estimator" px="Time (sec)" pax=0 pf=H pb=10,-20 pbx=10,0 pbY=0,0 pbX=0,0 pm=20,1 pb.0=10,-20 pL.0="bez estimatora" pb.1=10,-20 pL.1="s estimatorom - prijenosna funkcija" pb.2=0,0 pb.3=10,-20 pL.3="s estimatorom " N.19="variable"*38x18 n="ust" N.20="variable"*153x41 n="ust" N.21="variable"*154x50 n="u-1" N.22="variable"*88x31 n="x1-2" N.23="variable"*153x31 n="x2-2" N.24="variable"*87x68 n="x3-2" N.25="variable"*153x68 n="u-2" N.26="stateSpace"*27x49#1,3 n="state_space_estimator_2.m" XD=0.1 Xi=".001 1 .001 " Xm N.27="gain"(-1.6481)*21x60 N.28="gain"(-11.4637)*23x58 N.29="gain"(-17.4814)*25x56 N.30="summingJunction"*11x56#3,1 N.31="label"*21x54 n="K" Of=-13,0,700,0,1,0,34,"Arial" N.32="variable"*53x49 n="x1-2" N.33="variable"*53x51 n="x2-2" N.34="variable"*53x53 n="x3-2" N.35="Compound"*56x62#2,3 n="ESTIMATOR" Ms=3200,0,0,6000,0,0 Ml=0 Mr=0 Mh=0 Mp=0 Mw="" N.36="label"*4x85 n="y(k)" N.37="label"*2x30 n="u(k)" N.38="variable"*137x59 n="x2est-3" N.39="variable"*140x91 n="x3est-3" N.40="variable"*12x68 n="u-2" N.41="variable"*157x18 n="x1est-3" N.42="stateSpace"*36x57#2,3 n="state_space_estimator_2a.m" XD=0.1 Xi="0 " Xm N.43="wirePositioner"*75x56 N.44="summingJunction"*26x79 N.45="variable"*52x27 n="x3-1" N.46="variable"*52x25 n="x2-1" N.47="variable"*52x23 n="x1-1" N.48="stateSpace"*26x23#1,3 n="state_space_estimator_2.m" XD=0.1 Xi=".001 1 .001 " Xm N.49="variable"*26x41 n="u-1" N.50="transferFunction"*32x31 n="vabcd.m" XD=0.1 Xi="0 " Xg=-100 Xn="1.23572 -1.86376 .68855 " Xd="1 -.83915 .46666 -.05431 " XF=0,0,0,0,0,0,0,0,0,0 I.1.i1=15.o1 I.1.i2=8.o1 I.1.i4=22.o1 I.2.i1=3.o1 I.3.i1=4.o1 I.3.i2=5.o1 I.3.i3=6.o1 I.4.i1=2.o1 I.5.i1=2.o2 I.6.i1=2.o3 I.9.i1=13.o1 I.9.i2=17.o1 I.9.i4=24.o1 I.10.i1=2.o1 I.11.i1=2.o2 I.12.i1=2.o3 I.16.i1=14.o1 I.16.i2=7.o1 I.16.i4=23.o1 I.18.i1=20.o1 I.18.i2=21.o1 I.18.i4=25.o1 I.19.i1=3.o1 I.26.i1=30.o1 I.27.i1=35.o3 I.28.i1=35.o2 I.29.i1=43.o1 I.30.i1=29.o1 I.30.i2=28.o1 I.30.i3=27.o1 I.32.i1=26.o1 I.33.i1=26.o2 I.34.i1=26.o3 G.35=36,37,38,39,41,42,44, I.35.o1=41.o1 I.35.o2=38.o1 I.35.o3=39.o1 I.35.i1=30.o1 I.35.i2=26.o1 I.38.i1=42.o2 I.39.i1=42.o3 I.40.i1=30.o1 I.41.i1=42.o1 I.42.i1=35.i1 I.42.i2=44.o1 I.43.i1=35.o1 f44.1.i=- I.44.i1=42.o1 I.44.i2=35.i2 I.45.i1=48.o3 I.46.i1=48.o2 I.47.i1=48.o1 I.48.i1=50.o1 I.49.i1=50.o1 I.50.i1=48.o1 cEOF