Model {
  Name			  "TwoWayCrane"
  Version		  3.0
  SampleTimeColors	  off
  ShowPortDataTypes	  off
  BlockParametersDataTip  off
  BlockDescriptionStringDataTip	off
  ToolBar		  on
  StatusBar		  on
  BrowserShowLibraryLinks off
  BrowserLookUnderMasks	  off
  Created		  "Tue Apr 24 21:42:14 2001"
  UpdateHistory		  "UpdateHistoryNever"
  ModifiedByFormat	  "%<Auto>"
  LastModifiedBy	  "manning"
  ModifiedDateFormat	  "%<Auto>"
  LastModifiedDate	  "Wed Jun 06 18:31:38 2001"
  ModelVersionFormat	  "1.%<AutoIncrement:22>"
  ConfigurationManager	  "none"
  SimParamPage		  "Solver"
  StartTime		  "0.0"
  StopTime		  "50"
  SolverMode		  "Auto"
  Solver		  "ode45"
  RelTol		  "1e-3"
  AbsTol		  "auto"
  Refine		  "1"
  MaxStep		  "auto"
  InitialStep		  "auto"
  FixedStep		  "auto"
  MaxOrder		  5
  OutputOption		  "RefineOutputTimes"
  OutputTimes		  "[]"
  LoadExternalInput	  off
  ExternalInput		  "[t, u]"
  SaveTime		  on
  TimeSaveName		  "tout"
  SaveState		  off
  StateSaveName		  "xout"
  SaveOutput		  on
  OutputSaveName	  "yout"
  LoadInitialState	  off
  InitialState		  "xInitial"
  SaveFinalState	  off
  FinalStateName	  "xFinal"
  SaveFormat		  "Matrix"
  Decimation		  "1"
  AlgebraicLoopMsg	  "warning"
  UnconnectedInputMsg	  "warning"
  UnconnectedOutputMsg	  "warning"
  UnconnectedLineMsg	  "warning"
  InheritedTsInSrcMsg	  "warning"
  IntegerOverflowMsg	  "warning"
  UnnecessaryDatatypeConvMsg "none"
  Int32ToFloatConvMsg	  "warning"
  SignalLabelMismatchMsg  "none"
  ZeroCross		  on
  SimulationMode	  "normal"
  RTWSystemTargetFile	  "grt.tlc"
  RTWInlineParameters	  off
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  RTWTemplateMakefile	  "grt_default_tmf"
  RTWMakeCommand	  "make_rtw"
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  ExtModeMexFile	  "ext_comm"
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  ExtModeTrigElement	  "any"
  ExtModeTrigDuration	  1000
  ExtModeTrigHoldOff	  0
  ExtModeTrigDelay	  0
  ExtModeTrigDirection	  "rising"
  ExtModeTrigLevel	  0
  ExtModeArchiveMode	  "off"
  ExtModeAutoIncOneShot	  off
  ExtModeIncDirWhenArm	  off
  ExtModeAddSuffixToVar	  off
  ExtModeWriteAllDataToWs off
  ExtModeArmWhenConnect	  on
  OptimizeBlockIOStorage  on
  BufferReuse		  on
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    DropShadow		    off
    NamePlacement	    "normal"
    FontName		    "Helvetica"
    FontSize		    10
    FontWeight		    "normal"
    FontAngle		    "normal"
    ShowName		    on
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  System {
    Name		    "TwoWayCrane"
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    Open		    on
    ModelBrowserVisibility  off
    ModelBrowserWidth	    200
    ScreenColor		    "automatic"
    PaperOrientation	    "landscape"
    PaperPositionMode	    "auto"
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    ZoomFactor		    "100"
    AutoZoom		    on
    ReportName		    "simulink-default.rpt"
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      BlockType		      SubSystem
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      Ports		      [1, 2, 0, 0, 0]
      Position		      [530, 215, 570, 275]
      ShowPortLabels	      on
      Port {
	PortNumber		1
	Name			"Payload Sway (m)"
	TestPoint		off
	RTWStorageClass		"Auto"
      }
      Port {
	PortNumber		2
	Name			"Crane Position (m)"
	TestPoint		off
	RTWStorageClass		"Auto"
      }
      System {
	Name			"4 to 2+2 Demux"
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	Open			off
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"automatic"
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	  Interpolate		  on
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	  Position		  [80, 71, 85, 109]
	  BackgroundColor	  "black"
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	  Outputs		  "4"
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	Block {
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	  ShowName		  off
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	Block {
	  BlockType		  Mux
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	Block {
	  BlockType		  Outport
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	  OutputWhenDisabled	  "held"
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	Block {
	  BlockType		  Outport
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	  SrcBlock		  "Mux1"
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	  DstBlock		  "Out2"
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    Block {
      BlockType		      Gain
      Name		      "Load Correction Gain"
      Position		      [375, 190, 405, 215]
      Orientation	      "down"
      Gain		      "1"
      SaturateOnIntegerOverflow	on
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    Block {
      BlockType		      Mux
      Name		      "Mux2"
      Ports		      [2, 1, 0, 0, 0]
      Position		      [155, 226, 160, 264]
      ShowName		      off
      Inputs		      "2"
      DisplayOption	      "bar"
    }
    Block {
      BlockType		      SubSystem
      Name		      "Payload Sway\nCompensator"
      Ports		      [1, 1, 0, 0, 0]
      Position		      [255, 126, 310, 174]
      ShowPortLabels	      on
      Port {
	PortNumber		1
	Name			"Actuator\nLoad\nCorrection\n (N)"
	TestPoint		off
	RTWStorageClass		"Auto"
      }
      System {
	Name			"Payload Sway\nCompensator"
	Location		[1111, 148, 1382, 293]
	Open			off
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"automatic"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"usletter"
	PaperUnits		"inches"
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	Block {
	  BlockType		  Inport
	  Name			  "In1"
	  Position		  [25, 68, 55, 82]
	  Port			  "1"
	  Interpolate		  on
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	Block {
	  BlockType		  Demux
	  Name			  "Demux1"
	  Ports			  [1, 2, 0, 0, 0]
	  Position		  [80, 56, 85, 94]
	  BackgroundColor	  "black"
	  ShowName		  off
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	Block {
	  BlockType		  Mux
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	Block {
	  BlockType		  Reference
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	  Ports			  [1, 1, 0, 0, 0]
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	  SourceBlock		  "simulink_extras/Additional\nLinear/PID Cont"
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	  SourceType		  "PID Controller"
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	  I			  "0"
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	Block {
	  BlockType		  Reference
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	Block {
	  BlockType		  Outport
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	  OutputWhenDisabled	  "held"
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    Block {
      BlockType		      SubSystem
      Name		      "Position\nController"
      Ports		      [1, 1, 0, 0, 0]
      Position		      [255, 299, 310, 351]
      ShowPortLabels	      on
      Port {
	PortNumber		1
	Name			"Actuator\nLoad \n(N)"
	TestPoint		off
	RTWStorageClass		"Auto"
      }
      System {
	Name			"Position\nController"
	Location		[1107, 323, 1378, 458]
	Open			off
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"automatic"
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	  BlockType		  Inport
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	Block {
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	Block {
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      BlockType		      Sum
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      IconShape		      "round"
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    Block {
      BlockType		      Reference
      Name		      "TwoWayCrane"
      Description	      "\".\\TwoWayCrane.wm3\"||\"Ball Displacement.x\""
"|0|\"Ball Displacement.y\"|0|\"Position of Ball.x\"|0|\"Position of Ball.y\"|"
"0||\"x-force\"|0.51187|\"y-force\"|-44.7618||"
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      Position		      [435, 230, 495, 260]
      SourceBlock	      "vnplantblock/vNPlant"
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    Block {
      BlockType		      Constant
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    Block {
      BlockType		      Constant
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    Line {
      Name		      "Actuator\nLoad \n(N)"
      Labels		      [1, 1]
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      Position		      [334, 38]
      Text		      "Two Way Crane Control System with compensator f"
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      FontSize		      12
      FontWeight	      "bold"
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}