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  Created		  "Mon Oct 18 19:12:51 2004"
  UpdateHistory		  "UpdateHistoryNever"
  ModifiedByFormat	  "%<Auto>"
  LastModifiedBy	  "jonathan How"
  ModifiedDateFormat	  "%<Auto>"
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    Name		    "ac3_lat"
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	Name			"psi_ref"
	TestPoint		off
	LinearAnalysisOutput	off
	LinearAnalysisInput	off
	RTWStorageClass		"Auto"
	DataLogging		off
	DataLoggingNameMode	"SignalName"
	DataLoggingDecimateData	off
	DataLoggingDecimation	"2"
	DataLoggingLimitDataPoints off
	DataLoggingMaxPoints	"5000"
      }
    }
    Block {
      BlockType		      Sum
      Name		      "Sum9"
      Ports		      [2, 1]
      Position		      [1035, 367, 1065, 398]
      ShowName		      off
    }
    Block {
      BlockType		      ToWorkspace
      Name		      "To Workspace"
      Position		      [1095, 50, 1155, 80]
      VariableName	      "ac3out"
      MaxDataPoints	      "inf"
      SampleTime	      "-1"
      SaveFormat	      "Array"
    }
    Block {
      BlockType		      TransferFcn
      Name		      "Washout FIlter"
      Position		      [795, 410, 855, 450]
      Orientation	      "left"
      NamePlacement	      "alternate"
      Numerator		      "Nwash"
      Denominator	      "Dwash"
    }
    Block {
      BlockType		      Constant
      Name		      "Z"
      Position		      [1155, 365, 1175, 385]
      Value		      "-4000"
    }
    Block {
      BlockType		      Constant
      Name		      "path offset"
      Position		      [185, 205, 230, 225]
      Value		      "-5000"
    }
    Block {
      BlockType		      Constant
      Name		      "theta"
      Position		      [1185, 490, 1205, 510]
      Value		      "0"
    }
    Block {
      BlockType		      Constant
      Name		      "theta1"
      Position		      [1090, 425, 1110, 445]
      Value		      "45*pi/180"
    }
    Line {
      SrcBlock		      "Aileron Dynamics"
      SrcPort		      1
      Points		      [10, 0]
      DstBlock		      "Mux"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Rudder Dynamics"
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      Points		      [10, 0]
      DstBlock		      "Mux"
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    }
    Line {
      SrcBlock		      "Mux"
      SrcPort		      1
      DstBlock		      "Lateral"
      DstPort		      1
    }
    Line {
      Name		      "all data"
      Labels		      [0, 0]
      SrcBlock		      "Lateral"
      SrcPort		      1
      Points		      [0, 0]
      Branch {
	DstBlock		"Demux"
	DstPort			1
      }
      Branch {
	Labels			[1, 0]
	Points			[0, -290]
	DstBlock		"Mux3"
	DstPort			2
      }
    }
    Line {
      Name		      "r"
      Labels		      [0, 0]
      SrcBlock		      "Demux"
      SrcPort		      3
      Points		      [20, 0; 0, 90]
      DstBlock		      "Washout FIlter"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Constant"
      SrcPort		      1
      DstBlock		      "Sum2"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Sum2"
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      DstBlock		      "Rudder Dynamics"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Washout FIlter"
      SrcPort		      1
      Points		      [-220, 0]
      DstBlock		      "Sum2"
      DstPort		      2
    }
    Line {
      Name		      "p"
      Labels		      [0, 0]
      SrcBlock		      "Demux"
      SrcPort		      2
      Points		      [55, 0; 0, -60]
      DstBlock		      "Kp"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Kp"
      SrcPort		      1
      Points		      [-225, 0; 0, 40]
      DstBlock		      "Sum"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Sum"
      SrcPort		      1
      DstBlock		      "Aileron Dynamics"
      DstPort		      1
    }
    Line {
      Name		      "phi"
      SrcBlock		      "Demux"
      SrcPort		      4
      Points		      [10, 0]
      Branch {
	Labels			[1, 0]
	Points			[15, 0; 0, 120; -480, 0]
	DstBlock		"Sum1"
	DstPort			2
      }
      Branch {
	Points			[0, 110]
	DstBlock		"Banking mix2"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Sum1"
      SrcPort		      1
      DstBlock		      "Gain"
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    }
    Line {
      Name		      "v"
      Labels		      [0, 0]
      SrcBlock		      "Demux"
      SrcPort		      1
      Points		      [105, 0]
      DstBlock		      "Sum9"
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    }
    Line {
      Name		      "psi"
      Labels		      [0, 0]
      SrcBlock		      "Demux"
      SrcPort		      5
      Points		      [5, 0]
      Branch {
	Points			[25, 0]
	Branch {
	  Labels		  [4, 0]
	  Points		  [5, 0; 0, 140; -640, 0]
	  DstBlock		  "Sum4"
	  DstPort		  2
	}
	Branch {
	  DstBlock		  "Banking mix1"
	  DstPort		  1
	}
      }
      Branch {
	Points			[0, 120]
	DstBlock		"Mux1"
	DstPort			3
      }
    }
    Line {
      SrcBlock		      "Gain"
      SrcPort		      1
      DstBlock		      "Sum"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Sum4"
      SrcPort		      1
      DstBlock		      "Banking mix"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Banking mix"
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      DstBlock		      "Saturation"
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    }
    Line {
      SrcBlock		      "Product"
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      Points		      [10, 0]
      DstBlock		      "Sum6"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Psi_ref"
      SrcPort		      1
      Points		      [30, 0]
      DstBlock		      "Sum8"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Signal\nGenerator"
      SrcPort		      1
      Points		      [25, 0; 0, 35]
      DstBlock		      "Sum8"
      DstPort		      1
    }
    Line {
      Name		      "time"
      Labels		      [1, 0]
      SrcBlock		      "Clock"
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      Points		      [30, 0]
      Branch {
	DstBlock		"Gain1"
	DstPort			1
      }
      Branch {
	Points			[0, -85]
	DstBlock		"Mux3"
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      }
    }
    Line {
      Name		      "xe"
      SrcBlock		      "Gain1"
      SrcPort		      1
      Points		      [5, 0]
      Branch {
	DstBlock		"Product"
	DstPort			1
      }
      Branch {
	Points			[0, 220]
	DstBlock		"Mux2"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "path offset"
      SrcPort		      1
      Points		      [55, 0]
      DstBlock		      "Sum6"
      DstPort		      2
    }
    Line {
      Name		      "desired path"
      SrcBlock		      "Sum6"
      SrcPort		      1
      Points		      [0, 5]
      Branch {
	Labels			[2, 0]
	Points			[0, 110; -280, 0]
	DstBlock		"Sum5"
	DstPort			1
      }
      Branch {
	Labels			[2, 0]
	Points			[0, -25; 680, 0]
	Branch {
	  Points		  [105, 0]
	  DstBlock		  "Mux4"
	  DstPort		  1
	}
	Branch {
	  Points		  [0, -55]
	  DstBlock		  "Mux3"
	  DstPort		  3
	}
      }
    }
    Line {
      Name		      "psi_ref"
      SrcBlock		      "Sum8"
      SrcPort		      1
      Points		      [0, 0; 15, 0]
      Branch {
	Labels			[2, 0]
	Points			[0, 100]
	DstBlock		"Sum7"
	DstPort			1
      }
      Branch {
	Points			[70, 0]
	DstBlock		"Product"
	DstPort			2
      }
    }
    Line {
      Name		      "Psi_d"
      Labels		      [0, 0]
      SrcBlock		      "Sum7"
      SrcPort		      1
      Points		      [20, 0]
      Branch {
	DstBlock		"Sum4"
	DstPort			1
      }
      Branch {
	Labels			[4, 0]
	Points			[0, -20; 65, 0; 0, -100; 460, 0; 0, -90]
	DstBlock		"Mux3"
	DstPort			5
      }
    }
    Line {
      SrcBlock		      "Sum5"
      SrcPort		      1
      DstBlock		      "Gain3"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Gain3"
      SrcPort		      1
      Points		      [0, -90]
      DstBlock		      "Sum7"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Banking mix1"
      SrcPort		      1
      DstBlock		      "Sum9"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Sum9"
      SrcPort		      1
      DstBlock		      "Integrator"
      DstPort		      1
    }
    Line {
      Name		      "ye"
      SrcBlock		      "Integrator"
      SrcPort		      1
      Points		      [5, 0]
      Branch {
	Labels			[1, 0]
	Points			[0, 155; -1065, 0]
	DstBlock		"Sum5"
	DstPort			2
      }
      Branch {
	Points			[0, -70]
	Branch {
	  Points		  [0, -60]
	  Branch {
	    DstBlock		    "Mux4"
	    DstPort		    2
	  }
	  Branch {
	    Points		    [0, -5; -95, 0; 0, -180]
	    DstBlock		    "Mux3"
	    DstPort		    4
	  }
	}
	Branch {
	  Points		  [0, 40]
	  DstBlock		  "Mux2"
	  DstPort		  2
	}
      }
    }
    Line {
      SrcBlock		      "Mux4"
      SrcPort		      1
      DstBlock		      "Path1"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Mux3"
      SrcPort		      1
      DstBlock		      "To Workspace"
      DstPort		      1
    }
    Line {
      Name		      "Phi_comm"
      Labels		      [0, 0]
      SrcBlock		      "Saturation"
      SrcPort		      1
      Points		      [5, 0]
      Branch {
	DstBlock		"Sum1"
	DstPort			1
      }
      Branch {
	Labels			[2, 0]
	Points			[0, -80; 585, 0]
	DstBlock		"Mux3"
	DstPort			6
      }
    }
    Line {
      SrcBlock		      "Mux1"
      SrcPort		      1
      Points		      [0, -15]
      Branch {
	Points			[0, -45; -10, 0]
	DstBlock		"6DoF Animation"
	DstPort			2
      }
      Branch {
	Points			[0, 65]
	DstBlock		"Path2"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Z"
      SrcPort		      1
      Points		      [0, -10]
      DstBlock		      "Mux2"
      DstPort		      3
    }
    Line {
      SrcBlock		      "Mux2"
      SrcPort		      1
      Points		      [10, 0; 0, 10]
      DstBlock		      "6DoF Animation"
      DstPort		      1
    }
    Line {
      SrcBlock		      "theta"
      SrcPort		      1
      DstBlock		      "Mux1"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Banking mix2"
      SrcPort		      1
      Points		      [20, 0]
      DstBlock		      "Sum3"
      DstPort		      2
    }
    Line {
      SrcBlock		      "theta1"
      SrcPort		      1
      Points		      [25, 0]
      DstBlock		      "Sum3"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Sum3"
      SrcPort		      1
      Points		      [30, 0]
      DstBlock		      "Mux1"
      DstPort		      1
    }
  }
}