; 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=92 Po=1,50,664,0 Ppl=0 Ppp=0 Ppt=0 Ppf=1 Pe=0 PD=1600x1200 Pf=0x0 Ps=3200,0,276,6000,0,0 PM=1,1,1,1 N.1="plot"*52x1*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 - 1 varijabla" pb.2=0,0 pb.3=0,0 N.2="stateSpace"*2x2#1,3 n="state_space_estimator_2.m" XD=0.1 Xi=".001 1 .001 " Xm N.3="summingJunction"*-8x11#3,1 N.4="gain"(-17.4814)*6x11 N.5="gain"(-11.4637)*4x13 N.6="gain"(-1.6481)*2x15 N.7="stateSpace"*-17x22#1,3 n="state_space_estimator_2.m" XD=0.1 Xi=".001 1 .001 " Xm N.8="gain"(-1.6481)*-23x33 N.9="gain"(-11.4637)*-21x31 N.10="gain"(-17.4814)*-19x29 N.11="summingJunction"*-33x29#3,1 N.12="unitDelay"(0,0,0)*15x43 N.13="unitDelay"(0,0,0)*54x22 N.14="pulseTrain"(0,0.1)*6x43 N.15="unitDelay"(0,0,0)*73x9 N.16="pulseTrain"(0,0.1)*65x6 N.17="pulseTrain"(0,0.1)*46x16 N.18="summingJunction"*44x46#3,1 N.19="gain"(0.0824)*35x44 N.20="label"*38x42 n="Psib" N.21="gain"(0)*53x48 N.22="label"*55x46 n="Fiba" N.23="gain"(0)*53x50 N.24="summingJunction"*46x87#3,1 N.25="summingJunction"*68x66#3,1 N.26="summingJunction"*45x72#3,1 N.27="summingJunction"*49x55#3,1 N.28="label"*28x51 n="Psia(1)" N.29="gain"(0.0001)*25x53 N.30="gain"(0.0042)*25x65 N.31="gain"(0.1872)*24x89 N.32="label"*28x63 n="Psia(2)" N.33="gain"(0)*85x59 N.34="gain"(-0.0952)*92x61 N.35="gain"(-1)*78x54 N.36="gain"(-0.9048)*92x66 N.37="label"*78x52 n="Fiaa(1,1)" N.38="summingJunction"*72x74#3,1 N.39="wirePositioner"*60x57 N.40="wirePositioner"*55x74 N.41="label"*83x57 n="Fiaa(2,1)" N.42="label"*95x59 n="Fiaa(1,2)" N.43="label"*95x64 n="Fiaa(2,2)" N.44="pulseTrain"(0,0.1)*54x83 N.45="unitDelay"(0,0,0)*58x88 N.46="label"*65x94 n="Fibb" N.47="gain"(0.6703)*62x96 N.48="gain"(-0.0042)*76x82 N.49="gain"(-0.0782)*80x87 N.50="label"*77x80 n="Fiab(1)" N.51="label"*81x85 n="Fiab(2)" N.52="gain"(3.4861)*22x91 N.53="summingJunction"*35x89 N.54="label"*26x86 n="L" Of=-13,0,700,0,1,0,34,"Arial" N.55="label"*-23x27 n="K" Of=-13,0,700,0,1,0,34,"Arial" N.56="variable"*56x99 n="x3est" N.57="plot"*102x79*54x36 pt="Povratna veza varijablama stanja + estimator" px="Time (sec)" pax=0 pf=H pb=3,0 pbx=10,0 pbY=0,0 pbX=0,0 pm=20,1 pb.0=3,0 pb.1=0,0 pb.2=0,0 pb.3=0,0 N.58="variable"*9x22 n="x1" N.59="variable"*9x24 n="x2" N.60="variable"*9x26 n="x3" N.61="variable"*107x13 n="x2" N.62="variable"*43x13 n="x1" N.63="plot"*52x38*54x36 pt="Povratna veza varijablama stanja + estimator" px="Time (sec)" pax=0 pf=H pb=1,-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 - 1 varijabla" pb.2=0,0 pb.3=0,0 N.64="variable"*25x2 n="x1st" N.65="variable"*25x4 n="x2st" N.66="variable"*25x6 n="x3st" N.67="variable"*41x41 n="x3st" N.68="variable"*106x4 n="x2st" N.69="variable"*42x4 n="x1st" N.70="Compound"*13x36#3,1 n="ESTIMATOR" Ms=3200,0,0,6000,0,0 Ml=0 Mr=0 Mh=0 Mp=0 Mw="" N.71="label"*1x16 n="x1(k)" N.72="label"*1x58 n="x2(k)" N.73="label"*0x98 n="u(k)" N.74="plot"*116x1*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 - 1 varijabla" pb.2=0,0 pb.3=0,0 N.75="variable"*42x50 n="x3" N.76="plot"*116x38*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 - 1 varijabla" pb.2=0,0 pb.3=0,0 N.77="variable"*-8x18 n="ust" N.78="variable"*-32x44 n="u" N.79="variable"*107x41 n="ust" N.80="variable"*108x50 n="u" N.81="transferFunction"*-20x79 n="vabcd.m" Xi="0 " Xg=1 Xn="1 " Xd="1 4 " XF=0,0,0,0,0,0,0,0,0,0 N.82="transferFunction"*-4x79 n="vabcd.m" Xi="0 " Xg=1 Xn="1 " Xd="1 1 " XF=0,0,0,0,0,0,0,0,0,0 N.83="transferFunction"*12x79 n="vabcd.m" Xi="0 " Xg=1 Xn="1 " Xd="1 0 " XF=0,0,0,0,0,0,0,0,0,0 N.84="label"*21x80 n="x1" N.85="label"*8x80 n="x2" N.86="label"*-8x80 n="x3" N.87="stateSpace"*-19x96#1,3 n="state_space_estimator_2.m" XD=0.1 Xi="0 " Xm N.88="step"(0,1)*-36x93 N.89="plot"*32x78*54x36 pt="Vodjeni sustav" px="vrijeme (sec)" pax=0 pf=H pb=3,0 pbx=10,0 pbY=0,0 pbX=0,0 pm=20,1 pb.0=3,0 pb.1=3,0 pb.2=0,0 pb.3=0,0 N.90="label"*-42x75 n="Usporedba diskretnog modela varijablama stanja i kontinuiranog modela vodjenog sustava" N.91="label"*-23x80 n="u" N.92="variable"*159x60 n="x3est" I.1.i1=69.o1 I.1.i2=62.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.7.i1=11.o1 I.8.i1=70.o1 I.9.i1=7.o2 I.10.i1=7.o1 I.11.i1=10.o1 I.11.i2=9.o1 I.11.i3=8.o1 f12.1.i=lb I.12.i1=14.o1 f12.2.i=lx I.12.i2=70.i3 f13.1.i=lb I.13.i1=17.o1 f13.2.i=lx I.13.i2=70.i2 f15.1.i=lb I.15.i1=16.o1 f15.2.i=lx I.15.i2=70.i1 I.18.i1=19.o1 I.18.i2=21.o1 I.18.i3=23.o1 I.19.i1=12.o1 I.21.i1=13.o1 I.23.i1=15.o1 I.24.i1=18.o1 I.24.i2=53.o1 I.24.i3=47.o1 I.25.i1=35.o1 I.25.i2=34.o1 I.25.i3=48.o1 I.26.i1=30.o1 I.26.i2=40.o1 I.26.i3=38.o1 I.27.i1=29.o1 I.27.i2=39.o1 I.27.i3=25.o1 I.29.i1=12.o1 I.30.i1=12.o1 I.31.i1=27.o1 I.33.i1=15.o1 I.34.i1=13.o1 I.35.i1=15.o1 I.36.i1=13.o1 I.38.i1=33.o1 I.38.i2=36.o1 I.38.i3=49.o1 I.39.i1=70.i1 I.40.i1=70.i2 f45.1.i=lb I.45.i1=44.o1 f45.2.i=lx I.45.i2=24.o1 I.47.i1=45.o1 I.48.i1=45.o1 I.49.i1=45.o1 I.52.i1=26.o1 I.53.i1=31.o1 I.53.i2=52.o1 I.56.i1=24.o1 I.57.i1=83.o1 I.58.i1=7.o1 I.59.i1=7.o2 I.60.i1=7.o3 I.63.i1=67.o1 I.63.i2=75.o1 I.64.i1=2.o1 I.65.i1=2.o2 I.66.i1=2.o3 G.70=12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,56,71,72,73,92, I.70.o1=92.o1 I.70.i1=7.o1 I.70.i2=7.o2 I.70.i3=11.o1 I.74.i1=68.o1 I.74.i2=61.o1 I.76.i1=79.o1 I.76.i2=80.o1 I.77.i1=3.o1 I.78.i1=11.o1 I.81.i1=88.o1 I.82.i1=81.o1 I.83.i1=82.o1 I.87.i1=88.o1 I.89.i1=83.o1 I.89.i2=87.o1 cEOF