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P @P0 cXP"@P@flg@oRt@eofudfP ControllerpdfdPtxdPoldPext c,RP"@P@flg@oRt@eofudf P!stopx!dfdP!txdP!oldP!ext P    P    P   c PP"@P@flg@oRt@eofudfP Tdx dfdP txdP oldP ext c PP"@P@flg@oRt@eofudfP Tip dfdP txdP oldP ext c PP"@P@flg@oRt@eofudfP Kcp dfdP txdP oldP ext P   c4RP"@P@flg@oRt@eofudf P Alphap dfdP txdP oldP ext0(P*P0020 clP"@P@flg@oRt@eofudfP2 model_estim p2dfd P2txd P2old P2ext c vP"@P@flg@oRt@eofudfP3Process model, Hps(z) p3dfd P3txd P3old P3ext P   c8PP"@P@flg@oRt@eofudfP fbp dfdP txdP oldP ext P" P@@ cP"@P@flg@oRt@eofudfBPCD CtoD Conversion Method.ctlcontroller_discr_methodpdfdPtxdPoldPext ` y" P@@" P@@" P@@" P@@" P@@" P@@  " P@@" P@@  " P@@" P@@ ` Gain" P@@" P@@2`CD CtoD Conversion Method.ctlMethod" P@@" P@@` Sampling Time" P@@ c$ cP c8@Offset (records:0)$@2File Path (dialog if empty)6@P @!status @code@0source error out c@Records to Read (-1,all)@@P @!status @code@0sourceerror in (no error) c@2 New File Path@@P @!status @code@0sourceerror in (no error) c@@@%CD Transfer Function Model (MIMO).ctlP@\;CD General Elements.ctlP@0 Model name&@@@0String Input names(@@@0String Output names$@@ @ Numeric Input Delays$@@ @ Numeric Output Delays@ Sampling Time@0Notes properties@@@%CD Transfer Function Model (SISO).ctlRP @@ @ Numeric numerator"@@ @ Numeric denominator @ delayClustertransfer function(s)Transfer Function ModelTransfer Function Model@3Equation,@P @Width @HeightDraw Area Size@%CD Transfer Function Model (MIMO).ctlP@\;CD General Elements.ctlP@0 Model name&@@@0String Input names(@@@0String Output names$@@ @ Numeric Input Delays$@@ @ Numeric Output Delays@ Sampling Time@0Notes properties@@@%CD Transfer Function Model (SISO).ctlRP @@ @ Numeric numerator"@@ @ Numeric denominator @ delayClustertransfer function(s)'First Transfer Function Model in Record@@P @!status @code@0sourceerror in (no error)6@P @!status @code@0source error out c@Input (column)@2 model_estim@ Output (row) c @ Delay@@P @!status @code@0sourceerror in (no error) c@%CD Transfer Function Model (MIMO).ctlP@\;CD General Elements.ctlP@0 Model name&@@@0String Input names(@@@0String Output names$@@ @ Numeric Input Delays$@@ @ Numeric Output Delays@ Sampling Time@0Notes properties@@@%CD Transfer Function Model (SISO).ctlRP @@ @ Numeric numerator"@@ @ Numeric denominator @ delayClustertransfer function(s)Transfer Function Model6@P @!status @code@0source error out c@ Natural Frequency (rad/s)@@P @!status @code@0sourceerror in (no error) c2@CD CtoD Conversion Method.ctlMethod c@ Sampling Time (s) @ Gain6@P @!status @code@0source error out c@ ControllerFB@CD Time Info.ctlP@ t0@ dt@ tf Time Info c  @ Alpha @!stop @ Td c@ fb @ fbFB@CD CtoD Conversion Method.ctlcontroller_discr_method! c @ Ti @ Kc@@P @!status @code@0sourceerror in (no error) cB@CD Time Info.ctlP@ t0@ dt@ tf Time Info6@P @!status @code@0source error out6@P @!status @code@0source error outx@CD Delay Settings.ctl@P@!Adjust Model for Delay@Pade Approximation OrderDelay Adjustment Settings c@%CD Transfer Function Model (MIMO).ctlP@\;CD General Elements.ctlP@0 Model name&@@@0String Input names(@@@0String Output names$@@ @ Numeric Input Delays$@@ @ Numeric Output Delays@ Sampling Time@0Notes properties@@@%CD Transfer Function Model (SISO).ctlRP @@ @ Numeric numerator"@@ @ Numeric denominator @ delayClustertransfer function(s) Series Model@%CD Transfer Function Model (MIMO).ctlP@\;CD General Elements.ctlP@0 Model name&@@@0String Input names(@@@0String Output names$@@ @ Numeric Input Delays$@@ @ Numeric Output Delays@ Sampling Time@0Notes properties@@@%CD Transfer Function Model (SISO).ctlRP @@ @ Numeric numerator"@@ @ Numeric denominator @ delayClustertransfer function(s)Closed Loop ModelJF@@(P@@ time@ Step Response GraphH@@(@P @input #@output #ClusterResponse Plots Index.@CD MIMO Time Response Data.ctlP@@ Time,@@ @ Numeric Outputs Data"@@ States Data@CD Plot Types Enum.ctl` bode-magnitude bode-phasenicholsnyquistsingular valuesstepimpulseinitial simulation plot typeStep Response Data6@P @!status @code@0source error out c@CD Output Connections.ctlJ@@@P@Model 1 Output@ Model 2 Input @!SignalClusterOutput Connections*@@ @ NumericInitial Conditions@CD Feedback Connections.ctlH@>@P@ Model Output@ Model 1 Input @!SignalClusterFeedback ConnectionsN@p2@(P@@ time@ Response Graph Ref6@P @!status @code@0sourceerror in c@ Prewarp Frequency (rad/s)@@P @!status @code@0sourceerror in (no error) c2@CD CtoD Conversion Method.ctlMethod c@ Derivative time [s] (Td)6@P @!status @code@0source error out c@ Sampling Time (s)@%CD Transfer Function Model (MIMO).ctlP@\;CD General Elements.ctlP@0 Model name&@@@0String Input names(@@@0String Output names$@@ @ Numeric Input Delays$@@ @ Numeric Output Delays@ Sampling Time@0Notes properties@@@%CD Transfer Function Model (SISO).ctlRP @@ @ Numeric numerator"@@ @ Numeric denominator @ delayClustertransfer function(s)Model 26@P @!status @code@0source error out c@%CD Transfer Function Model (MIMO).ctlP@\;CD General Elements.ctlP@0 Model name&@@@0String Input names(@@@0String Output names$@@ @ Numeric Input Delays$@@ @ Numeric Output Delays@ Sampling Time@0Notes properties@@@%CD Transfer Function Model (SISO).ctlRP @@ @ Numeric numerator"@@ @ Numeric denominator @ delayClustertransfer function(s)Model 1L@@6@P@Output Model 1@Input Model 2Cluster Connections@%CD Transfer Function Model (MIMO).ctlP@\;CD General Elements.ctlP@0 Model name&@@@0String Input names(@@@0String Output names$@@ @ Numeric Input Delays$@@ @ Numeric Output Delays@ Sampling Time@0Notes properties@@@%CD Transfer Function Model (SISO).ctlRP @@ @ Numeric numerator"@@ @ Numeric denominator @ delayClustertransfer function(s)Transfer Function Model@@P @!status @code@0sourceerror in (no error) c;@@P @!status @code@0sourceerror in (no error)@! 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Function Model (MIMO).ctlP@\;CD General Elements.ctlP@0 Model name&@@@0String Input names(@@@0String Output names$@@ @ Numeric Input Delays$@@ @ Numeric Output Delays@ Sampling Time@0Notes properties@@@%CD Transfer Function Model (SISO).ctlRP @@ @ Numeric numerator"@@ @ Numeric denominator @ delayClustertransfer function(s)Model 1 x  6@P @!status @code@0source error out@%CD Transfer Function Model (MIMO).ctlP@\;CD General Elements.ctlP@0 Model name&@@@0String Input names(@@@0String Output names$@@ @ Numeric Input Delays$@@ @ Numeric Output Delays@ Sampling Time@0Notes properties@@@%CD Transfer Function Model (SISO).ctlRP @@ @ Numeric numerator"@@ @ Numeric denominator @ delayClustertransfer function(s) Discrete Transfer Function Model@ Prewarp Frequency (rad/s)@@P @!status @code@0sourceerror in (no error)2@CD CtoD Conversion Method.ctlMethod@ Sampling Time (s)@%CD Transfer Function Model (MIMO).ctlP@\;CD General Elements.ctlP@0 Model name&@@@0String Input names(@@@0String Output names$@@ @ Numeric Input Delays$@@ @ Numeric Output Delays@ Sampling Time@0Notes properties@@@%CD Transfer Function Model (SISO).ctlRP @@ @ Numeric numerator"@@ @ Numeric denominator @ delayClustertransfer function(s)"Continuous Transfer Function Model(@ Proportional Gain (Kc)(@ Integral time [s] (Ti).@ Derivative time [s] (Td)F6@P @!status @code@0sourceerror in @ Alpha x  6@P @!status @code@0source error out@%CD Transfer Function Model (MIMO).ctlP@\;CD General Elements.ctlP@0 Model name&@@@0String Input names(@@@0String Output names$@@ @ Numeric Input Delays$@@ @ Numeric Output Delays@ Sampling Time@0Notes properties@@@%CD Transfer Function Model (SISO).ctlRP @@ @ Numeric numerator"@@ @ Numeric denominator @ delayClustertransfer function(s)Transfer Function Model @ Alpha6@P @!status @code@0sourceerror in@ Derivative time [s] (Td)@ Integral time [s] (Ti)@ Proportional Gain (Kc) @%CD Transfer Function Model (MIMO).ctlP@\;CD General Elements.ctlP@0 Model name&@@@0String Input names(@@@0String Output names$@@ @ Numeric Input Delays$@@ @ Numeric Output Delays@ Sampling Time@0Notes properties@@@%CD Transfer Function Model (SISO).ctlRP @@ @ Numeric numerator"@@ @ Numeric denominator @ delayClustertransfer function(s)"Continuous Transfer Function Model&@ Sampling Time (s)B2@CD CtoD Conversion Method.ctlMethod@ y.@ Prewarp Frequency (rad/s)!@%CD Transfer Function Model (MIMO).ctlP@\;CD General Elements.ctlP@0 Model name&@@@0String Input names(@@@0String Output names$@@ @ Numeric Input Delays$@@ @ Numeric Output Delays@ Sampling Time@0Notes properties@@@%CD Transfer Function Model (SISO).ctlRP @@ @ Numeric numerator"@@ @ Numeric denominator @ delayClustertransfer function(s) Discrete Transfer Function ModelRB@CD CtoD Conversion Method.ctlcontroller_discr_methodZJ x  6@P @!status @code@0source error out@@@%CD Transfer Function Model (MIMO).ctlP@\;CD General Elements.ctlP@0 Model name&@@@0String Input names(@@@0String Output names$@@ @ Numeric Input Delays$@@ @ Numeric Output Delays@ Sampling Time@0Notes properties@@@%CD Transfer Function Model (SISO).ctlRP @@ @ Numeric numerator"@@ @ Numeric denominator @ delayClustertransfer function(s)Transfer Function ModelTransfer Function Model@%CD Transfer Function Model (MIMO).ctlP@\;CD General Elements.ctlP@0 Model name&@@@0String Input names(@@@0String Output names$@@ @ Numeric Input Delays$@@ @ Numeric Output Delays@ Sampling Time@0Notes properties@@@%CD Transfer Function Model (SISO).ctlRP @@ @ Numeric numerator"@@ @ Numeric denominator @ delayClustertransfer function(s)'First Transfer Function Model in Record@2 New File Path@Mark after Read (records)@@P @!status @code@0sourceerror in (no error)@Records to Read (-1,all)@Offset (records:0)$@2File Path (dialog if empty)$@Offset (records:0)@%CD Transfer Function Model (MIMO).ctlP@\;CD General Elements.ctlP@0 Model name&@@@0String Input names(@@@0String Output names$@@ @ Numeric Input Delays$@@ @ Numeric Output Delays@ Sampling Time@0Notes properties@@@%CD Transfer Function Model (SISO).ctlRP @@ @ Numeric numerator"@@ @ Numeric denominator @ delayClustertransfer function(s) Model Out&@@@%CD Transfer Function Model (MIMO).ctlP@\;CD General Elements.ctlP@0 Model name&@@@0String Input names(@@@0String Output names$@@ @ Numeric Input Delays$@@ @ Numeric Output Delays@ Sampling Time@0Notes properties@@@%CD Transfer Function Model (SISO).ctlRP @@ @ Numeric numerator"@@ @ Numeric denominator @ delayClustertransfer function(s)Transfer Function ModelTransfer Function Model@%CD Transfer Function Model (MIMO).ctlP@\;CD General Elements.ctlP@0 Model name&@@@0String Input names(@@@0String Output names$@@ @ Numeric Input Delays$@@ @ Numeric Output Delays@ Sampling Time@0Notes properties@@@%CD Transfer Function Model (SISO).ctlRP @@ @ Numeric numerator"@@ @ Numeric denominator @ delayClustertransfer function(s)'First Transfer Function Model in Record&@2 New File Path.@Mark after Read (records).@Records to Read (-1,all)0$@2File Path (dialog if empty) @2 model_estim.@3Process model, Hps(z)"@ Output (row) @Input (column)"@3Equation8,@P @Width @HeightDraw Area Size x 6@P @!status @code@0source error out,@P @Width @HeightDraw Area Size@3Equation@@P @!status @code@0sourceerror in (no error)@Input (column)@ Output (row)@%CD Transfer Function Model (MIMO).ctlP@\;CD General Elements.ctlP@0 Model name&@@@0String Input names(@@@0String Output names$@@ @ Numeric Input Delays$@@ @ Numeric Output Delays@ Sampling Time@0Notes properties@@@%CD Transfer Function Model (SISO).ctlRP @@ @ Numeric numerator"@@ @ Numeric denominator @ delayClustertransfer function(s)Transfer Function Model@ fb @ Gain x   6@P @!status @code@0source error out@%CD Transfer Function Model (MIMO).ctlP@\;CD General Elements.ctlP@0 Model name&@@@0String Input names(@@@0String Output names$@@ @ Numeric Input Delays$@@ @ Numeric Output Delays@ Sampling Time@0Notes properties@@@%CD Transfer Function Model (SISO).ctlRP @@ @ Numeric numerator"@@ @ Numeric denominator @ delayClustertransfer function(s)Transfer Function Model @ Delay@@P @!status @code@0sourceerror in (no error)@ Natural Frequency (rad/s)@ Damping Ratio @ Gain @ Delay.@ Natural Frequency (rad/s)"@ Damping Ratio@%CD Transfer Function Model (MIMO).ctlP@\;CD General Elements.ctlP@0 Model name&@@@0String Input names(@@@0String Output names$@@ @ Numeric Input Delays$@@ @ Numeric Output Delays@ Sampling Time@0Notes properties@@@%CD Transfer Function Model (SISO).ctlRP @@ @ Numeric numerator"@@ @ Numeric denominator @ delayClustertransfer function(s)Transfer Function Model In"@ Sampling Time x  6@P @!status @code@0source error out@%CD Transfer Function Model (MIMO).ctlP@\;CD General Elements.ctlP@0 Model name&@@@0String Input names(@@@0String Output names$@@ @ Numeric Input Delays$@@ @ Numeric Output Delays@ Sampling Time@0Notes properties@@@%CD Transfer Function Model (SISO).ctlRP @@ @ Numeric numerator"@@ @ Numeric denominator @ delayClustertransfer function(s) Model Out@%CD Transfer Function Model (MIMO).ctlP@\;CD General Elements.ctlP@0 Model name&@@@0String Input names(@@@0String Output names$@@ @ Numeric Input Delays$@@ @ Numeric Output Delays@ Sampling Time@0Notes properties@@@%CD Transfer Function Model (SISO).ctlRP @@ @ Numeric numerator"@@ @ Numeric denominator @ delayClustertransfer function(s)Transfer Function Model In@@P @!status @code@0sourceerror in (no error)@ Sampling Time:*@@ @ NumericInitial Conditions^N@p2@(P@@ time@ Response Graph RefTH@@(@P @input #@output #ClusterResponse Plots IndexVF@@(P@@ time@ Step Response Graph>.@CD MIMO Time Response Data.ctlP@@ Time,@@ @ Numeric Outputs Data"@@ States Data@CD Plot Types Enum.ctl` bode-magnitude bode-phasenicholsnyquistsingular valuesstepimpulseinitial simulation plot typeStep Response Data#$p @` $ppp ppx 8$pptppxp !`$!p"""`"""#"`##` @#$$$t$t$$$$$$%%%,p%%&Lx& $ppp ppx.3$3L3t3p3ppppx3 !`699,$$`9l$99999p9pp9p%$;px9l9l<(A33AxCEGGppp$HHH&Lpx&L%%p%,p!$Hx9HxHHHH$ppppIpI$xI\pLlLlLlLLLxppppOp$OOLp ppx9,9,.xpp9ppp9$9,96 &xppApppO$pQQRQp;"`V$VWTppWpWx& UDbo<bo< Ti_ZN [s]_D]^Step Response Graph_D]^Step Response GraphVD$    Time (sec)HD"Rt$5t%5U D$k"xZ AmplitudeHDR|}2342'/5Simulated controlled process output y (setpoint step)UDEE Time InfoLDND)4*4t0HQ-I/HND) 4* 4dtHQ-I/HND&)32&*32tfHQ9-FI9/FHmDbb!Gain [dB] and Phase Margins [deg]LDZD$  G.M. FrequencyH RWD$$]%] Gain MarginH R\[ZD$  P.M. FrequencyH RXD$ZZ Phase MarginH LR\[[DstMagnitude GraphZDstBode amplitude]D$p}Lp}LFrequency [rad/s]HD"Ran,an,T D$wMag (dB)HDRR=IJ]=KJ\|L(z)|pDst   Phase Graph VDst Bode phase]D$jwPjwPFrequency [rad/s]HD"LR[h/[h/W D$p Phase (deg)HDRTJWJWarg L(z)QD<I/<I/Kc_ZNHRO\@O\? QDq~q~Ti_ZNH jQu@u? DKK8Ziegler-Nichols' PID tuning based on frequency response:QDTd_ZNHRA@ VD,9,9  ControllerL@>e>e3PDVc3Vc3stopH$Rk#xAk$xAf#/&/qAnalysis of control system{D3%?3&?**/Finn Haugen (finn@techteach.no), April 21, 2004HpR^z`yND @M AMTdNDDMEMTiHiQ^{`zNDAMBMKcHR^}`|QD)\6x)]6xAlphaHTR<`IStep Response Graph is a graph that shows the forced response of the system when the forcing function is a step. For MIMO systems, the step response is determined by applying a step on one input at a time and letting other inputs to the system be zero.L  @t$d  L |4 N8R \ p14 J8 \ p10 C8 $h>@ :8J!|ff]@ :8L!|wvvo@ :8K!|nng0 k8! xi>0 J8& i DO`480oZ0oZ  (X0 2(o,t- ^0 2-oWrX X4 3^qT4  6s#6o1D O@48jt4{t 1@ T0 2( V0 2- Y4 3^j#y p14 6{rT0 8 nR0 8 Yi>8h8B T||4 $81<410 @88$`||@d XV 90! X4 F hJF ,18h hB D 0 K||<S hJXV : L8Time Info is a cluster of the following elements:, @4 N X  p10 7 X TR||  @PB XN p ;D`Kt0 is the initial time in seconds in the Step Response graph., x4d4 F  (5 d@ 82 ,J<1 p 6  0)c)c)cp 2  )b)b)bL :  ,20u0/.-0  (Nd8h BR ||@P X"Nh<\dPdt is the constant interval between successive values in the time vector.,p,\4 F ( 5 h 82 ,Jh  Dp 2 0 )c )c )cp 2 ")b")b")bL : ,20u0/.-0   ("Nd8hBR ||@P X%KNd=thStf is the final time in seconds up to which the step response is calculated.,l(X4 F %(43 X@ 82 8,GJH1 p 6 03?)c3?)c3?)cp 2 ?K)b?K)b?K)bL : 8,G20u0/.-0  4(KNd8hBR ||0> h| @P4taEL4 FJc  8hB K||<S`Je @,X,8l4 N  L10 7 a0  ed8hBTg||,2 h, h2 @PCA0,$\<4 F  182 1 \p > 0cccp : bbbL : 0u0/.-0  d8hBR ||@PCaXBH,`L4 F #^ 18 2 ]11 p" > 0 c c cp" :  b b bL" : "0u0/.-0"  ad8"hBR "|"|,"@t 0"  X XVd8"h XB pTg4" F2   `18#22 Ҹ11p% >2  0cccp% :2  bbbL% :2  0u0/.-0% 2 d8%h2 B T @R %|%|@%PCa D`,% !!@!" "l"4% F h [  8&2 h ]Ҽ1 p( > h 0 c c cp( : h  b b bL( : h "0u0/.-0(  h ad8(h hB""R (|(|0(#,E(|<p(^)p#F` J(3L( #$0$d$$%%T%%&( (<(l4( F#@R r 14) N#@ r ̀ 0* C#@ C>@* :#@J!off]@* :#@L!ovvo@* :#@K!onng0* k#@! k>0* J#@&  D*_`4#@0\~%r\o  +&&H&x&0+ 2%(\ a! 0, 2%-\{_| 4- 3%^o~M 4.  6%`o-1D/_@4#@a'$a 1 0'D't''00 2&( c01 2&- 42 3&^143 6&104 #@ [04 #@ p>84h#@B((T4|4|44 $#@L5 **4*h**++X++,..@.p45 F)DR r 146 N)D r 107 C)D 2>@7 :)DJ!iyff]@7 :)DL!iyvvo@7 :)DK!iynng07 k)D! e}>07 J)D&  D7_`4)D0Vx+ Vi 1 8,,L,|,08 2+(V#[$ 09 2+-V|Y} b4: 3+^ixQ14;  6+Zi01D<_@4)D[-( L[ 1 =-H-x--0= 2,( 0> 2,- 4? 3,^14@  6,10A )D U0A )D p}>8Ah)DB. TTA|4A $)DIX10B/ I)Dd B|`@BP1;aE/tJ ,B//0 0|0181h4B F/4 ;J0 Ć18C 2/4 N]A  Ȇ11pE :/4 0IUcIUcIUcpE :/4 UabUabUabLE :/4 N]0u0/.-0E /4 JaEd8Eh/4B11R E|E|0E1K/4 E|E|@EPCC L4E N p І18F 2 tA  Ԇ11pH : 0o{co{co{cpH : {b{b{bLH : t0u0/.-0H  pEd8HhB4`2 R H|0H4MT hH|4H L ܆1@IP7TFJ,N 4I N4  18J 24 B  11pL :4 0cccpL :4 bbbLL :4 0u0/.-0L 4 Fd8Lh4B7@7,R L|L|0L7O4 L|lLLi 98+g7P (9 ,L88D8t84L F7 +:10M 27 >e 0M  W7 <g08Mh7B88UM|M|4M 47=f10N9hQ7 $`N|<NO:dH9 ,N9:d::,N|<4N O9|Ud4 18Oh9|BR<O  v9|j"yB1LR0Q99| pQ 9|dH]*]*dH]*]*dHdH..dH4Q "0 qq14R 2$@ 1S|0S  hS|S|S|0S HW8S 2= ]{11U|J@UPE@NLCX @UP@N#K8=L &UDerivative Time [s] (Td) is the controller parameter that adjusts the effect of the error derivative term sE(s) on the controller output U(s).4U N=   ?N  1LV :=  ]c0u0/.-pV 6=  0 NZc NZc NZc0V =  Y#d8Vh= B<<;R pV 2=  N#ZbN#ZbN#Zb@VPB NK@ 8V|0V<= T4V N? CN 18W 2? ]|11LY :? ]c0u0/.-YIntegral Time [s] (Ti) is the controller parameter that adjusts the effect of the error integral term E(s)/s on the controller output U(s).0Y ? Yd8Yh?BB @R Y|0YBP? Y|KpY|pY 6? 0NZcNZcNZcpY 2? NZbNZbNZbhYQProportional Gain (Kc) represents the proportional gain of the controller.4Y N< @N 18Z 2< ]~ 11$0\ < Yd\|L\_R)O/JPDDL\ :< ]c0u0/.-8\h<BD\BdR 0\Ep< T\|K@\PIP(PNEH| X,\FGGPGH0II\|p\ 6< 0NZcNZcNZcp\ 2< NZbNZbNZb4\ FE ([7y (18] 2E ;_J,110p_ 6E 06PB\c6PB\c6PB\cp_ 2E BPN\bBPN\bBPN\bL_ :E ;_Je0u0/.-_sAlpha is the low pass filter parameter this VI uses to make the PID model a proper system. The default is 0.8_hEBI<ER _|0_IE t_|L84_ G 410` E 7[Nd4` F4R B 81<aI5,5`566x664a )8] <1b|b|,bPQQHQxP(QQb|G4b F= R Y x @1<cK=<>x?P>,>?4c F?R Yt D1<dKt@D@xBxB@AA4d F<R Yg H1<eKCCFFtDD,Ee@#h;eON<e[PXQ:}6M0L heQFile Path (dialog if empty) specifies the file path to the model location.,eMMN8M\MNO00e 7L f>yF4e FL Q:`x L14f 2L fGyP10g L b:}dg|pg 2L+  j?tE j?tE j?tE 8ghNBN$< @g|<gO LS bs6Lp8ghLBOhNTg|g|Hg Nbs6bs6bs6bs6bs6 0g 3Dp ;R,0gO|L $\gFEquation draws a picture of the model equation this VI defines.4g FDp )O8 T10h Dp, n,0h ~Dp' ;n, 0h ~Dp& 8nR 8hhDpBJJ 0h WDp 8O/%0hJDp dvaV<TR1;i \TRHV,\h|h|k@hPUDSS hlow cutoff freq: fl is the low cutoff frequency. low cutoff freq: fl must observe the Nyquist criterion. The default is 0.125.<hTTPSTUpTU@V8h 2R Sy  X11\4j FRR G `14k NR 7D d1Ll :R SY0u0/.-pl 2R 0DPcDPcDPc0l R O}dpl 2R DPbDPbDPb0lRR 8lhRBR<(R 1\ ;iQY @ld Z$Z>\ l|l|l|l|4l NVxJ> h18mhVxBVV K4m NW  l1n|oPnWVxJ>[XD X j8nJW p11tpuMethod is the algorithm this VI uses to calculate the discrete equivalent of the continuous-time system model.pp 2W >Jb>Jb>Jb<p 2W Mx1xRpr 6W 0>Jc>Jc>Jc8rhWBVVTa0rWVx ,0r W Id\r987T4t1.)" :@B E@IPPXRUZ$|rZ$URPXJhIIPE@B @ ,=>L>> @t;|=4=||8 2> o11q@P=4=` L :>  00/.-0 3> 8h> B==PA?Pl(X 0 0T) ?4 &C?zq1T?? ,@@D@A@@ 2?O <  2? tTQ0 3? |8h?B@@|0 3?  ?A`Dx4?B @ A@BdBBC CCDDDxE(EF@4?B A@Bd4?C   ?ABd4?B  ?BBB ?B0BB ?CEC 4?D  ?CTC4?C@  ?DCC4?Dd ?DDDDD ?EDxC4?CDx4?EH ?DE(E(4?E ?E\EE4?DF@4?E ?I\F F@0 $q- f4Ppww42   20@gRhxH4 BGhoq13dbb0@I\PXHI(4 BH{oq14_24 Boq164}{4{4$Lho|  4$L  0@tJ@JFVNK4 BJ7Foq14 BKp"1oq10@tM B Kp1A9K<4 BK oq10@tN$E@K,$K4 BL8Q`oq10@tJpIPL8`phLL8R0 $,!L- gJSP$P|MT(AHatu( > NX4$Mp( 4 &KLA(q1KpTd0 $ h4 $61Eos1KU4$NnH TLI'\|Nt  ,NOOTOO@ 2NXO JnYy<  2NX J(YnTQ0 3NX I'Zz|8hNXBOO|0 3NX K)\|P( LPHP(4LPs@YHaD]@ P(Q8QQQR\RSSLSTdUQ84LQq0Y8a4]4LPr8Y@a<] LQQ84LQp(Y0a,] L5QXQQ LPQQ LR|QQ4LSln(Q8Y0U LR(R\4LRo8QHY@U LJpSL8R4LS8l(I8Q0M LRSS LTSLR\4LRm8IHQ@MSL4LTj8A@I<E LJSSS4LTi0A8I4E LM T0KpTd4LSk@AHIDEU4LTh(A0I,E LN$TK,t]Dl( B}\}<~0 $' i "t~kBQZ4$3x  VVV |VPW4V<@HD4Vp8@<Wt@ VWWtWX<XZ8Y4Y[(ZZ4V084 W@Wt4X(0, 5WW VW4X\8H@ XX<X<4X(80 XpXXWZ84YT(80 YY4Y44Y@HD YhYY4[Hz8@< 4X8H@ ZZ84Zy084 UZXZZ4[x(0, 5ZQZ pY[([(4 &C_h6q14 $5 7o׀q14,t\^p F]\ @t\\p\4$]Xd ,lhl`k]t\}< @tUU4]t0 3^p d}<4$^4j`P^P|t h~X^P8N \p\|~}\w<<j4 $jo|q14 $roלp1P[\6V  ~ hHF@;|{w4$a 0 3l( "?k~4$^  ;0 $ J6pape3Du#EEu<2d'==5@azz5c{{4=m4l$3|@ 2hO HS< 2h 7Htq1Q0 3h 6T0 3h 8V8hhBhg|T _h6ViP J,ghhPhh4$` api1;iLT pip q4sj! +~8] N66 hj0@t`UkkT  @kB4 Bkopq18hl(B^^  md{ kk4"~@PU4"?]8 2l( #>lq11qh0 $s jL :l( $00/.-n(4$@PP$mmX @  4 &Cmddq1@ kn(~(`0 mdzn(N$$,E,  $o[(0@tpZ$oWg_<|G_hH?Jph@MiMiM 94E4::91;iow 0 3~ [xP$sq`t? > q4 &Cq4s1Tq4#r l,r8rxrslr@ 2qO  <  2q  tTHQ0 3q !|8hqBs0r|jt0 3q #@ jtutu4uuvXvw<wxT4q4sD 4q4tD u4q4sX  q4tXt4q4u  q4]ttt q4tu q4uu4u44q4v q4uhu4q4uT q4vuu4q4vx q4v$vXvX q4wvu4q4vv4q4w\ q4aww<w<4q4w q4i|wp{w4q4vxT4q4x q4zx xT@Pzxx||,yylyy<z4 Jxt uo`q10 3xt 8 2xt \q11n L :xt 00/.-z<8hxtBxx @tzzxz<z<xT,tyxt 4$z\ 4mdm4mdk~,{|p|,|{ @ti|7{8 2{ n11n@P7{T0 3{ |L :{ 00/.-|8h{B||\4/$U`i }\}|\ }a}~40}]i40}7i40}^i }`}~ h~84h^ bjfUk4 md~4$$\P@PD[x<,hq(4 J~ 0xon1k`\zi|P$PJj(h Ե l4 &ChJn14 BoHWo n1La       V zV z T hJj ,,h@ 2lO \g<  2l K\n1Q0 3l Jh|8hlB|0 3l Lj8h~Bpt ht h4h^bjf4hjLbjf4h`bjf@ ^Pj~8t@<X4hZb^ h4h`RZV h @@<4hZb^4hJRN h4hxJRN h$XX4hJRN hU4htRZV ha~4hJRN h]\t4md{@@d$A\ k4#H04 NJAn18j0 n11m8hB SPWJA 0 30 A,X@ 20O 5@<  20 5m1Q4 J0 #om18h0B @t4$D,tx X,HG4md md mdm0 mdH(4md|( md4md md4mdL md`4md4md4md  md~P04md 0 md4md` ` mdT md}t ,t@ 2 O < 2 ~m1Q0 3 }|8h BL|4dP0 3  gxR``x4 $)o(tT0 $ kHiP@p]x^ 4 &C|$m1T |T 0, @ 2O 0 3 0 3 8hBlX||<  2 m1ЦQI\KKL :,?|_h4hP8 2~ \wm11mL :~ W]00/.-,~ R|| @D44 VP | |<HH 4|4 |B | @ VPH ,04|4||4|  |L4|h4|   |p4|  |B |,4| ,4| |4|P |004| 4|  |dB,gI\k48 _h< _h,@ Dh84_hNVR4_hNVR _hp4_hNVR _hg4_hNVR4_hFNJ _ht4_h0>FB _h _hD4_h`FNJ _hdD4_h 6>: _h4_h6>: _h4hh4_h6>: _h4_h>FB _hB8G4_hX6>: 1@;iLjTr JN<E<LL4$nx4$tP$NDDU0N044pp0H5,],p_<<_U0|<`< l ,=L8JKpKz<{k\]tUo4 $7-Uo@tTLm0 1 1          4  4$;iojwr -TipLج01;iL/T7 5;i]e P$\.iN|"(X @ 4 &C i.o1p7X) $e$X)XT OXbT# d,@@ 2O P_< 2 PY_tTQ0 3 OX`|8hBx,|\t}L :`q4hmd-/$& @l0 3 QZbAa, ol_md]th\}k{z<q47 U|2LMF`[M_4KKpJLL8=2$2X ,l @2l- /<`&$<:` -4 <$2(pM- /lW22eeBBW844 $>6MZotT=(;i]jer  4$P4 $6oFB4 6>:  <pp4 .62  4 `>yNF}  @@4 .y>6}  t  l  4 p.q>y6u  PP4 FiNqJm  4 >qNyFu4 6i>q:m  ~H||4 .i6q2m  5P4W$`4 >iFqBm  d@ 4`pxH€P4-4.kso4--kso -,``4-,kso -4-0+ksop4-*ckg -Dxx4-)ckg -4-h([c_ -HH4-'[c_ -|4-8&S[W -4- %S[W -L€€4-$S[W -´t4-(#S[W -l -7ppȨ /(ìt@ ìĤ tDƬp@Ȩ4/\!ì4/  /pĤĤ4/, /  4/Ŕ /84@tt4/ /Ũ4/d /DD4/ /xƬƬ4/P4/ǐ /<pp4/ /Ǥ4/` /8 @@4/ /7tpȨt @ / 0_hSIM Discrete Run NI.LV.ALL.VILastSavedTarget0DfltNI.LV.ALL.goodSyntaxTargets&@0Dflt( 16&ISUUAft:IS?a8  ?  F  M O Q S U  [TahomaTahomaTahoma0120ArialArialRSRC LVINLBVW h 4RSIDlLVSRBDPWLIviCPTMDSTMDFDSLIdsVICD vers DLDR4FPTDHCPMp\ICONpicl8DTHPTRecSTRG|PICCCPSTdLIfpFPHPFPTSLIbdBDHPBDTSVITS0HISTDPRT XFTABl:lXA$A|\L&\Z&ș&X?hxȈȘ,BȨȸ̒ @ P0qlPpؕɐ܋ $ʘʸX<\f 0!̤Ԗ( 8\'$^*P *X0d`}t*ܵP9|control_analysis_design.vi