Added test for linear servo model 1999

.gitignore

+*~
+*.autosave
\ No newline at end of file

linear-servo-1999/run

+#!/bin/sh
+
+gnome-terminal --title='Linear servo 1999 test' -e '/bin/sh -c "VERSION=R2012a matlab -nodesktop -nosplash -r run_test"'
\ No newline at end of file

linear-servo-1999/run_test.mdl

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+      YMin		      "-5"
+      YMax		      "5"
+      SaveToWorkspace	      off
+      SaveName		      "ScopeData"
+      DataFormat	      "Array"
+      LimitDataPoints	      on
+      MaxDataPoints	      "5000"
+      Decimation	      "1"
+      SampleInput	      off
+      SampleTime	      "-1"
+    }
+    Block {
+      BlockType		      Sin
+      SineType		      "Time based"
+      TimeSource	      "Use simulation time"
+      Amplitude		      "1"
+      Bias		      "0"
+      Frequency		      "1"
+      Phase		      "0"
+      Samples		      "10"
+      Offset		      "0"
+      SampleTime	      "-1"
+      VectorParams1D	      on
+    }
+    Block {
+      BlockType		      Terminator
+    }
+  }
+  System {
+    Name		    "run_test"
+    Location		    [224, 289, 990, 675]
+    Open		    on
+    ModelBrowserVisibility  off
+    ModelBrowserWidth	    200
+    ScreenColor		    "white"
+    PaperOrientation	    "portrait"
+    PaperPositionMode	    "auto"
+    PaperType		    "usletter"
+    PaperUnits		    "inches"
+    TiledPaperMargins	    [0.196850, 0.196850, 0.196850, 0.196850]
+    TiledPageScale	    1
+    ShowPageBoundaries	    off
+    ZoomFactor		    "100"
+    ReportName		    "simulink-default.rpt"
+    SIDHighWatermark	    "112"
+    Block {
+      BlockType		      Demux
+      Name		      "Demux"
+      SID		      "112"
+      Ports		      [1, 2]
+      Position		      [570, 166, 575, 204]
+      ZOrder		      -6
+      ShowName		      off
+      Outputs		      "2"
+      DisplayOption	      "bar"
+      Port {
+	PortNumber		1
+	Name			"Encoder 1"
+	RTWStorageClass		"Auto"
+	DataLoggingNameMode	"SignalName"
+      }
+      Port {
+	PortNumber		2
+	Name			"Encoder 2"
+	RTWStorageClass		"Auto"
+	DataLoggingNameMode	"SignalName"
+      }
+    }
+    Block {
+      BlockType		      Ground
+      Name		      "Ground"
+      SID		      "106"
+      Position		      [350, 145, 370, 165]
+      ZOrder		      -12
+    }
+    Block {
+      BlockType		      S-Function
+      Name		      "S-Function"
+      SID		      "103"
+      Ports		      [2, 1]
+      Position		      [430, 42, 490, 73]
+      ShowName		      off
+      FunctionName	      "analogout"
+      Parameters	      "h [0]"
+      EnableBusSupport	      off
+    }
+    Block {
+      BlockType		      S-Function
+      Name		      "S-Function1"
+      SID		      "104"
+      Ports		      [1, 2]
+      Position		      [430, 137, 490, 168]
+      ShowName		      off
+      FunctionName	      "analogin"
+      Parameters	      "h [0 1]"
+      EnableBusSupport	      off
+    }
+    Block {
+      BlockType		      S-Function
+      Name		      "S-Function2"
+      SID		      "102"
+      Ports		      [0, 1]
+      Position		      [55, 50, 115, 80]
+      ShowName		      off
+      FunctionName	      "realtimer"
+      Parameters	      "h"
+      EnableBusSupport	      off
+    }
+    Block {
+      BlockType		      Scope
+      Name		      "Scope"
+      SID		      "17"
+      Ports		      [1]
+      Position		      [135, 100, 165, 130]
+      BlockRotation	      270
+      BlockMirror	      on
+      NamePlacement	      "alternate"
+      Floating		      off
+      Location		      [627, 63, 951, 302]
+      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]"
+	LineStyles		"-|-|-|-|-|-"
+	LineWidths		"[0.5 0.5 0.5 0.5 0.5 0.5]"
+	MarkerStyles		"none|none|none|none|none|none"
+      }
+      ShowLegends	      off
+      YMin		      "-2"
+      YMax		      "11"
+      DataFormat	      "StructureWithTime"
+      SampleTime	      "0"
+    }
+    Block {
+      BlockType		      Scope
+      Name		      "Signals"
+      SID		      "105"
+      Ports		      [3]
+      Position		      [614, 275, 646, 305]
+      BlockRotation	      270
+      BlockMirror	      on
+      NamePlacement	      "alternate"
+      Floating		      off
+      Location		      [1092, 204, 1843, 1105]
+      Open		      on
+      NumInputPorts	      "3"
+      List {
+	ListType		AxesTitles
+	axes1			"%<SignalLabel>"
+	axes2			"%<SignalLabel>"
+	axes3			"%<SignalLabel>"
+      }
+      List {
+	ListType		ScopeGraphics
+	FigureColor		"[0.501960784313725 0.501960784313725 0.501960784313725]"
+	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]"
+	LineStyles		"-|-|-|-|-|-"
+	LineWidths		"[0.5 0.5 0.5 0.5 0.5 0.5]"
+	MarkerStyles		"none|none|none|none|none|none"
+      }
+      ShowLegends	      off
+      YMin		      "-10~-5~-5"
+      YMax		      "10~5~5"
+      SaveName		      "ScopeData1"
+      DataFormat	      "StructureWithTime"
+      SampleTime	      "0"
+    }
+    Block {
+      BlockType		      Sin
+      Name		      "Sine Wave"
+      SID		      "107"
+      Ports		      [0, 1]
+      Position		      [235, 40, 265, 70]
+      ZOrder		      -21
+      Amplitude		      "0.5"
+      Frequency		      "20"
+      SampleTime	      "0"
+    }
+    Block {
+      BlockType		      Reference
+      Name		      "Slider\nGain"
+      SID		      "109"
+      Ports		      [1, 1]
+      Position		      [315, 40, 345, 70]
+      ZOrder		      -28
+      LibraryVersion	      "1.260"
+      SourceBlock	      "simulink/Math\nOperations/Slider\nGain"
+      SourceType	      "Slider Gain"
+      low		      "0"
+      gain		      "1"
+      high		      "2"
+      Port {
+	PortNumber		1
+	Name			"Motor"
+	RTWStorageClass		"Auto"
+	DataLoggingNameMode	"SignalName"
+      }
+    }
+    Block {
+      BlockType		      Terminator
+      Name		      "Terminator"
+      SID		      "110"
+      Position		      [605, 50, 625, 70]
+      ZOrder		      -20
+    }
+    Line {
+      SrcBlock		      "S-Function2"
+      SrcPort		      1
+      Points		      [30, 0]
+      DstBlock		      "Scope"
+      DstPort		      1
+    }
+    Line {
+      SrcBlock		      "Ground"
+      SrcPort		      1
+      DstBlock		      "S-Function1"
+      DstPort		      1
+    }
+    Line {
+      SrcBlock		      "S-Function1"
+      SrcPort		      1
+      Points		      [0, -45; -80, 0]
+      DstBlock		      "S-Function"
+      DstPort		      1
+    }
+    Line {
+      SrcBlock		      "Sine Wave"
+      SrcPort		      1
+      DstBlock		      "Slider\nGain"
+      DstPort		      1
+    }
+    Line {
+      Name		      "Motor"
+      Labels		      [0, 0]
+      SrcBlock		      "Slider\nGain"
+      SrcPort		      1
+      Points		      [40, 0]
+      Branch {
+	Points			[20, 0; 0, 10]
+	DstBlock		"S-Function"
+	DstPort			2
+      }
+      Branch {
+	Points			[0, 205]
+	DstBlock		"Signals"
+	DstPort			1
+      }
+    }
+    Line {
+      SrcBlock		      "S-Function"
+      SrcPort		      1
+      DstBlock		      "Terminator"
+      DstPort		      1
+    }
+    Line {
+      SrcBlock		      "S-Function1"
+      SrcPort		      2
+      Points		      [30, 0; 0, 25]
+      DstBlock		      "Demux"
+      DstPort		      1
+    }
+    Line {
+      Name		      "Encoder 1"
+      Labels		      [0, 0]
+      SrcBlock		      "Demux"
+      SrcPort		      1
+      Points		      [50, 0]
+      DstBlock		      "Signals"
+      DstPort		      2
+    }
+    Line {
+      Name		      "Encoder 2"
+      Labels		      [0, 0]
+      SrcBlock		      "Demux"
+      SrcPort		      2
+      Points		      [60, 0]
+      DstBlock		      "Signals"
+      DstPort		      3
+    }
+    Annotation {
+      SID		      "92"
+      Name		      "% 1. Put both masses at 0\n% 2. Close damper valve fully\n% 3. Turn on power \n% 4. Reset positions"
+      " and overload\n% 5. Start simulation by pressing this text\nh=0.05;\nset_param('run_test','SimulationCommand','s"
+      "tart')"
+      Position		      [36, 245]
+      HorizontalAlignment     "left"
+      ForegroundColor	      "green"
+      DropShadow	      on
+      ClickFcn		      "% 1. Put both masses at 0\n% 2. Close damper valve fully\n% 3. Turn on power \n% 4. Reset posit"
+      "ions and overload\n% 5. Start simulation by pressing this text\nh=0.05;\nset_param('run_test','SimulationCommand"
+      "','start')"
+      UseDisplayTextAsClickCallback on
+      FontSize		      14
+    }
+    Annotation {
+      SID		      "93"
+      Name		      "% Stop simulation by pressing this text\nset_param('run_test','SimulationCommand','stop')"
+      Position		      [37, 345]
+      HorizontalAlignment     "left"
+      ForegroundColor	      "red"
+      DropShadow	      on
+      ClickFcn		      "% Stop simulation by pressing this text\nset_param('run_test','SimulationCommand','stop')"
+      UseDisplayTextAsClickCallback on
+      FontSize		      14
+    }
+  }
+}