diff --git a/Autotuners/tmpdata/README.md b/Autotuners/tmpdata/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..0ce51ee09ca4b14620abc691ac8484a192f0df39
--- /dev/null
+++ b/Autotuners/tmpdata/README.md
@@ -0,0 +1 @@
+This folder is used as a storage folder inside the programs. mat-files will be stored here and then used later in the procedures.
diff --git a/ExtraLTH/ATlibrary_LTH.mdl b/ExtraLTH/ATlibrary_LTH.mdl
new file mode 100644
index 0000000000000000000000000000000000000000..189a5c675ffacaf51a794f64b853ad1897e40853
--- /dev/null
+++ b/ExtraLTH/ATlibrary_LTH.mdl
@@ -0,0 +1,7501 @@
+Model {
+ Name "ATlibrary_2012a"
+ Version 7.9
+ MdlSubVersion 0
+ GraphicalInterface {
+ NumRootInports 0
+ NumRootOutports 0
+ ParameterArgumentNames ""
+ ComputedModelVersion "1.59"
+ NumModelReferences 0
+ NumTestPointedSignals 0
+ }
+ SavedCharacterEncoding "UTF-8"
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+ Cell "HDLSubsystem"
+ Cell "ATlibrary_2012a"
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+ MinMaxOverflowLogging "UseLocalSettings"
+ MinMaxOverflowArchiveMode "Overwrite"
+ FPTRunName "Run 1"
+ MaxMDLFileLineLength 120
+ Created "Wed Apr 26 11:16:02 2017"
+ Creator "josefinb"
+ UpdateHistory "UpdateHistoryNever"
+ ModifiedByFormat "%<Auto>"
+ LastModifiedBy "josefinb"
+ ModifiedDateFormat "%<Auto>"
+ LastModifiedDate "Fri Dec 08 13:36:33 2017"
+ RTWModifiedTimeStamp 433170707
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+ ConfigurationManager "none"
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+ SampleTimeAnnotations off
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+ BlockDescriptionStringDataTip off
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+ Cell "GenerateCodeMetricsReport"
+ Cell "GenerateCodeReplacementReport"
+ Cell "GenerateErtSFunction"
+ Cell "CreateSILPILBlock"
+ Cell "CodeExecutionProfiling"
+ Cell "CodeProfilingSaveOptions"
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+ Outputs "4"
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+ BusSelectionMode off
+ }
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+ BlockType DigitalClock
+ SampleTime "1"
+ }
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+ OutDataTypeStr "Inherit: Same as input"
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+ RndMeth "Floor"
+ SaturateOnIntegerOverflow on
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+ BlockType Ground
+ }
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+ VarSizeSig "Inherit"
+ SampleTime "-1"
+ SignalType "auto"
+ SamplingMode "auto"
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+ Interpolate on
+ }
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+ MATLABFcn "sin"
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+ OutDataTypeStr "Inherit: Same as first input"
+ LockScale off
+ RndMeth "Zero"
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+ SampleTime "-1"
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+ BlockType S-Function
+ FunctionName "system"
+ SFunctionModules "''"
+ PortCounts "[]"
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+ }
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+ TickLabels "OneTimeTick"
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+ Grid "on"
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+ SaveName "ScopeData"
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+ MaxDataPoints "5000"
+ Decimation "1"
+ SampleInput off
+ SampleTime "-1"
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+ DataTypeOverride "UseLocalSettings"
+ DataTypeOverrideAppliesTo "AllNumericTypes"
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+ SFBlockType "NONE"
+ Variant off
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+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Inport
+ Name "u0"
+ SID "712::45"
+ Position [20, 171, 40, 189]
+ ZOrder 30
+ Port "3"
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Inport
+ Name "run_exp"
+ SID "712::44"
+ Position [20, 206, 40, 224]
+ ZOrder 29
+ Port "4"
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Demux
+ Name " Demux "
+ SID "712::40"
+ Ports [1, 1]
+ Position [270, 215, 320, 255]
+ ZOrder 25
+ Outputs "1"
+ }
+ Block {
+ BlockType S-Function
+ Name " SFunction "
+ SID "712::39"
+ Tag "Stateflow S-Function ATlibrary_2012a 1"
+ Ports [4, 3]
+ Position [180, 112, 230, 213]
+ ZOrder 24
+ FunctionName "sf_sfun"
+ PortCounts "[4 3]"
+ EnableBusSupport on
+ Port {
+ PortNumber 2
+ Name "result"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
+ }
+ Port {
+ PortNumber 3
+ Name "u"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
+ }
+ }
+ Block {
+ BlockType Terminator
+ Name " Terminator "
+ SID "712::41"
+ Position [460, 226, 480, 244]
+ ZOrder 26
+ }
+ Block {
+ BlockType Outport
+ Name "result"
+ SID "712::43"
+ Position [460, 101, 480, 119]
+ ZOrder 28
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Outport
+ Name "u"
+ SID "712::27"
+ Position [460, 136, 480, 154]
+ ZOrder 13
+ Port "2"
+ IconDisplay "Port number"
+ }
+ Line {
+ SrcBlock " SFunction "
+ SrcPort 1
+ DstBlock " Demux "
+ DstPort 1
+ }
+ Line {
+ SrcBlock " Demux "
+ SrcPort 1
+ DstBlock " Terminator "
+ DstPort 1
+ }
+ Line {
+ Name "u"
+ Labels [0, 0]
+ SrcBlock " SFunction "
+ SrcPort 3
+ DstBlock "u"
+ DstPort 1
+ }
+ Line {
+ Name "result"
+ Labels [0, 0]
+ SrcBlock " SFunction "
+ SrcPort 2
+ DstBlock "result"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "run_exp"
+ SrcPort 1
+ DstBlock " SFunction "
+ DstPort 4
+ }
+ Line {
+ SrcBlock "u0"
+ SrcPort 1
+ DstBlock " SFunction "
+ DstPort 3
+ }
+ Line {
+ SrcBlock "e"
+ SrcPort 1
+ DstBlock " SFunction "
+ DstPort 2
+ }
+ Line {
+ SrcBlock "relay_par"
+ SrcPort 1
+ DstBlock " SFunction "
+ DstPort 1
+ }
+ }
+ }
+ Block {
+ BlockType Outport
+ Name "u"
+ SID "713"
+ Position [490, 135, 510, 155]
+ ZOrder -2
+ IconDisplay "Port number"
+ }
+ Line {
+ SrcBlock "Sum"
+ SrcPort 1
+ DstBlock "Halt logics"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "Switch"
+ SrcPort 1
+ Points [25, 0]
+ Branch {
+ Points [0, 80]
+ Branch {
+ Points [0, 90]
+ DstBlock "Sum"
+ DstPort 1
+ }
+ Branch {
+ Points [0, 5]
+ DstBlock "Scope1"
+ DstPort 1
+ }
+ }
+ Branch {
+ Points [15, 0]
+ Branch {
+ Points [0, 20]
+ DstBlock "Scope3"
+ DstPort 1
+ }
+ Branch {
+ DstBlock "u"
+ DstPort 1
+ }
+ }
+ }
+ Line {
+ SrcBlock "Compare\nTo Constant"
+ SrcPort 1
+ Points [5, 0; 0, -15]
+ Branch {
+ DstBlock "Switch"
+ DstPort 2
+ }
+ Branch {
+ Points [0, -60]
+ DstBlock "relay_exp\n"
+ DstPort 4
+ }
+ }
+ Line {
+ SrcBlock "ConstU"
+ SrcPort 1
+ Points [50, 0]
+ Branch {
+ Points [75, 0]
+ Branch {
+ Points [0, 135; 210, 0]
+ DstBlock "Sum"
+ DstPort 2
+ }
+ Branch {
+ Points [17, 0; 0, -70]
+ DstBlock "Switch"
+ DstPort 3
+ }
+ }
+ Branch {
+ Points [0, -165]
+ DstBlock "relay_exp\n"
+ DstPort 3
+ }
+ }
+ Line {
+ SrcBlock "Digital Clock"
+ SrcPort 1
+ DstBlock "Compare\nTo Constant"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "relay_exp\n"
+ SrcPort 1
+ DstBlock "Logger"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "Constant"
+ SrcPort 1
+ Points [160, 0]
+ DstBlock "relay_exp\n"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "e"
+ SrcPort 1
+ Points [85, 0]
+ DstBlock "relay_exp\n"
+ DstPort 2
+ }
+ Line {
+ SrcBlock "relay_exp\n"
+ SrcPort 2
+ Points [10, 0; 0, 55]
+ DstBlock "Switch"
+ DstPort 1
+ }
+ }
+ }
+ Block {
+ BlockType SubSystem
+ Name "Real Quadtank"
+ SID "582"
+ Ports [2, 4]
+ Position [100, 365, 190, 460]
+ ZOrder -1
+ BackgroundColor "green"
+ AncestorBlock "tank/Real Quadtank"
+ LibraryVersion "*"
+ MinAlgLoopOccurrences off
+ PropExecContextOutsideSubsystem off
+ RTWSystemCode "Auto"
+ FunctionWithSeparateData off
+ Opaque off
+ RequestExecContextInheritance off
+ MaskHideContents off
+ MaskPromptString "h"
+ MaskStyleString "edit"
+ MaskVariables "h=@1;"
+ MaskTunableValueString "on"
+ MaskEnableString "on"
+ MaskVisibilityString "on"
+ MaskToolTipString "on"
+ MaskIconFrame on
+ MaskIconOpaque on
+ MaskIconRotate "none"
+ MaskPortRotate "default"
+ MaskIconUnits "autoscale"
+ MaskValueString "0.01"
+ System {
+ Name "Real Quadtank"
+ Location [169, -29, 1242, 1124]
+ 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 "34"
+ Block {
+ BlockType Inport
+ Name "u1"
+ SID "582:1"
+ Position [260, 148, 290, 162]
+ ZOrder -1
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Inport
+ Name "u2"
+ SID "582:2"
+ Position [260, 408, 290, 422]
+ ZOrder -2
+ Port "2"
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType S-Function
+ Name "AnalogIn 0"
+ SID "582:3"
+ Ports [1, 2]
+ Position [150, 112, 210, 143]
+ ZOrder -3
+ FunctionName "analogin"
+ Parameters "h [35]"
+ EnableBusSupport off
+ }
+ Block {
+ BlockType S-Function
+ Name "AnalogIn 1"
+ SID "582:4"
+ Ports [1, 2]
+ Position [150, 372, 210, 403]
+ ZOrder -4
+ FunctionName "analogin"
+ Parameters "h [34]"
+ EnableBusSupport off
+ }
+ Block {
+ BlockType S-Function
+ Name "AnalogIn 2"
+ SID "582:5"
+ Ports [1, 2]
+ Position [150, 452, 210, 483]
+ ZOrder -5
+ FunctionName "analogin"
+ Parameters "h [33]"
+ EnableBusSupport off
+ }
+ Block {
+ BlockType S-Function
+ Name "AnalogIn 3"
+ SID "582:6"
+ Ports [1, 2]
+ Position [150, 187, 210, 218]
+ ZOrder -6
+ FunctionName "analogin"
+ Parameters "h [31]"
+ EnableBusSupport off
+ }
+ Block {
+ BlockType S-Function
+ Name "AnalogIn 4"
+ SID "582:7"
+ Ports [1, 2]
+ Position [150, 287, 210, 318]
+ ZOrder -7
+ FunctionName "analogin"
+ Parameters "h [30]"
+ EnableBusSupport off
+ }
+ Block {
+ BlockType S-Function
+ Name "AnalogIn 5"
+ SID "582:8"
+ Ports [1, 2]
+ Position [150, 552, 210, 583]
+ ZOrder -8
+ FunctionName "analogin"
+ Parameters "h [32]"
+ EnableBusSupport off
+ }
+ Block {
+ BlockType S-Function
+ Name "AnalogOut 0"
+ SID "582:9"
+ Ports [2, 1]
+ Position [455, 112, 515, 143]
+ ZOrder -9
+ FunctionName "analogout"
+ Parameters "h [31]"
+ EnableBusSupport off
+ }
+ Block {
+ BlockType S-Function
+ Name "AnalogOut 1"
+ SID "582:10"
+ Ports [2, 1]
+ Position [460, 372, 520, 403]
+ ZOrder -10
+ FunctionName "analogout"
+ Parameters "h [30]"
+ EnableBusSupport off
+ }
+ Block {
+ BlockType Ground
+ Name "Ground"
+ SID "582:11"
+ Position [95, 120, 115, 140]
+ ZOrder -11
+ }
+ Block {
+ BlockType Ground
+ Name "Ground1"
+ SID "582:12"
+ Position [95, 380, 115, 400]
+ ZOrder -12
+ }
+ Block {
+ BlockType TransferFcn
+ Name "LP 1"
+ SID "582:13"
+ Position [300, 192, 360, 228]
+ ZOrder -13
+ Denominator "[0.04 0.4 1]"
+ }
+ Block {
+ BlockType TransferFcn
+ Name "LP 2"
+ SID "582:14"
+ Position [300, 457, 360, 493]
+ ZOrder -14
+ Denominator "[0.04 0.4 1]"
+ }
+ Block {
+ BlockType TransferFcn
+ Name "LP 3"
+ SID "582:15"
+ Position [300, 292, 360, 328]
+ ZOrder -15
+ Denominator "[0.04 0.4 1]"
+ }
+ Block {
+ BlockType TransferFcn
+ Name "LP 4"
+ SID "582:16"
+ Position [305, 557, 365, 593]
+ ZOrder -16
+ Denominator "[0.04 0.4 1]"
+ }
+ Block {
+ BlockType Mux
+ Name "Mux"
+ SID "582:17"
+ Ports [2, 1]
+ Position [315, 123, 320, 167]
+ ZOrder -17
+ ShowName off
+ Inputs "2"
+ DisplayOption "bar"
+ }
+ Block {
+ BlockType Mux
+ Name "Mux1"
+ SID "582:18"
+ Ports [2, 1]
+ Position [315, 383, 320, 427]
+ ZOrder -18
+ ShowName off
+ Inputs "2"
+ DisplayOption "bar"
+ }
+ Block {
+ BlockType S-Function
+ Name "S-Function2"
+ SID "582:19"
+ Ports [0, 1]
+ Position [110, 30, 170, 60]
+ ZOrder -19
+ FunctionName "realtimer"
+ Parameters "h"
+ EnableBusSupport off
+ }
+ Block {
+ BlockType Scope
+ Name "Scope"
+ SID "582:20"
+ Ports [1]
+ Position [225, 29, 255, 61]
+ ZOrder -20
+ Floating off
+ Location [48, 426, 372, 665]
+ Open off
+ NumInputPorts "1"
+ List {
+ ListType AxesTitles
+ axes1 "%<SignalLabel>"
+ }
+ ShowLegends off
+ YMin "2.77556e-17"
+ YMax "0.45"
+ DataFormat "StructureWithTime"
+ SampleTime "0"
+ }
+ Block {
+ BlockType Terminator
+ Name "Terminator"
+ SID "582:21"
+ Position [545, 120, 565, 140]
+ ZOrder -21
+ }
+ Block {
+ BlockType Terminator
+ Name "Terminator1"
+ SID "582:22"
+ Position [550, 380, 570, 400]
+ ZOrder -22
+ }
+ Block {
+ BlockType Terminator
+ Name "Terminator2"
+ SID "582:23"
+ Position [240, 185, 260, 205]
+ ZOrder -23
+ }
+ Block {
+ BlockType Terminator
+ Name "Terminator3"
+ SID "582:24"
+ Position [240, 285, 260, 305]
+ ZOrder -24
+ }
+ Block {
+ BlockType Terminator
+ Name "Terminator4"
+ SID "582:25"
+ Position [235, 450, 255, 470]
+ ZOrder -25
+ }
+ Block {
+ BlockType Terminator
+ Name "Terminator5"
+ SID "582:26"
+ Position [240, 550, 260, 570]
+ ZOrder -26
+ }
+ Block {
+ BlockType MATLABFcn
+ Name "flow controller 1"
+ SID "582:27"
+ Ports [1, 1]
+ Position [345, 130, 405, 160]
+ ZOrder -27
+ MATLABFcn "flowCtrl1"
+ SampleTime "0.01"
+ }
+ Block {
+ BlockType MATLABFcn
+ Name "flow controller 2"
+ SID "582:28"
+ Ports [1, 1]
+ Position [350, 390, 410, 420]
+ ZOrder -28
+ MATLABFcn "flowCtrl2"
+ SampleTime "0.01"
+ }
+ Block {
+ BlockType Outport
+ Name "y1"
+ SID "582:29"
+ Position [385, 203, 415, 217]
+ ZOrder -29
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Outport
+ Name "y2"
+ SID "582:30"
+ Position [385, 468, 415, 482]
+ ZOrder -30
+ Port "2"
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Outport
+ Name "y3"
+ SID "582:31"
+ Position [385, 303, 415, 317]
+ ZOrder -31
+ Port "3"
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Outport
+ Name "y4"
+ SID "582:32"
+ Position [390, 568, 420, 582]
+ ZOrder -32
+ Port "4"
+ IconDisplay "Port number"
+ }
+ Line {
+ SrcBlock "S-Function2"
+ SrcPort 1
+ DstBlock "Scope"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "AnalogIn 0"
+ SrcPort 1
+ DstBlock "AnalogOut 0"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "AnalogOut 0"
+ SrcPort 1
+ DstBlock "Terminator"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "AnalogIn 1"
+ SrcPort 1
+ DstBlock "AnalogOut 1"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "AnalogOut 1"
+ SrcPort 1
+ DstBlock "Terminator1"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "AnalogIn 3"
+ SrcPort 2
+ DstBlock "LP 1"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "AnalogIn 4"
+ SrcPort 2
+ DstBlock "LP 3"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "Ground"
+ SrcPort 1
+ Points [10, 0]
+ Branch {
+ DstBlock "AnalogIn 0"
+ DstPort 1
+ }
+ Branch {
+ Points [0, 75]
+ Branch {
+ DstBlock "AnalogIn 3"
+ DstPort 1
+ }
+ Branch {
+ Points [0, 100]
+ DstBlock "AnalogIn 4"
+ DstPort 1
+ }
+ }
+ }
+ Line {
+ SrcBlock "AnalogIn 3"
+ SrcPort 1
+ DstBlock "Terminator2"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "AnalogIn 4"
+ SrcPort 1
+ DstBlock "Terminator3"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "AnalogIn 2"
+ SrcPort 2
+ DstBlock "LP 2"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "AnalogIn 5"
+ SrcPort 2
+ DstBlock "LP 4"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "Ground1"
+ SrcPort 1
+ Points [10, 0]
+ Branch {
+ Points [0, 80]
+ Branch {
+ Points [0, 100]
+ DstBlock "AnalogIn 5"
+ DstPort 1
+ }
+ Branch {
+ DstBlock "AnalogIn 2"
+ DstPort 1
+ }
+ }
+ Branch {
+ DstBlock "AnalogIn 1"
+ DstPort 1
+ }
+ }
+ Line {
+ SrcBlock "AnalogIn 2"
+ SrcPort 1
+ DstBlock "Terminator4"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "AnalogIn 5"
+ SrcPort 1
+ DstBlock "Terminator5"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "u1"
+ SrcPort 1
+ DstBlock "Mux"
+ DstPort 2
+ }
+ Line {
+ SrcBlock "Mux"
+ SrcPort 1
+ DstBlock "flow controller 1"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "flow controller 1"
+ SrcPort 1
+ Points [30, 0]
+ DstBlock "AnalogOut 0"
+ DstPort 2
+ }
+ Line {
+ SrcBlock "u2"
+ SrcPort 1
+ DstBlock "Mux1"
+ DstPort 2
+ }
+ Line {
+ SrcBlock "Mux1"
+ SrcPort 1
+ DstBlock "flow controller 2"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "flow controller 2"
+ SrcPort 1
+ Points [30, 0]
+ DstBlock "AnalogOut 1"
+ DstPort 2
+ }
+ Line {
+ SrcBlock "AnalogIn 1"
+ SrcPort 2
+ DstBlock "Mux1"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "AnalogIn 0"
+ SrcPort 2
+ DstBlock "Mux"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "LP 1"
+ SrcPort 1
+ DstBlock "y1"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "LP 3"
+ SrcPort 1
+ DstBlock "y3"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "LP 2"
+ SrcPort 1
+ DstBlock "y2"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "LP 4"
+ SrcPort 1
+ DstBlock "y4"
+ DstPort 1
+ }
+ }
+ }
+ Block {
+ BlockType SubSystem
+ Name "Real batch tank"
+ SID "637"
+ Ports [5, 3]
+ Position [280, 363, 370, 467]
+ ZOrder -1
+ BackgroundColor "green"
+ AncestorBlock "tank/Real Quadtank"
+ LibraryVersion "*"
+ MinAlgLoopOccurrences off
+ PropExecContextOutsideSubsystem off
+ RTWSystemCode "Auto"
+ FunctionWithSeparateData off
+ Opaque off
+ RequestExecContextInheritance off
+ MaskHideContents off
+ MaskPromptString "h"
+ MaskStyleString "edit"
+ MaskVariables "h=@1;"
+ MaskTunableValueString "on"
+ MaskEnableString "on"
+ MaskVisibilityString "on"
+ MaskToolTipString "on"
+ MaskIconFrame on
+ MaskIconOpaque on
+ MaskIconRotate "none"
+ MaskPortRotate "default"
+ MaskIconUnits "autoscale"
+ MaskValueString "0.05"
+ System {
+ Name "Real batch tank"
+ Location [71, 92, 1144, 834]
+ 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 "92"
+ Block {
+ BlockType Inport
+ Name "InPump"
+ SID "637:34"
+ Position [190, 193, 220, 207]
+ ZOrder -1
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Inport
+ Name "OutPump"
+ SID "637:35"
+ Position [190, 293, 220, 307]
+ ZOrder -1
+ Port "2"
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Inport
+ Name "Heater"
+ SID "637:36"
+ Position [160, 533, 190, 547]
+ ZOrder -1
+ Port "3"
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Inport
+ Name "Mixer"
+ SID "637:37"
+ Position [160, 618, 190, 632]
+ ZOrder -1
+ Port "4"
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Inport
+ Name "Cooler"
+ SID "637:38"
+ Position [155, 688, 185, 702]
+ ZOrder -1
+ Port "5"
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType S-Function
+ Name "AnalogIn 1"
+ SID "637:86"
+ Ports [1, 2]
+ Position [180, 772, 240, 803]
+ ZOrder -6
+ FunctionName "analogin"
+ Parameters "h [30]"
+ EnableBusSupport off
+ }
+ Block {
+ BlockType S-Function
+ Name "AnalogIn 2"
+ SID "637:89"
+ Ports [1, 2]
+ Position [180, 827, 240, 858]
+ ZOrder -6
+ FunctionName "analogin"
+ Parameters "h [37]"
+ EnableBusSupport off
+ }
+ Block {
+ BlockType S-Function
+ Name "AnalogIn 7"
+ SID "637:46"
+ Ports [1, 2]
+ Position [195, 357, 255, 388]
+ ZOrder -6
+ FunctionName "analogin"
+ Parameters "h [31]"
+ EnableBusSupport off
+ }
+ Block {
+ BlockType S-Function
+ Name "AnalogOut1"
+ SID "637:48"
+ Ports [2, 1]
+ Position [265, 177, 325, 208]
+ ZOrder -9
+ FunctionName "analogout"
+ Parameters "h [32]"
+ EnableBusSupport off
+ }
+ Block {
+ BlockType S-Function
+ Name "AnalogOut2"
+ SID "637:65"
+ Ports [2, 1]
+ Position [265, 267, 325, 298]
+ ZOrder -9
+ FunctionName "analogout"
+ Parameters "h [33]"
+ EnableBusSupport off
+ }
+ Block {
+ BlockType S-Function
+ Name "AnalogOut3"
+ SID "637:77"
+ Ports [2, 1]
+ Position [240, 517, 300, 548]
+ ZOrder -9
+ FunctionName "analogout"
+ Parameters "h [30]"
+ EnableBusSupport off
+ }
+ Block {
+ BlockType S-Function
+ Name "AnalogOut4"
+ SID "637:80"
+ Ports [2, 1]
+ Position [240, 602, 300, 633]
+ ZOrder -9
+ FunctionName "analogout"
+ Parameters "h [34]"
+ EnableBusSupport off
+ }
+ Block {
+ BlockType S-Function
+ Name "AnalogOut5"
+ SID "637:83"
+ Ports [2, 1]
+ Position [240, 672, 300, 703]
+ ZOrder -9
+ FunctionName "analogout"
+ Parameters "h [31]"
+ EnableBusSupport off
+ }
+ Block {
+ BlockType Ground
+ Name "LevelControlLoop"
+ SID "637:49"
+ Position [110, 175, 130, 195]
+ ZOrder -11
+ }
+ Block {
+ BlockType S-Function
+ Name "S-Function2"
+ SID "637:19"
+ Ports [0, 1]
+ Position [110, 30, 170, 60]
+ ZOrder -19
+ FunctionName "realtimer"
+ Parameters "h"
+ EnableBusSupport off
+ }
+ Block {
+ BlockType Scope
+ Name "Scope"
+ SID "637:20"
+ Ports [1]
+ Position [225, 29, 255, 61]
+ ZOrder -20
+ Floating off
+ Location [48, 426, 372, 665]
+ Open off
+ NumInputPorts "1"
+ List {
+ ListType AxesTitles
+ axes1 "%<SignalLabel>"
+ }
+ List {
+ ListType ScopeGraphics
+ FigureColor "[0.5 0.5 0.5]"
+ AxesColor "[0 0 0]"
+ AxesTickColor "[1 1 1]"
+ LineColors "[1 1 0;1 0 1;0 1 1;1 0 0;0 1 0;0 0 1]"
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+ DstBlock "Constraint"
+ DstPort 2
+ }
+ Branch {
+ Points [0, -95]
+ DstBlock "Scope"
+ DstPort 1
+ }
+ }
+ Line {
+ SrcBlock "Clock"
+ SrcPort 1
+ Points [75, 0]
+ Branch {
+ Points [20, 0]
+ Branch {
+ Points [100, 0]
+ Branch {
+ Points [0, 85]
+ DstBlock "Compare\nTo Constant1"
+ DstPort 1
+ }
+ Branch {
+ Points [85, 0; 0, -124]
+ DstBlock "relay_exp\n"
+ DstPort 3
+ }
+ }
+ Branch {
+ Points [0, -90]
+ DstBlock "Mux"
+ DstPort 3
+ }
+ }
+ Branch {
+ Points [0, 360]
+ DstBlock "Constraint"
+ DstPort 1
+ }
+ }
+ Line {
+ SrcBlock "relay_exp\n"
+ SrcPort 3
+ DstBlock "Scope1"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "relay_exp\n"
+ SrcPort 1
+ DstBlock "Logger"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "Constraint"
+ SrcPort 1
+ DstBlock "Stop Simulation"
+ DstPort 1
+ }
+ }
+ }
+ }
+}
+# Finite State Machines
+#
+# Stateflow Version 7.6 (R2011b) dated Jan 25 2012, 13:50:40
+#
+#
+
+
+Stateflow {
+ machine {
+ id 1
+ name "ATlibrary_2012a"
+ created "26-Apr-2017 11:16:05"
+ isLibrary 0
+ firstTarget 79
+ sfVersion 76014001.00040001
+ }
+ chart {
+ id 2
+ name "NOMAD/relay_exp\n"
+ windowPosition [404.686 -55 429 739.2]
+ viewLimits [0 319.2 0 430.6]
+ screen [1 1 1280 1024 1.25]
+ treeNode [0 3 0 0]
+ firstTransition 5
+ firstJunction 4
+ viewObj 2
+ machine 1
+ ssIdHighWaterMark 21
+ decomposition CLUSTER_CHART
+ type EML_CHART
+ firstData 6
+ chartFileNumber 1
+ disableImplicitCasting 1
+ eml {
+ name "relay_function"
+ }
+ }
+ 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 [result, u] = relay_function(relay_par, e, u0, run_exp)\n\n%%%%%%%%%% Definitions and de"
+ "fault values %%%%%%%%%%%%%%\ny=-e;\n% Relay parameters, values from workspace.\npersistent d1 d2 u_on u_off h\ng"
+ "amma = relay_par(1);\nt_sample = relay_par(2);\nbigYup = relay_par(3);\nrelayMaxDev = relay_par(4);\ndef_h = rel"
+ "ay_par(5);\nnoiseMeasureTime = relay_par(6);\n\npersistent yref uref\nif isempty(d2)\n h=def_h;\n % These "
+ "values are re-assigned later in the program so they won't be\n % used. But they are assigned in an if-stateme"
+ "nt so the program doesn't\n % understand that they will always be assigned before they are used.\n d1 = ga"
+ "mma;\n d2 = 1;\n u_on = d1;\n u_off = -d2;\n uref = u0;\n yref = 0;\nend\n\npersistent u_old sta"
+ "rtup Ksign\nif isempty(u_old)\n u_old = uref;\n Ksign = 1; % Will be re-assigned during the startup phase\n"
+ "end\n\npersistent sample\nif isempty(sample)\n sample = 0;\nend\n\n\n%%%%%%%%% Startup params %%%%%%%%%%%\np"
+ "ersistent a b c tff exp_t yh yl measureNoise first\nif isempty(startup)\n tff = 1/t_sample; % Usually 5 but t"
+ "o not make the startup phase a too large part of the id data in the ETFA paper we decreased it! Want the ramp-up"
+ " to be a certain time, according to Tore about 3-5s \n b = 40;\n c = relayMaxDev/(b-1);\n a = uref-c;\n"
+ " measureNoise = 1;\n startup = 0;\n yh = 0;\n yl = 0;\n first = true;\nend\n%%%%%%%%%%%%%%%%%%%%%"
+ "%%%%%%%%%%%%%%%%%%%%%%%%%\n\nif run_exp == 0\n u = 0;\n result = [0 0 0];\n return\nend\n\n\n%%%%%%%%%%"
+ "%%% Program running %%%%%%%%%%%%%%%%%\n\nsample = sample+1;\nif sample > 1\nend\n\n% %%%%%%%%% Startup %%%%%%%%%"
+ "%%%\n if measureNoise == 1\n if first \n uref = u0;\n yref = y;\n first = false;\n "
+ " yh = yref;\n yl = yref;\n end\n u = uref;\n if sample < noiseMeasureTime/t_sample\n yh "
+ "= max(yh,y);\n yl = min(yl,y);\n else\n noise = (yh-yl)/2;\n yref = (yh+yl)/2;\n "
+ "h = max(2*noise, def_h);\n measureNoise = 0;\n startup = 1;\n end\n elseif startup == 1\n ex"
+ "p_t = sample-noiseMeasureTime/t_sample;\n a = uref-c;\n u = (a+c*b^(exp_t/tff));\n if abs(u) > "
+ "relayMaxDev+uref\n u = (relayMaxDev+uref);\n end\n if exp_t > 1\n ydev = y-y"
+ "ref; \n if abs(ydev) > h % reached outside hysteresis, stop and decide Ksign\n Ksign ="
+ " ydev/abs(ydev)\n if bigYup == 1\n %d1 = min(relayMaxDev, gamma*abs(u-uref));\n"
+ " d1 = min(relayMaxDev, abs(u-uref)); %could be a problem to have the large/small this way but"
+ " prefer it. \n d2 = d1/gamma;\n else\n %d2 = min(relayMaxDe"
+ "v, gamma*abs(u-uref));\n d2 = min(relayMaxDev, abs(u-uref));\n d1 = d2/gam"
+ "ma;\n end\n startup = 0;\n u_on = uref+Ksign*d1;\n u"
+ "_off = uref-Ksign*d2;\n if Ksign > 0\n u = u_off;\n else\n "
+ " u = u_on;\n end\n elseif exp_t > tff\n u = uref+relayMax"
+ "Dev;\n end\n end\n else\n %%%%%% Update amplitudes %%%%%%%\n u_on = uref+Ksign*d1;\n "
+ "u_off = uref-Ksign*d2;\n %%%%%% Calculate new u %%%%%%%%%\n if y <= yref-h\n u = u_on;\n elseif "
+ "y < yref+h && y > yref-h\n u = u_old;\n else u = u_off;\n end\n end\n%%%% store data %%%%%%\nu_old "
+ "= u;\nresult = [yref, uref, h];\n\n\n\n\n\n\n"
+ editorLayout "100 M4x1[10 5 700 500]"
+ }
+ }
+ 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 19.875 100.8 18.448]
+ fontSize 12
+ src {
+ intersection [0 0 1 0 23.5747 14.625 0 0]
+ }
+ dst {
+ id 4
+ intersection [1 0 -1 0 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
+ slide {
+ sticky BOTH_STICK
+ }
+ executionOrder 1
+ ssIdNumber 2
+ }
+ data {
+ id 6
+ ssIdNumber 19
+ name "result"
+ linkNode [2 0 7]
+ 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 7
+ ssIdNumber 18
+ name "relay_par"
+ linkNode [2 6 8]
+ scope INPUT_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_INHERITED
+ }
+ dataType "Inherit: Same as Simulink"
+ }
+ data {
+ id 8
+ ssIdNumber 8
+ name "u"
+ 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 5
+ name "e"
+ linkNode [2 8 10]
+ scope INPUT_DATA
+ machine 1
+ props {
+ array {
+ size "-1"
+ }
+ type {
+ method SF_INHERITED_TYPE
+ primitive SF_DOUBLE_TYPE
+ }
+ complexity SF_COMPLEX_INHERITED
+ frame SF_FRAME_NO
+ }
+ dataType "Inherit: Same as Simulink"
+ }
+ data {
+ id 10
+ ssIdNumber 21
+ name "u0"
+ linkNode [2 9 11]
+ scope INPUT_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_INHERITED
+ }
+ dataType "Inherit: Same as Simulink"
+ }
+ data {
+ id 11
+ ssIdNumber 20
+ name "run_exp"
+ linkNode [2 10 0]
+ scope INPUT_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_INHERITED
+ }
+ dataType "Inherit: Same as Simulink"
+ }
+ instance {
+ id 12
+ name "NOMAD/relay_exp\n"
+ machine 1
+ chart 2
+ }
+ chart {
+ id 13
+ name "tau_tuner/Constraint"
+ windowPosition [492.889 250.2 211 434]
+ viewLimits [0 156.75 0 153.75]
+ screen [1 1 1280 1024 1.25]
+ treeNode [0 14 0 0]
+ firstTransition 16
+ firstJunction 15
+ viewObj 13
+ machine 1
+ ssIdHighWaterMark 7
+ decomposition CLUSTER_CHART
+ type EML_CHART
+ firstData 17
+ chartFileNumber 5
+ disableImplicitCasting 1
+ eml {
+ name "Constraint"
+ }
+ }
+ state {
+ id 14
+ labelString "eML_blk_kernel()"
+ position [18 64.5 118 66]
+ fontSize 12
+ chart 13
+ treeNode [13 0 0 0]
+ superState SUBCHART
+ subviewer 13
+ ssIdNumber 1
+ type FUNC_STATE
+ decomposition CLUSTER_STATE
+ eml {
+ isEML 1
+ script "%function stop = Constraint(tstop, time, done)\nfunction stop = Constraint(time, done)\n%#codegen"
+ "\npersistent tstopp\nif isempty(tstopp)\n tstopp = 10000;\nend\nif done == 1\n tstopp = time;\nend\nif tim"
+ "e > tstopp; %+params.timeAfterExp;\n stop = 1;\nelse\n stop = 0;\nend"
+ editorLayout "100 M4x1[10 5 700 500]"
+ }
+ }
+ junction {
+ id 15
+ position [23.5747 49.5747 7]
+ chart 13
+ linkNode [13 0 0]
+ subviewer 13
+ ssIdNumber 3
+ type CONNECTIVE_JUNCTION
+ }
+ transition {
+ id 16
+ 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 15
+ intersection [1 0 -1 0 23.5747 42.5747 0 0]
+ }
+ midPoint [23.5747 24.9468]
+ chart 13
+ linkNode [13 0 0]
+ dataLimits [23.575 23.575 14.625 34.575]
+ subviewer 13
+ drawStyle SMART
+ slide {
+ sticky BOTH_STICK
+ }
+ executionOrder 1
+ ssIdNumber 2
+ }
+ data {
+ id 17
+ ssIdNumber 5
+ name "stop"
+ linkNode [13 0 18]
+ scope OUTPUT_DATA
+ machine 1
+ props {
+ array {
+ size "-1"
+ }
+ type {
+ method SF_INHERITED_TYPE
+ primitive SF_DOUBLE_TYPE
+ }
+ complexity SF_COMPLEX_INHERITED
+ frame SF_FRAME_NO
+ }
+ dataType "Inherit: Same as Simulink"
+ }
+ data {
+ id 18
+ ssIdNumber 6
+ name "time"
+ linkNode [13 17 19]
+ scope INPUT_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_INHERITED
+ }
+ dataType "Inherit: Same as Simulink"
+ }
+ data {
+ id 19
+ ssIdNumber 7
+ name "done"
+ linkNode [13 18 0]
+ scope INPUT_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_INHERITED
+ }
+ dataType "Inherit: Same as Simulink"
+ }
+ instance {
+ id 20
+ name "tau_tuner/Constraint"
+ machine 1
+ chart 13
+ }
+ chart {
+ id 21
+ name "tau_tuner/relay_exp\n"
+ windowPosition [535.556 -55 429 739.2]
+ viewLimits [0 319.2 0 430.6]
+ screen [1 1 1280 1024 1.25]
+ treeNode [0 22 0 0]
+ firstTransition 24
+ firstJunction 23
+ viewObj 21
+ machine 1
+ ssIdHighWaterMark 17
+ decomposition CLUSTER_CHART
+ type EML_CHART
+ firstData 25
+ updateMethod DISCRETE
+ sampleTime "simopt.h"
+ chartFileNumber 6
+ disableImplicitCasting 1
+ eml {
+ name "relay_exp"
+ }
+ }
+ state {
+ id 22
+ labelString "eML_blk_kernel()"
+ position [18 64.5 118 66]
+ fontSize 12
+ chart 21
+ treeNode [21 0 0 0]
+ superState SUBCHART
+ subviewer 21
+ ssIdNumber 1
+ type FUNC_STATE
+ decomposition CLUSTER_STATE
+ eml {
+ isEML 1
+ script "function [result, u, PID_param, done]= relay_exp(relay_par, e,t, u_ref, run_exp)\n\n\n%%%%%%%%%% "
+ "Definitions and default values %%%%%%%%%%%%%%\ny = -e;\n% Relay parameters, values from workspace.\npersistent d"
+ "1 d2 u_on u_off h\nepsilon = relay_par(1);\ngamma = relay_par(2); \nt_sample = relay_par(3);\nlow_limit_f = rela"
+ "y_par(4);\nupp_limit_f = relay_par(5);\nbigYup = relay_par(6);\nrelayMaxDev = relay_par(7);\ndef_h = relay_par(8"
+ ");\nnoiseMeasureTime = relay_par(9);\nfixAmp = relay_par(10);\n\npersistent yref uref resultvec\nif isempty(d2)\n"
+ " h=def_h;\n % These values are assigned to their values later in the code, but in an if-statement\n % s"
+ "o the program doesn't understand that they will always be assigned. \n d1 = gamma;\n d2 = 1;\n u_on = "
+ "d1;\n u_off = -d2;\n uref = 0;\n yref = y;\n resultvec = zeros(22,1);\nend\n\n% Creating arrays for "
+ "data logging\nmaxlength = 1000000;\npersistent uvec yvec tvec \nif isempty(uvec)\n uvec = zeros(1,maxlength);"
+ "\n yvec = zeros(1,maxlength);\n tvec = zeros(1,maxlength);\nend\n\npersistent sample\nif isempty(sample)\n"
+ " sample = 0;\nend\n\npersistent startup Ksign startup_switch amp_changed\nif isempty(Ksign)\n Ksign = 1; %"
+ " Is found and assigned during the startup phase\n startup_switch = 0; \n amp_changed = 0;\nend\n\npersiste"
+ "nt param \nif isempty(param)\n param = [1, 10, 0]; % Should be an input somehow if an existing PID controller"
+ " is used first\nend\nPID_param = param; % Not allowed to have a persistent variable as output so had to do like "
+ "this\ndone = 0;\nfinished = false;\n\n% To handle switches\npersistent switching_times switch_index last_switch_"
+ "sample\nif isempty(switching_times)\n switching_times = zeros(1,100); % Larger than necessary\n switch_ind"
+ "ex = 1;\n last_switch_sample = 1;\nend\n\n%%%%%%%%% Startup params %%%%%%%%%%%\npersistent a b c ttf exp_t y"
+ "h yl measureNoise first\nif isempty(startup)\n uvec(1) = uref;\n yvec(1) = yref;\n tvec(1) = 0;\n tt"
+ "f = 5/t_sample; % Want to run the exponential growth for a certain time, not a number of samples. According to T"
+ "ore about 3-5s \n b = 40;\n c = relayMaxDev/(b-1);\n a = uvec(1)-c;\n measureNoise = 1;\n startup"
+ " = 0;\n yh = 0;\n yl = 0;\n first = true;\nend\n%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%\n\nresu"
+ "lt = resultvec;\nif run_exp == 0\n done = 0;\n u = 0;\n PID_param = param;\n return\nend\nif fixAmp "
+ "== 1\n d1 = upp_limit_f;\n d2 = low_limit_f;\nend\n%%%%%%%%%%%%% Program running %%%%%%%%%%%%%%%%%\nsample ="
+ " sample+1;\nif sample > 1\n yvec(sample-1) = y; % store inputs\n tvec(sample) = t;\nend\n\n%%%%%%%%% Startup %"
+ "%%%%%%%%%%%\nif measureNoise == 1\n if first \n uref = u_ref;\n yref = y;\n first = fals"
+ "e;\n yh = yref;\n yl = yref;\n end\n u = uref;\n if sample < noiseMeasureTime/t_sample\n "
+ " yh = max(yh,y);\n yl = min(yl,y);\n else\n resultvec(13) = yh;\n resultvec(14) = "
+ "yl;\n noise = (yh-yl)/2;\n yref = (yh+yl)/2;\n resultvec(15) = yref;\n resultvec(16)"
+ " = uref;\n h = max(2*noise, def_h);\n resultvec(12) = h;\n measureNoise = 0;\n start"
+ "up = 1;\n end\nelseif startup == 1\n exp_t = sample-noiseMeasureTime/t_sample; % this should be zero the f"
+ "irst sample\n a = uref-c;\n u = a+c*b^(exp_t/ttf);\n if u > relayMaxDev+uref\n u = r"
+ "elayMaxDev+uref;\n end\n if exp_t > 1\n ydev = y-yref; \n if abs(ydev) > h %"
+ " when reached outside hysteresis, stop and decide Ksign\n Ksign = ydev/abs(ydev)\n "
+ " if bigYup == 1\n d1 = min(relayMaxDev, gamma*abs(u-uref));\n d2 = d1/gamm"
+ "a;\n else\n d2 = min(relayMaxDev, gamma*abs(u-uref));\n d1 "
+ "= d2/gamma;\n end\n startup = 0;\n startup_switch = 1; % To not imm"
+ "ediately change the new amplitude.\n elseif exp_t > ttf\n u = uref+relayMaxDev;\n "
+ " end\n end\nelseif done == 0\n %%%%%% Update amplitudes %%%%%%%\n u_on = uref+Ksign*d1;\n "
+ "u_off = uref-Ksign*d2;\n %%%%%% Calculate new u %%%%%%%%%\n u = rel_func(y,uvec(sample-1),u_on, u_off,yref"
+ ",h);\nelse \n u = 0; % If the experiment aren't running no control signal should be calculated here\n % Th"
+ "is script shouldn't be running in those cases but somehow it seems\n % to do.\nend\n%%%% store data %%%%%%\nu"
+ "vec(sample) = u;\n\n%%%%%%% At switching points %%%%%%%\nif sample>1 && (uvec(sample)-uref)*(uvec(sample-1)-uref"
+ ") < 0\n switching_times(switch_index) = tvec(sample);\n low_limit = low_limit_f*h;\n upp_limit = upp_li"
+ "mit_f*h;\n ratio = check_amplitudes(yvec(last_switch_sample:sample-1)-yref, upp_limit, low_limit, gamma);\n "
+ " if fixAmp == 1\n ratio = 1;\n end\n if amp_changed == 1 % To not change two consecutive half peri"
+ "ods...\n ratio = 1;\n amp_changed = 0;\n end\n if (ratio > 1.01 || ratio < 0.99) && startup_"
+ "switch ~= 1 \n if max(d1,d2)*ratio > relayMaxDev\n if max(d1,d2) == relayMaxDev\n "
+ " ratio_forced = 1\n %ratio = 1;\n else\n ratio = relayMaxDev/max(d1,d"
+ "2);\n d1 = d1*ratio;\n d2 = d2*ratio;\n switch_index = 0; % to rese"
+ "t convergence checks if changed amplitude.\n amp_changed = 1;\n end\n \n "
+ " else\n d1 = d1*ratio;\n d2 = d2*ratio;\n switch_index = 0; % To reset conve"
+ "rgence checks if changed amplitude.\n amp_changed = 1;\n end\n if uvec(sample) == u_on\n "
+ " u = uref+Ksign*d1;\n elseif uvec(sample) == u_off\n u = uref-Ksign*d2;\n else\n "
+ " error = 1\n end\n uvec(sample) = u;\n end\n startup_switch = 0;\n if switch_index"
+ " > 3\n tp = switching_times(switch_index)-switching_times(switch_index-2);\n tp_old = switching_ti"
+ "mes(switch_index-1)-switching_times(switch_index-3);\n resultvec(19) = tp;\n resultvec(20) = tp_ol"
+ "d;\n if abs(tp-tp_old)<tp_old*epsilon\n finished = true;\n tstop = tvec(sample);\n "
+ " resultvec(17) = tstop;\n end\n end\n last_switch_sample = sample;\n switch_index = sw"
+ "itch_index+1;\nend\n\n\n% Checks if converged, in that case collect info and call a method that\n% calculates a "
+ "model and PI/PID parameters\nif finished == true\n tsim = tvec(1:sample);\n usim = uvec(1:sample)-uref;\n "
+ " ysim = yvec(1:sample)-yref;\n u1 = usim(1:end-1);\n u2 = usim(2:end);\n switches = find("
+ "u1.*u2<0);\n yp = ysim(switches(end-2):switches(end));\n up = usim(switches(end-2):switches(end));"
+ "\n tp = tsim(switches(end-2):switches(end));\n y_int = trapz(tp,yp);\n u_int = trapz(tp,up)"
+ ";\n resultvec(21) = y_int;\n resultvec(22) = u_int;\n [ton toff] = calc_ton_toff(usim, switchin"
+ "g_times(1:switch_index-1), u_on-uref);\n resultvec(8) = ton;\n resultvec(9) = toff;\n %%%%% Calulating "
+ "tau %%%%%\n rho = max(ton, toff)/min(ton, toff);\n tau = min(1, max((gamma-rho)/((gamma-1)*(0.35*rho+0.65)"
+ "),0)) %Min&max if something strange would occur.\n resultvec(1) = tau;\n \n if tau > 0.1 % this condition"
+ " needs to be considered more closely\n [K,T,L] = calc_FOTD_params(u_int,y_int,d1,d2,h,ton,toff,tau);\n "
+ " if tau > 0.6\n [Kc, Ti, Td] = calc_AMIGO_PI(K,T,L);\n else\n [Kc, Ti, Td] = cal"
+ "c_AMIGO_PID(K,T,L);\n end\n resultvec(2) = K;\n resultvec(3) = T;\n resultvec(4) = L"
+ ";\n resultvec(5) = Kc;\n resultvec(6) = Ti;\n resultvec(7) = Td;\n else\n [kv, L]"
+ " = calc_integrating_params(y_int, u_on-uref, u_off-uref, ton, toff, h);\n %[Kc, Ti, Td] = calc_AMIGO_int_"
+ "PI(kv, L);\n [Kc, Ti, Td] = calc_AMIGO_int_PID(kv, L); % Which one do I want?\n resultvec(2) = kv;"
+ "\n resultvec(3) = -1;\n resultvec(4) = L;\n resultvec(5) = Kc;\n resultvec(6) = Ti;\n"
+ " resultvec(7) = Td;\n end\n done = 1;\n param = [Kc, Ti, Td];\n resultvec(10) = d1;\n resu"
+ "ltvec(11) = d2;\n resultvec(18) = done;\n resultvec\nend\nend\n\n\n% ---------------------------------\n f"
+ "unction ratio = check_amplitudes(y, upper_limit, lower_limit, gamma)\n % Is checked at every switching po"
+ "int and sends in y = y_vec-yref\n % for the entire half period. No point to check at other time\n "
+ "% instances!\n ratio1 = max(abs(y))/upper_limit; % Top value deviates too much if > 1\n ratio2 = m"
+ "ax(abs(y))/lower_limit; % Top value too close to hysteresis limit if < 1.\n \n if ratio1 > 1\n "
+ " ratio = (upper_limit+lower_limit*gamma)/(2*max(abs(y))); \n elseif ratio2 < 1\n ratio = ("
+ "lower_limit+upper_limit/gamma)/(2*max(abs(y)));\n else\n ratio =1;\n end\n end\n%---"
+ "------------------------------------\n\nfunction u = rel_func(y,uold,uon,uoff,yref,h)\n if y <= yref-h\n u ="
+ " uon;\n elseif y < yref+h && y > yref-h\n u = uold;\n else u = uoff;\n end\nend\n\n% ---------------------"
+ "-----------\nfunction [ton, toff] = calc_ton_toff(u, switching_times, u_on)\n\nif u(end-1) == u_on\n ton = sw"
+ "itching_times(end)-switching_times(end-1);\n toff = switching_times(end-1)-switching_times(end-2);\nelse\n "
+ " toff = switching_times(end)-switching_times(end-1);\n ton = switching_times(end-1)-switching_times(end-2);\n"
+ "end\nend\n\n% ---------------------------------------------------\n\nfunction [kstart tstart lstart] = calc_FOTD"
+ "_params(u_int,y_int,d1,d2,h, ton, toff, tau)\nkstart=y_int/u_int;\nLdivT = tau/(1-tau);\n% Equations from commit"
+ " 2015-02-10\nu_int\ny_int\nd1\nd2\nh\nton\ntoff\ntau\ntstart1 = ton/log((h/abs(kstart)-d2+exp(LdivT)*(d1+d2))/(d"
+ "1-h/abs(kstart)));\ntstart2 = toff/log((h/abs(kstart)-d1+exp(LdivT)*(d1+d2))/(d2-h/abs(kstart)));\ntstart = (tst"
+ "art1+tstart2)/2;\nlstart = tstart*LdivT;\nend\n\n% --------------------------------------------\n\nfunction [K, "
+ "Ti, Td] = calc_AMIGO_PI(Kp,T,L)\nK = 0.15/Kp+(0.35-L*T/(L+T)^2)*T/(Kp*L);\nTi = 0.35*L+13*L*T^2/(T^2+12*L*T+7*L^"
+ "2);\nTd = 0;\nend\n\nfunction [K, Ti, Td] = calc_AMIGO_PID(Kp,T,L)\nK = (0.2*L+0.45*T)/(Kp*L);\nTi = (0.4*L+0.8*"
+ "T)/(L+0.1*T)*L;\nTd = 0.5*L*T/(0.3*L+T);\nend\n\n% --------------------------------------------\nfunction [kv, L"
+ "] = calc_integrating_params(y_int, uon, uoff, ton, toff, h)\n%Equations from commit 2015-02-10\ny_int\nuon\nuoff"
+ "\nton\ntoff\nh\n\nkv = 2*y_int/(ton*toff*(uon+uoff))+2*h/(uon*ton);\nL = (uon*ton-2*h/kv)/(uon-uoff);\nif L < 0\n"
+ " L = 1e-3;\nend\nend\n\n% -------------------------------------------\nfunction [K, Ti, Td] = calc_AMIGO_int_"
+ "PI(Kv, L)\nK = 0.35/(Kv*L);\nTi = 13.4*L;\nTd = 0;\nend\n\nfunction [K, Ti, Td] = calc_AMIGO_int_PID(Kv, L)\nK ="
+ " 0.45/(Kv*L);\nTi = 8*L;\nTd = 0.5*L;\nend"
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+ ssIdNumber 4
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+ props {
+ array {
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+ type {
+ method SF_INHERITED_TYPE
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+ complexity SF_COMPLEX_INHERITED
+ frame SF_FRAME_NO
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+ id 34
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+ viewObj 35
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+ eml {
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+ script "%function stop = Constraint(tstop, time, done)\nfunction stop = Constraint(time, all_done, timeAf"
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+ id 41
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+ viewObj 44
+ machine 1
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+ treeNode [44 0 0 0]
+ superState SUBCHART
+ subviewer 44
+ ssIdNumber 1
+ type FUNC_STATE
+ decomposition CLUSTER_STATE
+ eml {
+ isEML 1
+ script "function [result, u, done]= relay_exp(relay_par, e,t, u_ref, run_exp)\n\n\n%%%%%%%%%% Definitions"
+ " and default values %%%%%%%%%%%%%%\ny = -e;\n% Relay parameters, values from workspace.\npersistent d1 d2 u_on u"
+ "_off h\ngamma = relay_par(11); % index 2 is gamma, 11 is gamma2 \nt_sample = relay_par(3);\nbigYup = relay_par(6"
+ ");\nrelayMaxDev = relay_par(7);\ndef_h = relay_par(8);\nnoiseMeasureTime = relay_par(9);\nmaxSwitches = relay_pa"
+ "r(12);\nystep = relay_par(13);\nustep = relay_par(14);\n\npersistent yref uref\nif isempty(d2)\n h=def_h; % t"
+ "hese values will be re-assigned later and never used.\n d1 = gamma;\n d2 = 1;\n u_on = d1;\n u_off "
+ "= -d2;\n uref = 0;\n yref = 0;\nend\n\npersistent u_old resultvec\nif isempty(u_old)\n u_old = uref;\n "
+ " resultvec = zeros(23,1);\nend\n\npersistent sample\nif isempty(sample)\n sample = 0;\nend\n\npersistent st"
+ "artup Ksign\nif isempty(Ksign)\n Ksign = 1; % Is re-assigned during at the startup phase\nend\n\npersistent p"
+ "aram done_per\nif isempty(param)\n param = [1.1, 16, 0]; % Quadtank minfas (should be an input somehow if exi"
+ "sting PID parameters are used to bring it to its working point)\n done_per = 0;\nend\nPID_param = param;\ndon"
+ "e = done_per;\n\n% To handle switches\npersistent switching_times switch_index \nif isempty(switching_times)\n "
+ " switching_times = zeros(1,20); % Shouldn't need to be so large\n switch_index = 1;\nend\n\n%%%%%%%%% Startu"
+ "p params %%%%%%%%%%%\npersistent a b c tff exp_t yh yl measureNoise first\nif isempty(startup)\n tff = 5/t_s"
+ "ample; % According to Tore about 3-5s is appropriate for the startup growth \n b = 40;\n c = relayMaxDev/("
+ "b-1);\n a = uref-c;\n measureNoise = 1;\n startup = 0;\n yh = 0;\n yl = 0;\n first = true;\nen"
+ "d\n%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%\n\nresult = resultvec;\nif run_exp == 0\n u = 0;\n PID_"
+ "param = param;\n return\nend\n\n%%%%%%%%%%%%% Program running %%%%%%%%%%%%%%%%%\nsample = sample+1;\n\n%%%%%%"
+ "%%% Startup %%%%%%%%%%%%\nif measureNoise == 1\n if first \n uref = u_ref;\n yref = y;\n "
+ " first = false;\n yh = yref;\n yl = yref;\n end\n u = uref;\n if sample < noiseMeasureTim"
+ "e/t_sample\n yh = max(yh,y);\n yl = min(yl,y);\n else\n noise = (yh-yl)/2;\n yref"
+ " = (yh+yl)/2;\n %yref = y; % Could test the latest value instead of average?\n resultvec(15) = yre"
+ "f;\n resultvec(16) = uref;\n h = max(2*noise, def_h);\n measureNoise = 0;\n startup "
+ "= 1;\n resultvec(23) = t;\n end\nelseif startup == 1\n exp_t = sample-noiseMeasureTime/t_sample;\n "
+ " a = uref-c;\n u = a+c*b^(exp_t/tff);\n if u > relayMaxDev+uref\n u = relayMaxDev+ure"
+ "f;\n end\n if exp_t > 1\n ydev = y-yref; \n if abs(ydev) > h % outside hyste"
+ "resis, stop startup and decide Ksign\n Ksign = ydev/abs(ydev);\n if bigYup == 1\n "
+ " d1 = min(relayMaxDev, gamma*abs(u-uref));\n d2 = d1/gamma;\n "
+ " else\n d2 = min(relayMaxDev, gamma*abs(u-uref));\n d1 = d2/gamma;\n "
+ " end\n startup = 0;\n elseif exp_t > tff\n u = uref+relayMaxD"
+ "ev;\n end\n end\nelseif run_exp == 1\n %%%%%% Update amplitudes %%%%%%%\n u_on = uref+Ks"
+ "ign*d1;\n u_off = uref-Ksign*d2;\n %%%%%% Calculate new u %%%%%%%%%\n u = rel_func(y,u_old,u_on, u_off,"
+ "yref,h);\nelse \n u = 0; %Shouldn't be needed?\nend\n\n%%%%%%% At switching points %%%%%%%\nif sample>1 && (u"
+ "-uref)*(u_old-uref) < 0\n switching_times(switch_index) = t;\n if switch_index > 2\n tp = switching"
+ "_times(switch_index)-switching_times(switch_index-2);\n resultvec(19) = tp;\n end\n if switch_index"
+ " == 3 % Step in yref/uref after two switches\n yref = yref+ystep*h;\n uref = uref+(d1+d2)/2*Ksign*"
+ "ustep;\n end\n if switch_index > maxSwitches\n done_per = 1;\n resultvec(17) = t;\n end\n"
+ " switch_index = switch_index+1;\nend\n%%%% store data %%%%%%\nu_old = u;\nend\n\nfunction u = rel_func(y,uold"
+ ",uon,uoff,yref,h)\n if y <= yref-h\n u = uon;\n elseif y < yref+h && y > yref-h\n u = uold;\n else u = "
+ "uoff;\n end\nend\n\n\n\n\n\n\n\n"
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+ }
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+ props {
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+ }
+ complexity SF_COMPLEX_INHERITED
+ frame SF_FRAME_NO
+ }
+ dataType "Inherit: Same as Simulink"
+ }
+ instance {
+ id 56
+ name "multi-NOMAD/Autotuner1/relay_exp\n"
+ machine 1
+ chart 44
+ }
+ chart {
+ id 57
+ name "multi-NOMAD/Autotuner2/Constraint"
+ windowPosition [316.86 310.2 211 434]
+ viewLimits [0 156.75 0 153.75]
+ screen [1 1 1280 1024 1.25]
+ treeNode [0 58 0 0]
+ firstTransition 60
+ firstJunction 59
+ viewObj 57
+ machine 1
+ toolbarMode LIBRARY_TOOLBAR
+ ssIdHighWaterMark 9
+ decomposition CLUSTER_CHART
+ type EML_CHART
+ firstData 61
+ chartFileNumber 9
+ disableImplicitCasting 1
+ eml {
+ name "Constraint"
+ }
+ }
+ state {
+ id 58
+ labelString "eML_blk_kernel()"
+ position [18 64.5 118 66]
+ fontSize 12
+ chart 57
+ treeNode [57 0 0 0]
+ superState SUBCHART
+ subviewer 57
+ ssIdNumber 1
+ type FUNC_STATE
+ decomposition CLUSTER_STATE
+ eml {
+ isEML 1
+ script "%function stop = Constraint(tstop, time, done)\nfunction stop = Constraint(time, all_done, timeAf"
+ "terExp)\n%#codegen\npersistent tstopp first\nif isempty(tstopp)\n tstopp = 10000;\n first = true;\nend\nif"
+ " all_done == 1 && first \n tstopp = time;\n first = false;\nend\nif time > tstopp+timeAfterExp;\n stop "
+ "= 1;\nelse\n stop = 0;\nend"
+ editorLayout "100 M4x1[10 5 700 500]"
+ }
+ }
+ junction {
+ id 59
+ position [23.5747 49.5747 7]
+ chart 57
+ linkNode [57 0 0]
+ subviewer 57
+ ssIdNumber 3
+ type CONNECTIVE_JUNCTION
+ }
+ transition {
+ id 60
+ 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 59
+ intersection [1 0 -1 0 23.5747 42.5747 0 0]
+ }
+ midPoint [23.5747 24.9468]
+ chart 57
+ linkNode [57 0 0]
+ dataLimits [23.575 23.575 14.625 34.575]
+ subviewer 57
+ drawStyle SMART
+ slide {
+ sticky BOTH_STICK
+ }
+ executionOrder 1
+ ssIdNumber 2
+ }
+ data {
+ id 61
+ ssIdNumber 5
+ name "stop"
+ linkNode [57 0 62]
+ scope OUTPUT_DATA
+ machine 1
+ props {
+ array {
+ size "-1"
+ }
+ type {
+ method SF_INHERITED_TYPE
+ primitive SF_DOUBLE_TYPE
+ }
+ complexity SF_COMPLEX_INHERITED
+ frame SF_FRAME_NO
+ }
+ dataType "Inherit: Same as Simulink"
+ }
+ data {
+ id 62
+ ssIdNumber 6
+ name "time"
+ linkNode [57 61 63]
+ scope INPUT_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_INHERITED
+ }
+ dataType "Inherit: Same as Simulink"
+ }
+ data {
+ id 63
+ ssIdNumber 7
+ name "all_done"
+ linkNode [57 62 64]
+ scope INPUT_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_INHERITED
+ }
+ dataType "Inherit: Same as Simulink"
+ }
+ data {
+ id 64
+ ssIdNumber 9
+ name "timeAfterExp"
+ linkNode [57 63 0]
+ scope INPUT_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_INHERITED
+ }
+ dataType "Inherit: Same as Simulink"
+ }
+ instance {
+ id 65
+ name "multi-NOMAD/Autotuner2/Constraint"
+ machine 1
+ chart 57
+ }
+ chart {
+ id 66
+ name "multi-NOMAD/Autotuner2/relay_exp\n"
+ windowPosition [344.686 5 429 739.2]
+ viewLimits [0 319.2 0 430.6]
+ screen [1 1 1280 1024 1.25]
+ treeNode [0 67 0 0]
+ firstTransition 69
+ firstJunction 68
+ viewObj 66
+ machine 1
+ ssIdHighWaterMark 17
+ decomposition CLUSTER_CHART
+ type EML_CHART
+ firstData 70
+ chartFileNumber 10
+ disableImplicitCasting 1
+ eml {
+ name "relay_exp"
+ }
+ }
+ state {
+ id 67
+ labelString "eML_blk_kernel()"
+ position [18 64.5 118 66]
+ fontSize 12
+ chart 66
+ treeNode [66 0 0 0]
+ superState SUBCHART
+ subviewer 66
+ ssIdNumber 1
+ type FUNC_STATE
+ decomposition CLUSTER_STATE
+ eml {
+ isEML 1
+ script "function [result, u, done]= relay_exp(relay_par, e,t, u_ref, run_exp)\n\n\n%%%%%%%%%% Definitions"
+ " and default values %%%%%%%%%%%%%%\ny = -e;\n% Relay parameters, values from workspace.\npersistent d1 d2 u_on u"
+ "_off h\ngamma = relay_par(2); % index 2 is gamma, 11 is gamma2 \nt_sample = relay_par(3);\nbigYup = relay_par(6)"
+ ";\nrelayMaxDev = relay_par(7);\ndef_h = relay_par(8);\nnoiseMeasureTime = relay_par(9);\nmaxSwitches = relay_par"
+ "(12);\nystep = relay_par(13);\nustep = relay_par(14);\n\npersistent yref uref\nif isempty(d2)\n h=def_h; % th"
+ "ese values will be re-assigned later and never used. \n d1 = gamma;\n d2 = 1;\n u_on = d1;\n u_off "
+ "= -d2;\n uref = 0;\n yref = 0;\nend\n\npersistent u_old resultvec\nif isempty(u_old)\n u_old = uref;\n "
+ " resultvec = zeros(23,1);\nend\n\npersistent sample\nif isempty(sample)\n sample = 0;\nend\n\npersistent st"
+ "artup Ksign\nif isempty(Ksign)\n Ksign = 1; % Is re-assigned during at the startup phase\nend\n\npersistent "
+ "param done_per\nif isempty(param)\n param = [1.1, 16, 0]; % Quadtank minfas (should be an input somehow if ex"
+ "isting PID parameters are used to bring it to its working point)\n done_per = 0;\nend\nPID_param = param;\ndo"
+ "ne = done_per;\n\n% To handle switches\npersistent switching_times switch_index \nif isempty(switching_times)\n "
+ " switching_times = zeros(1,20);\n switch_index = 1;\nend\n\n%%%%%%%%% Startup params %%%%%%%%%%%\npersiste"
+ "nt a b c tff exp_t yh yl measureNoise first\nif isempty(startup)\n tff = 5/t_sample; % According to Tore abou"
+ "t 3-5s is appropriate for the startup growth \n b = 40;\n c = relayMaxDev/(b-1);\n a = uref-c;\n mea"
+ "sureNoise = 1;\n startup = 0;\n yh = 0;\n yl = 0;\n first = true;\nend\n%%%%%%%%%%%%%%%%%%%%%%%%%%%%"
+ "%%%%%%%%%%%%%%%%%%%\n\nresult = resultvec;\nif run_exp == 0\n u = 0;\n PID_param = param;\n return\nend"
+ "\n\n%%%%%%%%%%%%% Program running %%%%%%%%%%%%%%%%%\nsample = sample+1;\n\n%%%%%%%%% Startup %%%%%%%%%%%%\nif me"
+ "asureNoise == 1\n if first \n uref = u_ref;\n yref = y;\n first = false;\n yh = y"
+ "ref;\n yl = yref;\n end\n u = uref;\n if sample < noiseMeasureTime/t_sample\n yh = max(yh"
+ ",y);\n yl = min(yl,y);\n else\n noise = (yh-yl)/2;\n yref = (yh+yl)/2;\n %yref = "
+ "y; % Could test the latest value instead of average?\n resultvec(15) = yref;\n resultvec(16) = ure"
+ "f;\n h = max(2*noise, def_h);\n measureNoise = 0;\n startup = 1;\n resultvec(23) = t"
+ ";\n end\nelseif startup == 1\n exp_t = sample-noiseMeasureTime/t_sample;\n a = uref-c;\n u = a+c"
+ "*b^(exp_t/tff);\n if u > relayMaxDev+uref\n u = relayMaxDev+uref;\n end\n if exp"
+ "_t > 1\n ydev = y-yref; \n if abs(ydev) > h % outside hysteresis, stop startup and decide "
+ "Ksign\n Ksign = ydev/abs(ydev);\n if bigYup == 1\n d1 = min(rel"
+ "ayMaxDev, gamma*abs(u-uref));\n d2 = d1/gamma;\n else\n d2 "
+ "= min(relayMaxDev, gamma*abs(u-uref));\n d1 = d2/gamma;\n end\n "
+ " startup = 0;\n elseif exp_t > tff\n u = uref+relayMaxDev;\n end\n e"
+ "nd\nelseif run_exp == 1\n %%%%%% Update amplitudes %%%%%%%\n u_on = uref+Ksign*d1;\n u_off = uref-Ksign"
+ "*d2;\n %%%%%% Calculate new u %%%%%%%%%\n u = rel_func(y,u_old,u_on, u_off,yref,h);\nelse \n u = 0; % S"
+ "houldn't be needed?\nend\n\n%%%%%%% At switching points %%%%%%%\nif sample>1 && (u-uref)*(u_old-uref) < 0\n s"
+ "witching_times(switch_index) = t;\n if switch_index > 2\n tp = switching_times(switch_index)-switching"
+ "_times(switch_index-2);\n resultvec(19) = tp;\n end\n if switch_index == 3 % Step in yref/uref afte"
+ "r two switches\n yref = yref+ystep*h;\n uref = uref+(d1+d2)/2*Ksign*ustep;\n end\n if switch"
+ "_index > maxSwitches\n done_per = 1;\n resultvec(17) = t;\n end\n switch_index = switch_inde"
+ "x+1;\nend\n%%%% store data %%%%%%\nu_old = u;\nend\n\nfunction u = rel_func(y,uold,uon,uoff,yref,h)\n if y <= y"
+ "ref-h\n u = uon;\n elseif y < yref+h && y > yref-h\n u = uold;\n else u = uoff;\n end\nend\n\n\n\n\n\n\n"
+ "\n"
+ editorLayout "100 M4x1[10 5 700 500]"
+ }
+ }
+ junction {
+ id 68
+ position [23.5747 49.5747 7]
+ chart 66
+ linkNode [66 0 0]
+ subviewer 66
+ ssIdNumber 3
+ type CONNECTIVE_JUNCTION
+ }
+ transition {
+ id 69
+ labelString "{eML_blk_kernel();}"
+ labelPosition [32.125 19.875 100.8 18.448]
+ fontSize 12
+ src {
+ intersection [0 0 1 0 23.5747 14.625 0 0]
+ }
+ dst {
+ id 68
+ intersection [1 0 -1 0 23.5747 42.5747 0 0]
+ }
+ midPoint [23.5747 24.9468]
+ chart 66
+ linkNode [66 0 0]
+ dataLimits [23.575 23.575 14.625 34.575]
+ subviewer 66
+ drawStyle SMART
+ slide {
+ sticky BOTH_STICK
+ }
+ executionOrder 1
+ ssIdNumber 2
+ }
+ data {
+ id 70
+ ssIdNumber 16
+ name "result"
+ linkNode [66 0 71]
+ 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 71
+ ssIdNumber 8
+ name "u"
+ linkNode [66 70 72]
+ 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 72
+ ssIdNumber 14
+ name "relay_par"
+ linkNode [66 71 73]
+ scope INPUT_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_INHERITED
+ }
+ dataType "Inherit: Same as Simulink"
+ }
+ data {
+ id 73
+ ssIdNumber 5
+ name "e"
+ linkNode [66 72 74]
+ scope INPUT_DATA
+ machine 1
+ props {
+ array {
+ size "-1"
+ }
+ type {
+ method SF_INHERITED_TYPE
+ primitive SF_DOUBLE_TYPE
+ }
+ complexity SF_COMPLEX_INHERITED
+ frame SF_FRAME_NO
+ }
+ dataType "Inherit: Same as Simulink"
+ }
+ data {
+ id 74
+ ssIdNumber 9
+ name "t"
+ linkNode [66 73 75]
+ scope INPUT_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_INHERITED
+ }
+ dataType "Inherit: Same as Simulink"
+ }
+ data {
+ id 75
+ ssIdNumber 15
+ name "u_ref"
+ linkNode [66 74 76]
+ scope INPUT_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_INHERITED
+ }
+ dataType "Inherit: Same as Simulink"
+ }
+ data {
+ id 76
+ ssIdNumber 11
+ name "run_exp"
+ linkNode [66 75 77]
+ scope INPUT_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_INHERITED
+ }
+ dataType "Inherit: Same as Simulink"
+ }
+ data {
+ id 77
+ ssIdNumber 4
+ name "done"
+ linkNode [66 76 0]
+ scope OUTPUT_DATA
+ machine 1
+ props {
+ array {
+ size "-1"
+ }
+ type {
+ method SF_INHERITED_TYPE
+ primitive SF_DOUBLE_TYPE
+ }
+ complexity SF_COMPLEX_INHERITED
+ frame SF_FRAME_NO
+ }
+ dataType "Inherit: Same as Simulink"
+ }
+ instance {
+ id 78
+ name "multi-NOMAD/Autotuner2/relay_exp\n"
+ machine 1
+ chart 66
+ }
+ target {
+ id 79
+ name "sfun"
+ description "Default Simulink S-Function Target."
+ machine 1
+ linkNode [1 0 0]
+ }
+}