RSRC LVINLBVWe<#= e` @<ssLBuIі@q _τáAe3 ُ B~Vu$*b\u@LVIN$real_and_simulated_control_system.viPOLY*CD Convert Control Design to Simulation.vi PTH0uaddonsControl Design_Model ConversionsSimulation Model.llb*CD Convert Control Design to Simulation.viCODECDTKLVIN.CD Convert TF to SIM SISO Transfer Function.vi x 6@P @!status @code@0source error out@ Sampling Time [dt] (s)@SIM SISO Transfer Function.ctlHP @@ @ Numeric Numerator"@@ @ Numeric Denominator"Simulation Transfer Function Model@@P @!status @code@0sourceerror in (no error) @Output @Input@%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 ModelPTH0yaddonsControl Design_Model ConversionsSimulation Model.llb.CD Convert TF to SIM SISO Transfer Function.viCODECDTKPOLYCD Read Model from File.vi1PTH0caddonsControl Design_Model ConstructionModel File IO.llbCD Read Model from File.viCODECDTKLVINcd_Read Model from File (TF).vi 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)$@2File Path (dialog if empty)PTH0haddonsControl Design_Model ConstructionModel File IO.llbcd_Read Model from File (TF).viCODECDTKPOLY%CD Draw Transfer Function Equation.viPTH0baddonsControl Design_UtilityModel Viewer.llb%CD Draw Transfer Function Equation.viCODECDTKLVIN*cd_Draw Transfer Function Equation (TF).vi x 6@P @!status @code@0source error out,@P @Width @HeightDraw Area Size@3Equation@@P @!status @code@0sourceerror in (no error)@Input (column)@ Output (row)@%CD Transfer Function Model (MIMO).ctlP@\;CD General Elements.ctlP@0 Model name&@@@0String Input names(@@@0String Output names$@@ @ 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 ModelPTH0gaddonsControl Design_UtilityModel Viewer.llb*cd_Draw Transfer Function Equation (TF).viCODECDTKPOLYPID Advanced.viC0PTH07addonscontrolpidpid.llbPID Advanced.viLVINPID Advanced (DBL).vi @ setpoint4@P@ output high@ output low output range@! auto? (T)@ manual control @ output@ process variable:@P@ setpoint high@ setpoint lowsetpoint rangef@P@ proportional gain (Kc)@ integral time (Ti, min)@ derivative time (Td, min) PID gains @ dt (s)@!reinitialize? (F) @ beta@ linearity@ dt out (s)PTH0=addonscontrolpidpid.llbPID Advanced (DBL).viPOLYFP Read (Polymorphic).vilAPTH0E FieldPointPolymorphic Read.llbFP Read (Polymorphic).viPOLYFP Write (Polymorphic).vi򢶄PTH0G FieldPointPolymorphic Write.llbFP Write (Polymorphic).viLVINFP Write (Float -IO).vi   8@p FieldPoint FieldPoint IOFieldPoint IO Point In8@p FieldPoint FieldPoint IOFieldPoint IO Point Out @ value@ timestamp@!on change (false)@@P @!status @code@0sourceerror in (no error)6@P @!status @code@0source error outPTH0E FieldPointPolymorphic Write.llbFP Write (Float -IO).viLVINFP Read (Float -IO).vi  8@p FieldPoint FieldPoint IOFieldPoint IO Point In @ Type8@p FieldPoint FieldPoint IOFieldPoint IO Point Out @ value@ timestamp@@P @!status @code@0sourceerror in (no error)6@P @!status @code@0source error outPTH0C FieldPointPolymorphic Read.llbFP Read (Float -IO).viLVINButterworth Filter PtByPt.vin @error@ Filtered x@! initialize @order6@LowpassHighpassBandpassBandstop filter type@ low cutoff freq: fl@ high cutoff freq: fh@ sampling freq: fs@ xPTH0<ptbypt Filters.llbButterworth Filter PtByPt.viLVINSIMSCR Init From Cluster.viD` @0 timingSource@dSIM simulation data.ctlP~@SIM integration method.ctlD RK 1 (Euler)Adams LinearizerRK 3RK 4RK 45BDFRK 2RK 23continuous integrator@ initial time@ final time@ step size@ proposed step size@ max step size@ min step size@ discrete time step@ max step ratioj@SIM diagram eval stage.ctl6Init Minor Substep Major Substep Discrete stepDiag Eval Stage@ Substep Index@Timestep Index@ simulation time@ current timestep base@ proposed step time@ absolute tolerance@ relative tolerance@!step accepted?@!step complete? @!Halt?@!reset integrator?@ machine epsilon@ min float@SIM solver state data.ctlP @@ @ Numericinputs@@ @ Numericoutputs@@ @ Numericreset$@@ @ Numeric lower limits$@@ @ Numeric upper limitsZ@@D@SIM limit type.ctlupperlowerbothnone limit type limit typesd@@N@SIM trigger type.ctl"risingfallingeithernone trigger type reset types*@@ @ Numericinitial conditions"@@ @ Numeric reset I.C. @@ @!Booleanlimited? State data2@P @!status @code@0sourceerror@ Method Order@!Finished Late [i-1]Simulation data out4@P @!status @code@0sourceerrorin@ SIMSCR simulation parameters.ctlP@ Initial Time@ Final Time@ Time Step@ Absolute Tolerance@ Relative Tolerance @Discrete Time Step Multiple@0Continuous Solver@0Additional ParametersSimulationParametersPTH0Vaddons Simulation ScriptingCompanion DiagramSIMSCR Init From Cluster.viSIMUSIMMLVINMerge Errors.vi`   6@P @!status @code@0source error outP@@6@P @!status @code@0sourceerror inerror array inB@P @!status @code@0sourceerror in 3 (no error)B@P @!status @code@0sourceerror in 2 (no error)B@P @!status @code@0sourceerror in 1 (no error)PTH0.Utility error.llbMerge Errors.viLVINSIM Set Finished Late Flag.viE x  @dSIM simulation data.ctlP~@SIM integration method.ctlD RK 1 (Euler)Adams LinearizerRK 3RK 4RK 45BDFRK 2RK 23continuous integrator@ initial time@ final time@ step size@ proposed step size@ max step size@ min step size@ discrete time step@ max step ratioj@SIM diagram eval stage.ctl6Init Minor Substep Major Substep Discrete stepDiag Eval Stage@ Substep Index@Timestep Index@ simulation time@ current timestep base@ proposed step time@ absolute tolerance@ relative tolerance@!step accepted?@!step complete? @!Halt?@!reset integrator?@ machine epsilon@ min float@SIM solver state data.ctlP @@ @ Numericinputs@@ @ Numericoutputs@@ @ Numericreset$@@ @ Numeric lower limits$@@ @ Numeric upper limitsZ@@D@SIM limit type.ctlupperlowerbothnone limit type limit typesd@@N@SIM trigger type.ctl"risingfallingeithernone trigger type reset types*@@ @ Numericinitial conditions"@@ @ Numeric reset I.C. @@ @!Booleanlimited? State data2@P @!status @code@0sourceerror@ Method Order@!Finished Late [i-1]Simulation data out@!Finished Late [i-1]@dSIM simulation data.ctlP~@SIM integration method.ctlD RK 1 (Euler)Adams LinearizerRK 3RK 4RK 45BDFRK 2RK 23continuous integrator@ initial time@ final time@ step size@ proposed step size@ max step size@ min step size@ discrete time step@ max step ratioj@SIM diagram eval stage.ctl6Init Minor Substep Major Substep Discrete stepDiag Eval Stage@ Substep Index@Timestep Index@ simulation time@ current timestep base@ proposed step time@ absolute tolerance@ relative tolerance@!step accepted?@!step complete? @!Halt?@!reset integrator?@ machine epsilon@ min float@SIM solver state data.ctlP @@ @ Numericinputs@@ @ Numericoutputs@@ @ Numericreset$@@ @ Numeric lower limits$@@ @ Numeric upper limitsZ@@D@SIM limit type.ctlupperlowerbothnone limit type limit typesd@@N@SIM trigger type.ctl"risingfallingeithernone trigger type reset types*@@ @ Numericinitial conditions"@@ @ Numeric reset I.C. @@ @!Booleanlimited? State data2@P @!status @code@0sourceerror@ Method Order@!Finished Late [i-1]Simulation dataPTH0Raddons SimulationImplementationSharedSIM Set Finished Late Flag.viSIMUSIMMLVINSIM manager.vi+( @!step complete?@dSIM simulation data.ctlP~@SIM integration method.ctlD RK 1 (Euler)Adams LinearizerRK 3RK 4RK 45BDFRK 2RK 23continuous integrator@ initial time@ final time@ step size@ proposed step size@ max step size@ min step size@ discrete time step@ max step ratioj@SIM diagram eval stage.ctl6Init Minor Substep Major Substep Discrete stepDiag Eval Stage@ Substep Index@Timestep Index@ simulation time@ current timestep base@ proposed step time@ absolute tolerance@ relative tolerance@!step accepted?@!step complete? @!Halt?@!reset integrator?@ machine epsilon@ min float@SIM solver state data.ctlP @@ @ Numericinputs@@ @ Numericoutputs@@ @ Numericreset$@@ @ Numeric lower limits$@@ @ Numeric upper limitsZ@@D@SIM limit type.ctlupperlowerbothnone limit type limit typesd@@N@SIM trigger type.ctl"risingfallingeithernone trigger type reset types*@@ @ Numericinitial conditions"@@ @ Numeric reset I.C. @@ @!Booleanlimited? State data2@P @!status @code@0sourceerror@ Method Order@!Finished Late [i-1]Simulation data out@dSIM simulation data.ctlP~@SIM integration method.ctlD RK 1 (Euler)Adams LinearizerRK 3RK 4RK 45BDFRK 2RK 23continuous integrator@ initial time@ final time@ step size@ proposed step size@ max step size@ min step size@ discrete time step@ max step ratioj@SIM diagram eval stage.ctl6Init Minor Substep Major Substep Discrete stepDiag Eval Stage@ Substep Index@Timestep Index@ simulation time@ current timestep base@ proposed step time@ absolute tolerance@ relative tolerance@!step accepted?@!step complete? @!Halt?@!reset integrator?@ machine epsilon@ min float@SIM solver state data.ctlP @@ @ Numericinputs@@ @ Numericoutputs@@ @ Numericreset$@@ @ Numeric lower limits$@@ @ Numeric upper limitsZ@@D@SIM limit type.ctlupperlowerbothnone limit type limit typesd@@N@SIM trigger type.ctl"risingfallingeithernone trigger type reset types*@@ @ Numericinitial conditions"@@ @ Numeric reset I.C. @@ @!Booleanlimited? State data2@P @!status @code@0sourceerror@ Method Order@!Finished Late [i-1]Simulation dataPTH0Caddons SimulationImplementationSharedSIM manager.viSIMUSIMMLVIN SIM stop.vi) @dSIM simulation data.ctlP~@SIM integration method.ctlD RK 1 (Euler)Adams LinearizerRK 3RK 4RK 45BDFRK 2RK 23continuous integrator@ initial time@ final time@ step size@ proposed step size@ max step size@ min step size@ discrete time step@ max step ratioj@SIM diagram eval stage.ctl6Init Minor Substep Major Substep Discrete stepDiag Eval Stage@ Substep Index@Timestep Index@ simulation time@ current timestep base@ proposed step time@ absolute tolerance@ relative tolerance@!step accepted?@!step complete? @!Halt?@!reset integrator?@ machine epsilon@ min float@SIM solver state data.ctlP @@ @ Numericinputs@@ @ Numericoutputs@@ @ Numericreset$@@ @ Numeric lower limits$@@ @ Numeric upper limitsZ@@D@SIM limit type.ctlupperlowerbothnone limit type limit typesd@@N@SIM trigger type.ctl"risingfallingeithernone trigger type reset types*@@ @ Numericinitial conditions"@@ @ Numeric reset I.C. @@ @!Booleanlimited? State data2@P @!status @code@0sourceerror@ Method Order@!Finished Late [i-1]Simulation data@dSIM simulation data.ctlP~@SIM integration method.ctlD RK 1 (Euler)Adams LinearizerRK 3RK 4RK 45BDFRK 2RK 23continuous integrator@ initial time@ final time@ step size@ proposed step size@ max step size@ min step size@ discrete time step@ max step ratioj@SIM diagram eval stage.ctl6Init Minor Substep Major Substep Discrete stepDiag Eval Stage@ Substep Index@Timestep Index@ simulation time@ current timestep base@ proposed step time@ absolute tolerance@ relative tolerance@!step accepted?@!step complete? @!Halt?@!reset integrator?@ machine epsilon@ min float@SIM solver state data.ctlP @@ @ Numericinputs@@ @ Numericoutputs@@ @ Numericreset$@@ @ Numeric lower limits$@@ @ Numeric upper limitsZ@@D@SIM limit type.ctlupperlowerbothnone limit type limit typesd@@N@SIM trigger type.ctl"risingfallingeithernone trigger type reset types*@@ @ Numericinitial conditions"@@ @ Numeric reset I.C. @@ @!Booleanlimited? State data2@P @!status @code@0sourceerror@ Method Order@!Finished Late [i-1]Simulation data out@!stop simulation?PTH0@addons SimulationImplementationShared SIM stop.viSIMUSIMMLVCC SIMSCR simulation parameters.ctly SIMSCR simulation parameters.ctl@P@ Initial Time@ Final Time@ Time Step@ Absolute Tolerance@ Relative Tolerance @Discrete Time Step Multiple@0Continuous Solver@0Additional Parameters Sim ParamsPTH0[addons Simulation ScriptingCompanion Diagram SIMSCR simulation parameters.ctlSIMUSIMMLVINSIM Fire Discrete SubVI.vi0(   @dSIM simulation data.ctlP~@SIM integration method.ctlD RK 1 (Euler)Adams LinearizerRK 3RK 4RK 45BDFRK 2RK 23continuous integrator@ initial time@ final time@ step size@ proposed step size@ max step size@ min step size@ discrete time step@ max step ratioj@SIM diagram eval stage.ctl6Init Minor Substep Major Substep Discrete stepDiag Eval Stage@ Substep Index@Timestep Index@ simulation time@ current timestep base@ proposed step time@ absolute tolerance@ relative tolerance@!step accepted?@!step complete? @!Halt?@!reset integrator?@ machine epsilon@ min float@SIM solver state data.ctlP @@ @ Numericinputs@@ @ Numericoutputs@@ @ Numericreset$@@ @ Numeric lower limits$@@ @ Numeric upper limitsZ@@D@SIM limit type.ctlupperlowerbothnone limit type limit typesd@@N@SIM trigger type.ctl"risingfallingeithernone trigger type reset types*@@ @ Numericinitial conditions"@@ @ Numeric reset I.C. @@ @!Booleanlimited? State data2@P @!status @code@0sourceerror@ Method Order@!Finished Late [i-1]Simulation data out @!Fire!@dSIM simulation data.ctlP~@SIM integration method.ctlD RK 1 (Euler)Adams LinearizerRK 3RK 4RK 45BDFRK 2RK 23continuous integrator@ initial time@ final time@ step size@ proposed step size@ max step size@ min step size@ discrete time step@ max step ratioj@SIM diagram eval stage.ctl6Init Minor Substep Major Substep Discrete stepDiag Eval Stage@ Substep Index@Timestep Index@ simulation time@ current timestep base@ proposed step time@ absolute tolerance@ relative tolerance@!step accepted?@!step complete? @!Halt?@!reset integrator?@ machine epsilon@ min float@SIM solver state data.ctlP @@ @ Numericinputs@@ @ Numericoutputs@@ @ Numericreset$@@ @ Numeric lower limits$@@ @ Numeric upper limitsZ@@D@SIM limit type.ctlupperlowerbothnone limit type limit typesd@@N@SIM trigger type.ctl"risingfallingeithernone trigger type reset types*@@ @ Numericinitial conditions"@@ @ Numeric reset I.C. @@ @!Booleanlimited? State data2@P @!status @code@0sourceerror@ Method Order@!Finished Late [i-1]Simulation data@Sample Rate DivisorPTH0Oaddons SimulationImplementationSharedSIM Fire Discrete SubVI.vi4SIMUSIMMLVCC*AlarmRef__NATIONAL_INSTRUMENTS_lvalarm.ctl8񹯌*AlarmRef__NATIONAL_INSTRUMENTS_lvalarm.ctl>@P @Alarm @Ring @Ring 2 @True Id Timing InfoPTH0XPlatform TimedLoop utilities.llb*AlarmRef__NATIONAL_INSTRUMENTS_lvalarm.ctlLVTLLVTL-LVCC timing.ctl timing.ctlb@P @Period@Initial Offset@ Loop priority@ Timeout (ms)@ Logging Idx@ offset mode@0 Clock Source@0 Loop namep@񹯌*AlarmRef__NATIONAL_INSTRUMENTS_lvalarm.ctl2P @Alarm @Ring @Ring 2 @True Id Ref (out) @@ @NumericReserved4@P @!status @code@0sourceErrorIn Timing outPTH08Platform TimedLoop utilities.llb timing.ctlLVTLLVTL-LVINloadlvalarms.viPTH0APlatform TimedLoopConfigExtNode.llbloadlvalarms.viLVTLLVTL-LVIN SIM Halt.viJ  @!Halt?@dSIM simulation data.ctlP~@SIM integration method.ctlD RK 1 (Euler)Adams LinearizerRK 3RK 4RK 45BDFRK 2RK 23continuous integrator@ initial time@ final time@ step size@ proposed step size@ max step size@ min step size@ discrete time step@ max step ratioj@SIM diagram eval stage.ctl6Init Minor Substep Major Substep Discrete stepDiag Eval Stage@ Substep Index@Timestep Index@ simulation time@ current timestep base@ proposed step time@ absolute tolerance@ relative tolerance@!step accepted?@!step complete? @!Halt?@!reset integrator?@ machine epsilon@ min float@SIM solver state data.ctlP @@ @ Numericinputs@@ @ Numericoutputs@@ @ Numericreset$@@ @ Numeric lower limits$@@ @ Numeric upper limitsZ@@D@SIM limit type.ctlupperlowerbothnone limit type limit typesd@@N@SIM trigger type.ctl"risingfallingeithernone trigger type reset types*@@ @ Numericinitial conditions"@@ @ Numeric reset I.C. @@ @!Booleanlimited? State data2@P @!status @code@0sourceerror@ Method Order@!Finished Late [i-1]Simulation data@dSIM simulation data.ctlP~@SIM integration method.ctlD RK 1 (Euler)Adams LinearizerRK 3RK 4RK 45BDFRK 2RK 23continuous integrator@ initial time@ final time@ step size@ proposed step size@ max step size@ min step size@ discrete time step@ max step ratioj@SIM diagram eval stage.ctl6Init Minor Substep Major Substep Discrete stepDiag Eval Stage@ Substep Index@Timestep Index@ simulation time@ current timestep base@ proposed step time@ absolute tolerance@ relative tolerance@!step accepted?@!step complete? @!Halt?@!reset integrator?@ machine epsilon@ min float@SIM solver state data.ctlP @@ @ Numericinputs@@ @ Numericoutputs@@ @ Numericreset$@@ @ Numeric lower limits$@@ @ Numeric upper limitsZ@@D@SIM limit type.ctlupperlowerbothnone limit type limit typesd@@N@SIM trigger type.ctl"risingfallingeithernone trigger type reset types*@@ @ Numericinitial conditions"@@ @ Numeric reset I.C. @@ @!Booleanlimited? State data2@P @!status @code@0sourceerror@ Method Order@!Finished Late [i-1]Simulation data outPTH0Aaddons SimulationUtilityImplementation SIM Halt.vi!SIMUSIMMLVIN1SIM Discrete Transfer Function Buffered (SISO).vi   @sample rate divisor @ inputZ@P @@ @ Numeric Numerator"@@ @ Numeric DenominatorTransfer Function@dSIM simulation data.ctlP~@SIM integration method.ctlD RK 1 (Euler)Adams LinearizerRK 3RK 4RK 45BDFRK 2RK 23continuous integrator@ initial time@ final time@ step size@ proposed step size@ max step size@ min step size@ discrete time step@ max step ratioj@SIM diagram eval stage.ctl6Init Minor Substep Major Substep Discrete stepDiag Eval Stage@ Substep Index@Timestep Index@ simulation time@ current timestep base@ proposed step time@ absolute tolerance@ relative tolerance@!step accepted?@!step complete? @!Halt?@!reset integrator?@ machine epsilon@ min float@SIM solver state data.ctlP @@ @ Numericinputs@@ @ Numericoutputs@@ @ Numericreset$@@ @ Numeric lower limits$@@ @ Numeric upper limitsZ@@D@SIM limit type.ctlupperlowerbothnone limit type limit typesd@@N@SIM trigger type.ctl"risingfallingeithernone trigger type reset types*@@ @ Numericinitial conditions"@@ @ Numeric reset I.C. @@ @!Booleanlimited? State data2@P @!status @code@0sourceerror@ Method Order@!Finished Late [i-1]Simulation data @ output@dSIM simulation data.ctlP~@SIM integration method.ctlD RK 1 (Euler)Adams LinearizerRK 3RK 4RK 45BDFRK 2RK 23continuous integrator@ initial time@ final time@ step size@ proposed step size@ max step size@ min step size@ discrete time step@ max step ratioj@SIM diagram eval stage.ctl6Init Minor Substep Major Substep Discrete stepDiag Eval Stage@ Substep Index@Timestep Index@ simulation time@ current timestep base@ proposed step time@ absolute tolerance@ relative tolerance@!step accepted?@!step complete? @!Halt?@!reset integrator?@ machine epsilon@ min float@SIM solver state data.ctlP @@ @ Numericinputs@@ @ Numericoutputs@@ @ Numericreset$@@ @ Numeric lower limits$@@ @ Numeric upper limitsZ@@D@SIM limit type.ctlupperlowerbothnone limit type limit typesd@@N@SIM trigger type.ctl"risingfallingeithernone trigger type reset types*@@ @ Numericinitial conditions"@@ @ Numeric reset I.C. @@ @!Booleanlimited? State data2@P @!status @code@0sourceerror@ Method Order@!Finished Late [i-1]Simulation data out"@0DNL_Simulation CallChainPTH0addons SimulationDiscreteLinearImplementation+SIM Discrete Transfer Function Buffered.llb1SIM Discrete Transfer Function Buffered (SISO).viSIMUSIMMLVINSIM Time Waveform (vector).vi  @@ @ ValueValue@dSIM simulation data.ctlP~@SIM integration method.ctlD RK 1 (Euler)Adams LinearizerRK 3RK 4RK 45BDFRK 2RK 23continuous integrator@ initial time@ final time@ step size@ proposed step size@ max step size@ min step size@ discrete time step@ max step ratioj@SIM diagram eval stage.ctl6Init Minor Substep Major Substep Discrete stepDiag Eval Stage@ Substep Index@Timestep Index@ simulation time@ current timestep base@ proposed step time@ absolute tolerance@ relative tolerance@!step accepted?@!step complete? @!Halt?@!reset integrator?@ machine epsilon@ min float@SIM solver state data.ctlP @@ @ Numericinputs@@ @ Numericoutputs@@ @ Numericreset$@@ @ Numeric lower limits$@@ @ Numeric upper limitsZ@@D@SIM limit type.ctlupperlowerbothnone limit type limit typesd@@N@SIM trigger type.ctl"risingfallingeithernone trigger type reset types*@@ @ Numericinitial conditions"@@ @ Numeric reset I.C. @@ @!Booleanlimited? State data2@P @!status @code@0sourceerror@ Method Order@!Finished Late [i-1]Simulation data@@TP @TPt0@ dt@@ Y2@P @!status @code@0sourceerror@S attributesWaveform Chart@dSIM simulation data.ctlP~@SIM integration method.ctlD RK 1 (Euler)Adams LinearizerRK 3RK 4RK 45BDFRK 2RK 23continuous integrator@ initial time@ final time@ step size@ proposed step size@ max step size@ min step size@ discrete time step@ max step ratioj@SIM diagram eval stage.ctl6Init Minor Substep Major Substep Discrete stepDiag Eval Stage@ Substep Index@Timestep Index@ simulation time@ current timestep base@ proposed step time@ absolute tolerance@ relative tolerance@!step accepted?@!step complete? @!Halt?@!reset integrator?@ machine epsilon@ min float@SIM solver state data.ctlP @@ @ Numericinputs@@ @ Numericoutputs@@ @ Numericreset$@@ @ Numeric lower limits$@@ @ Numeric upper limitsZ@@D@SIM limit type.ctlupperlowerbothnone limit type limit typesd@@N@SIM trigger type.ctl"risingfallingeithernone trigger type reset types*@@ @ Numericinitial conditions"@@ @ Numeric reset I.C. @@ @!Booleanlimited? State data2@P @!status @code@0sourceerror@ Method Order@!Finished Late [i-1]Simulation data outPTH0oaddons Simulation SignalDisplayImplementationSIM Time Waveform.llbSIM Time Waveform (vector).viSIMUSIMMUUP cP P d-`  P   b P         @P  c RP"@P@flg@oRt@eofudf P y_SPx dfdP txdP oldP ext P   cRP"@P@flg@oRt@eofudf P!Stopx!dfdP!txdP!oldP!extj Pp@fP0@PP!!!!l@bP0   !!!$@P0!!!B@8PPbPP@TP @TPt0@ dt@@ Y2@P @!status @code@0sourceerror@S attributes000P@TP @TPt0@ dt@@ Y2@P @!status @code@0sourceerror@S attributesb P         @P b P         @P  cFP"@P@flg@oRt@eofudfP@TP @TPt0@ dt@@ Y2@P @!status @code@0sourceerror@S attributeschartbp@TTNPTP @ P!0SdfdbP@TTNPTP @ P!0StxdbP@TTNPTP @ P!0SoldbP@TTNPTP @ P!0Sext c nP"@P@flg@oRt@eofudfP3 Process model p3dfd P3txd P3old P3ext0 P*P0020 c lP"@P@flg@oRt@eofudfP2 model_estim p2dfd P2txd P2old P2ext P    P    P   cP"@P@flg@oRt@eofudf4PP@ Kc @ Ti [s] @ Td [s] PID gains_simpP   dfdPP   txdPP   oldPP   ext c<VP"@P@flg@oRt@eofudfP u_man_simx dfdP txdP oldP ext c(ZP"@P@flg@oRt@eofudfP! auto/man_simp!dfdP!txdP!oldP!ext P   c;RP"@P@flg@oRt@eofudf P u_simp dfdP txdP oldP ext c(bP"@P@flg@oRt@eofudfP!Reset sim controllerx!dfdP!txdP!oldP!ext P   b P         @P  cNP"@P@flg@oRt@eofudfP dx dfdP txdP oldP ext P    P   cTP"@P@flg@oRt@eofudf P u_realp dfdP txdP oldP ext c(bP"@P@flg@oRt@eofudfP!Reset real controllerx!dfdP!txdP!oldP!ext P    P   c?ZP"@P@flg@oRt@eofudfP! auto/man_realx!dfdP!txdP!oldP!ext cXP"@P@flg@oRt@eofudfP u_man_realx dfdP txdP oldP ext P   c4P"@P@flg@oRt@eofudf6PP@ Kc @ Ti [s] @ Td [s]PID gains_realpP   dfdPP   txdPP   oldPP   ext c`P"@P@flg@oRt@eofudfP!initialize_filter 2x!dfdP!txdP!oldP!ext P   c;RP"@P@flg@oRt@eofudf P fb 2p dfdP txdP oldP ext c(^P"@P@flg@oRt@eofudfP!initialize_filterx!dfdP!txdP!oldP!ext P   c;PP"@P@flg@oRt@eofudfP fbp dfdP txdP oldP ext P   c4TP"@P@flg@oRt@eofudf P y_measx dfdP txdP oldP ext P    P    P    P    P    P cP"@P@flg@oRt@eofudfP SIMSCR simulation parameters.ctlP@ Initial Time@ Final Time@ Time Step@ Absolute Tolerance@ Relative Tolerance @Discrete Time Step Multiple@0Continuous Solver@0Additional ParametersSimulationParameters2pP     00dfd2PP     00txd2PP     00old2PP     00ext P@P@.P     00"@P@"@P@@P0" P@@" P@@" P@@` h8`P@ setpoint high@ setpoint low output range h Type8`p FieldPoint FieldPoint IOFieldPoint IO Point In8`p FieldPoint FieldPoint IOFieldPoint IO Point In `order` y` y8`P@ setpoint high@ setpoint low output range `order` y` y` h(!` y8`P@ setpoint high@ setpoint low output range `order` y` y` hZ P$@P@0P !`Sample Rate DivisorZ P$@P@0P !`Sample Rate Divisor" P@@" P@@< P@@@ @Numericr` timing.ctlVP @Period@Initial Offset@ Loop priority@ Timeout (ms)@ Logging Idx@ offset mode@0 Clock Source@0 Loop namep@񹯌*AlarmRef__NATIONAL_INSTRUMENTS_lvalarm.ctl2P @Alarm @Ring @Ring 2 @True Id Ref (out) @@ @NumericReserved4@P @!status @code@0sourceErrorInTiming`sample rate divisor c$ c cX c6@P @!status @code@0source error out c$@2File Path (dialog if empty) c@ Sampling Time [dt] (s)@SIM SISO Transfer Function.ctlHP @@ @ Numeric Numerator"@@ @ Numeric Denominator"Simulation Transfer Function Model@Offset (records:0)@@P @!status @code@0sourceerror in (no error) c@2 New File Path@%CD Transfer Function Model (MIMO).ctlP@\;CD General Elements.ctlP@0 Model name&@@@0String Input names(@@@0String Output names$@@ @ Numeric Input Delays$@@ @ Numeric Output Delays@ Sampling Time@0Notes properties@@@%CD Transfer Function Model (SISO).ctlRP @@ @ Numeric numerator"@@ @ Numeric denominator @ delayClustertransfer function(s)'First Transfer Function Model in Record@Records to Read (-1,all)@@@%CD Transfer Function Model (MIMO).ctlP@\;CD General Elements.ctlP@0 Model name&@@@0String Input names(@@@0String Output names$@@ @ 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 @Output@Input (column)@@P @!status @code@0sourceerror in (no error) c@2 model_estim@ Output (row) @Input6@P @!status @code@0source error out@@P @!status @code@0sourceerror in (no error) c@3Equation,@P @Width @HeightDraw Area Size c0:@P@ setpoint high@ setpoint lowsetpoint rangef@P@ proportional gain (Kc)@ integral time (Ti, min)@ derivative time (Td, min) PID gains @ dt (s)@!reinitialize? (F) c@ high cutoff freq: fh@ sampling freq: fs @ beta@ setpoint@! auto? (T) c4@P@ output high@ output low output range @ output c@ manual control@ linearity@ timestamp@@P @!status @code@0sourceerror in (no error)6@P @!status @code@0source error out c@ low cutoff freq: fl@!on change (false) c@ dt out (s) @ y_SP @order @!Stop c  :6@P@ Kc @ Ti [s] @ Td [s]PID gains_real @ Td [s] @ Ti [s] @ Kc@ u_man_real@!Reset real controller6@LowpassHighpassBandpassBandstop filter type c@!initialize_filter @ fb @ y_meas! c@! auto/man_real@@P @!status @code@0sourceerror in (no error) c@ timestamp @ value6@P @!status @code@0source error out@! initialize c@ Filtered x @error cP@ Kc   c@ high cutoff freq: fh! c P output6@LowpassHighpassBandpassBandstop filter type c@@TP @TPt0@ dt@@ Y2@P @!status @code@0sourceerror@S attributesWaveform Chart! cP Filtered x@dSIM simulation data.ctlP~@SIM integration method.ctlD RK 1 (Euler)Adams LinearizerRK 3RK 4RK 45BDFRK 2RK 23continuous integrator@ initial time@ final time@ step size@ proposed step size@ max step size@ min step size@ discrete time step@ max step ratioj@SIM diagram eval stage.ctl6Init Minor Substep Major Substep Discrete stepDiag Eval Stage@ Substep Index@Timestep Index@ simulation time@ current timestep base@ proposed step time@ absolute tolerance@ relative tolerance@!step accepted?@!step complete? @!Halt?@!reset integrator?@ machine epsilon@ min float@SIM solver state data.ctlP @@ @ Numericinputs@@ @ Numericoutputs@@ @ Numericreset$@@ @ Numeric lower limits$@@ @ Numeric upper limitsZ@@D@SIM limit type.ctlupperlowerbothnone limit type limit typesd@@N@SIM trigger type.ctl"risingfallingeithernone trigger type reset types*@@ @ Numericinitial conditions"@@ @ Numeric reset I.C. @@ @!Booleanlimited? State data2@P @!status @code@0sourceerror@ Method Order@!Finished Late [i-1]Simulation data @!Fire! c @ output @error c@ Filtered x @ fb 2@!initialize_filter 2 c@Sample Rate Divisor @order@!stop simulation? c@dSIM simulation data.ctlP~@SIM integration method.ctlD RK 1 (Euler)Adams LinearizerRK 3RK 4RK 45BDFRK 2RK 23continuous integrator@ initial time@ final time@ step size@ proposed step size@ max step size@ min step size@ discrete time step@ max step ratioj@SIM diagram eval stage.ctl6Init Minor Substep Major Substep Discrete stepDiag Eval Stage@ Substep Index@Timestep Index@ simulation time@ current timestep base@ proposed step time@ absolute tolerance@ relative tolerance@!step accepted?@!step complete? @!Halt?@!reset integrator?@ machine epsilon@ min float@SIM solver state data.ctlP @@ @ Numericinputs@@ @ Numericoutputs@@ @ Numericreset$@@ @ Numeric lower limits$@@ @ Numeric upper limitsZ@@D@SIM limit type.ctlupperlowerbothnone limit type limit typesd@@N@SIM trigger type.ctl"risingfallingeithernone trigger type reset types*@@ @ Numericinitial conditions"@@ @ Numeric reset I.C. @@ @!Booleanlimited? State data2@P @!status @code@0sourceerror@ Method Order@!Finished Late [i-1]Simulation data out@!step complete? c@dSIM simulation data.ctlP~@SIM integration method.ctlD RK 1 (Euler)Adams LinearizerRK 3RK 4RK 45BDFRK 2RK 23continuous integrator@ initial time@ final time@ step size@ proposed step size@ max step size@ min step size@ discrete time step@ max step ratioj@SIM diagram eval stage.ctl6Init Minor Substep Major Substep Discrete stepDiag Eval Stage@ Substep Index@Timestep Index@ simulation time@ current timestep base@ proposed step time@ absolute tolerance@ relative tolerance@!step accepted?@!step complete? @!Halt?@!reset integrator?@ machine epsilon@ min float@SIM solver state data.ctlP @@ @ Numericinputs@@ @ Numericoutputs@@ @ Numericreset$@@ @ Numeric lower limits$@@ @ Numeric upper limitsZ@@D@SIM limit type.ctlupperlowerbothnone limit type limit typesd@@N@SIM trigger type.ctl"risingfallingeithernone trigger type reset types*@@ @ Numericinitial conditions"@@ @ Numeric reset I.C. @@ @!Booleanlimited? State data2@P @!status @code@0sourceerror@ Method Order@!Finished Late [i-1]Simulation data out@P @Period@Initial Offset@ Loop Priority@ Timeout (ms) @Log Idx @Mode@0source@0 loop name2P @Alarm @Ring @Ring 2 @True Id@4@P @!status @code@0sourceErrorInTiming cP@@6@P @!status @code@0sourceerror inerror array inB@P @!status @code@0sourceerror in 3 (no error) c@ Operand1@ dt out (s)@ u_man_sim@ Filtered xP@ Kc  @! auto/man_sim c8@P@ setpoint high@ setpoint low output range @!Fire! c@dSIM simulation data.ctlP~@SIM integration method.ctlD RK 1 (Euler)Adams LinearizerRK 3RK 4RK 45BDFRK 2RK 23continuous integrator@ initial time@ final time@ step size@ proposed step size@ max step size@ min step size@ discrete time step@ max step ratioj@SIM diagram eval stage.ctl6Init Minor Substep Major Substep Discrete stepDiag Eval Stage@ Substep Index@Timestep Index@ simulation time@ current timestep base@ proposed step time@ absolute tolerance@ relative tolerance@!step accepted?@!step complete? @!Halt?@!reset integrator?@ machine epsilon@ min float@SIM solver state data.ctlP @@ @ Numericinputs@@ @ Numericoutputs@@ @ Numericreset$@@ @ Numeric lower limits$@@ @ Numeric upper limitsZ@@D@SIM limit type.ctlupperlowerbothnone limit type limit typesd@@N@SIM trigger type.ctl"risingfallingeithernone trigger type reset types*@@ @ Numericinitial conditions"@@ @ Numeric reset I.C. @@ @!Booleanlimited? State data2@P @!status @code@0sourceerror@ Method Order@!Finished Late [i-1]Simulation data @ y_SP@Sample Rate Divisor c@ h@!Reset sim controller c @ beta@ linearity @ output:@P@ setpoint high@ setpoint lowsetpoint rangeP @Expected end [i-1]@Actual end [i-1]@Expected start [i]@Actual start [i]d@NormalAbortedAsynchronous wakeupTiming source errorTimed loop errorTimeout Wakeup reason@!Finished Late [i-1] @Period @Offset@Priority@ No change/Process missed periods, maintain original phase/Discard missed periods, maintain original phase-Process missed periods, ignore original phase-Discard missed periods, ignore original phaseMode@@Reserved cP @Period @Offset@Priority@ No change/Process missed periods, maintain original phase/Discard missed periods, maintain original phase-Process missed periods, ignore original phase-Discard missed periods, ignore original phaseMode@@Reserved @Period@ @ y_meas! c P Result @!Stop84@P@ Kc @ Ti [s] @ Td [s] PID gains_sim@P@ Initial Time@ Final Time@ Time Step@ Absolute Tolerance@ Relative Tolerance @Discrete Time Step Multiple@0Continuous Solver@0Additional Parameters Sim Params6@P @!status @code@0sourceerror IO c@ u_man_sim@! auto/man_sim@!Reset sim controller@ SIMSCR simulation parameters.ctlP@ Initial Time@ Final Time@ Time Step@ Absolute Tolerance@ Relative Tolerance @Discrete Time Step Multiple@0Continuous Solver@0Additional ParametersSimulationParameters @ fb 2@!initialize_filter 2 @ d @ u_sim@0 timingSource@P @Period@Initial Offset@ Loop Priority@ Timeout (ms) @Log Idx @Mode@0source@0 loop name2P @Alarm @Ring @Ring 2 @True Id@4@P @!status @code@0sourceErrorInTiming! c4@P @!status @code@0sourceerrorin cZ@P @@ @ Numeric Numerator"@@ @ Numeric DenominatorTransfer Function @ Td [s] @ Ti [s] @ output"@0DNL_Simulation CallChain"P0DNL_Simulation CallChain@sample rate divisor cP@ Kc   @ Kc @ Ti [s] @ y_meas @ y_SPB@P @!status @code@0sourceerror in 1 (no error) c @ Td [s] c(@millisecond multiple c<@0 Clock Source@0 Loop namep@񹯌*AlarmRef__NATIONAL_INSTRUMENTS_lvalarm.ctl2P @Alarm @Ring @Ring 2 @True Id Ref (out) @@ @NumericReserved@ offset mode@ Logging Idx@ Loop priority2PP @!status @code@0sourceError crP timing.ctlVP @Period@Initial Offset@ Loop priority@ Timeout (ms)@ Logging Idx@ offset mode@0 Clock Source@0 Loop namep@񹯌*AlarmRef__NATIONAL_INSTRUMENTS_lvalarm.ctl2P @Alarm @Ring @Ring 2 @True Id Ref (out) @@ @NumericReserved4@P @!status @code@0sourceErrorInTiming c @Period@Initial Offset@ Timeout (ms) c\ c c4 c c< c c c c< c cl c ct c c< c cl c c c c$ c c$ c c| c c\ c c$ c c| c c| c c| c c$ c c c c c ct c c c c$ c, c c .b*@P @Period@Initial Offset@ Loop priority@ Timeout (ms)@ Logging Idx@ offset mode@0 Clock Source@0 Loop name<@P @Alarm @Ring @Ring 2 @True Id Ref (out) @@ @NumericReserved4@P @!status @code@0sourceErrorInTiming(2(P @Alarm @Ring @Ring 2 @True Id c c@P @Period@Initial Offset@ Loop Priority@ Timeout (ms) @Log Idx @Mode@0source@0 loop name2P @Alarm @Ring @Ring 2 @True Id@4@P @!status @code@0sourceErrorInTiming c  c c 6hP @!status @code@0sourceerror IO c c c c c cZbV@PZ@ RK 1 (Euler)Adams LinearizerRK 3RK 4RK 45BDFRK 2RK 23continuous integrator@ initial time@ final time@ step size@ proposed step size@ max step size@ min step size@ discrete time step@ max step ratioF@Init Minor Substep Major Substep Discrete stepDiag Eval Stage@ Substep Index@Timestep Index@ simulation time@ current timestep base@ proposed step time@ absolute tolerance@ relative tolerance@!step accepted?@!step complete? @!Halt?@!reset integrator?@ machine epsilon@ min float@P @@ @ Numericinputs@@ @ Numericoutputs@@ @ Numericreset$@@ @ Numeric lower limits$@@ @ Numeric upper limits>@@(@upperlowerbothnone limit type limit typesF@@0@risingfallingeithernone trigger type reset types*@@ @ Numericinitial conditions"@@ @ Numeric reset I.C. @@ @!Booleanlimited? State data2@P @!status @code@0sourceerror@ Method Order@!Finished Late [i-1]Simulation data out c dP``` P dNQK#$Mh*0U$T|X~* U<$PMr^>~?$@$$@??ESetpoint ySP [V]  !""##$%%&''())*++,--.//011233455677899:;;<<=>>?@@ABBCDDEFFGHHIJJKLLMNNOPPQRRSTTUUVWWXYYZ[[\]]^__`aabccdeefgghiijkklmmnnoppqrrsttuvvwxxyzz{||}~~        !!"##$%%&''())*++,--.//01123344 !!"##$%%&''())*++,--.//011233455677889::;<<=>>?@@ABBCDDEFFGHHIJJKLLMNNOPPQRRSSTUUVWWXYYZ[[\]]^__`aabccdeefgghiijkkllmnnoppqrrsttuvvwxxyzz{||}~~        !!"##$%%&''())*++,--.//011233455667889::;<<=>>?@@ABBCDDEFFGHHIJJKLLMNNOOPQQRSSTUUVWWXYYZ[[\]]^__`aabccdeefgghhijjkllmnnoppqrrsttuvvwxxyzz{||}} Simulated y [V] (raw)  !""##$%%&''())*++,--.//011233455677899:;;<<=>>?@@ABBCDDEFFGHHIJJKLLMNNOPPQRRSTTUUVWWXYYZ[[\]]^__`aabccdeefgghiijkklmmnnoppqrrsttuvvwxxyzz{||}~~        !!"##$%%&''())*++,--.//01123344 !!"##$%%&''())*++,--.//011233455677889::;<<=>>?@@ABBCDDEFFGHHIJJKLLMNNOPPQRRSSTUUVWWXYYZ[[\]]^__`aabccdeefgghiijkkllmnnoppqrrsttuvvwxxyzz{||}~~        !!"##$%%&''())*++,--.//011233455667889::;<<=>>?@@ABBCDDEFFGHHIJJKLLMNNOOPQQRSSTUUVWWXYYZ[[\]]^__`aabccdeefgghhijjkllmnnoppqrrsttuvvwxxyzz{||}} YMeasured y [V] (raw)  !""##$%%&''())*++,--.//011233455677899:;;<<=>>?@@ABBCDDEFFGHHIJJKLLMNNOPPQRRSTTUUVWWXYYZ[[\]]^__`aabccdeefgghiijkklmmnnoppqrrsttuvvwxxyzz{||}~~        !!"##$%%&''())*++,--.//01123344 !!"##$%%&''())*++,--.//011233455677889::;<<=>>?@@ABBCDDEFFGHHIJJKLLMNNOPPQRRSSTUUVWWXYYZ[[\]]^__`aabccdeefgghiijkkllmnnoppqrrsttuvvwxxyzz{||}~~        !!"##$%%&''())*++,--.//011233455667889::;<<=>>?@@ABBCDDEFFGHHIJJKLLMNNOOPQQRSSTUUVWWXYYZ[[\]]^__`aabccdeefgghhijjkllmnnoppqrrsttuvvwxxyzz{||}}Y Simulation Time AmplitudeDDD---6MDDD--->)@D@I@D??ə?E$@$$@??E3333? 3333?6E\< 2)  ') Tahoma &.;  Tahoma &.;z  Tahoma &*5"3  Tahoma . .";Q - 0.4497  Tahoma &.Q;Vz  Tahoma &*V5[2  Tahoma . .[; - 0.4778  Tahoma &.;z  Tahoma . .; - 0.0604  Tahoma ,%A0.0054  Tahoma &A%Fz  Tahoma &FK2  Tahoma . 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The labs in SYSLAB can be downloaded from http://www-pors.hit.no/~finnh/syslab/, and can be used freely. -------------------------------------------------------------------------------- 2000, Finn Haugen, Telemark University College, Norway Finn.Haugen@hit.no, http://www-pors.hit.no/~finnh%.1f%.1f%.0f%#_g%.2f%.2f%.3f%.3f%.3f%.2f%.2f%.1f%.1f%.2f%.2f%.2f%.3f%.3f%.3f%.1f%.1f%#_g%#_g%#_g%#_g%#_g%#_g%.0fIEEGeneric SimX Info@SIM GenericSimXInfo.ctlP(@P @Width @Height Dimensions @ColorF@SIM Orientation.ctlForwardBackwardBlock Orientation@@SIM TargetDiag.ctlSimDiagCompDiag Target Diag @VersGeneric SimX Info Generic SimX Vers @Vers SubVI Info4@SIM SubVIWrapperInfo.ctlP@2 Wrapped SubVI@ CurPolyIdx @Vers@SubVIFancy Icon Style@@@H XTermSpec.ctlzP:@H XRect32.ctlP@t@l@b@rbounds @flags@0attrs @width@@3wImgstSpecTermSpecSubVI Wrapper InfoPTH09addons SimulationUtilityImplementation SIM Halt.vi  @!Halt? 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UserEditableDynamic Feedback Info Feedthru InfoinputoutputPTH0daddons SimulationContinuousLinearSIM TransferFunction.llb#SIM TransferFunction_DynFeedback.viPTH0addons SimulationDiscreteLinearImplementation)SIM Discrete Transfer Function Direct.llb(SIM Discrete Transfer Function Direct.viPTH0addons SimulationDiscreteLinearImplementation+SIM Discrete Transfer Function Buffered.llb*SIM Discrete Transfer Function Buffered.vi Feedthru Vers @VersGeneric SimX Info@SIM GenericSimXInfo.ctlP(@P @Width @Height Dimensions @ColorF@SIM Orientation.ctlForwardBackwardBlock Orientation@@SIM TargetDiag.ctlSimDiagCompDiag Target Diag @VersGeneric SimX Info0 Generic SimX Vers @Vers SubVI Info4@SIM SubVIWrapperInfo.ctlP@2 Wrapped SubVI@ CurPolyIdx @Vers@SubVIFancy Icon Style@@@H XTermSpec.ctlzP:@H XRect32.ctlP@t@l@b@rbounds @flags@0attrs @width@@3wImgstSpecTermSpecSubVI Wrapper InfoPTH0addons SimulationDiscreteLinearImplementation+SIM Discrete Transfer Function Buffered.llb*SIM Discrete Transfer Function Buffered.vi ! @ input ZZ@P @@ @ Numeric Numerator"@@ @ Numeric DenominatorTransfer Function 0# @ output SubVI Vers @Vers %#_15g %#_15g %#_15gGeneric SimX Info@SIM GenericSimXInfo.ctlP(@P @Width @Height Dimensions @ColorF@SIM Orientation.ctlForwardBackwardBlock Orientation@@SIM TargetDiag.ctlSimDiagCompDiag Target Diag @VersGeneric SimX Info Generic SimX Vers @Vers NAryOp InfoS@SIM NAryOpInfo.ctlP @ Num. 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UserEditableDynamic Feedback Info Feedthru InfoinputoutputPTH0daddons SimulationContinuousLinearSIM TransferFunction.llb#SIM TransferFunction_DynFeedback.viPTH0addons SimulationDiscreteLinearImplementation)SIM Discrete Transfer Function Direct.llb(SIM Discrete Transfer Function Direct.viPTH0addons SimulationDiscreteLinearImplementation+SIM Discrete Transfer Function Buffered.llb*SIM Discrete Transfer Function Buffered.vi Feedthru Vers @VersGeneric SimX Info@SIM GenericSimXInfo.ctlP(@P @Width @Height Dimensions @ColorF@SIM Orientation.ctlForwardBackwardBlock Orientation@@SIM TargetDiag.ctlSimDiagCompDiag Target Diag @VersGeneric SimX Info0 Generic SimX Vers @Vers SubVI Info 4@SIM SubVIWrapperInfo.ctlP@2 Wrapped SubVI@ CurPolyIdx @Vers@SubVIFancy Icon Style@@@H XTermSpec.ctlzP:@H XRect32.ctlP@t@l@b@rbounds @flags@0attrs @width@@3wImgstSpecTermSpecSubVI Wrapper InfoPTH0addons SimulationDiscreteLinearImplementation+SIM Discrete Transfer Function Buffered.llb*SIM Discrete Transfer Function Buffered.vi ! @ input ZZ@P @@ @ Numeric Numerator"@@ @ Numeric DenominatorTransfer Function $RR@PZ@ RK 1 (Euler)Adams LinearizerRK 3RK 4RK 45BDFRK 2RK 23continuous integrator@ initial time@ final time@ step size@ proposed step size@ max step size@ min step size@ discrete time step@ max step ratioF@Init Minor Substep Major Substep Discrete stepDiag Eval Stage@ Substep Index@Timestep Index@ simulation time@ current timestep base@ proposed step time@ absolute tolerance@ relative tolerance@!step accepted?@!step complete? @!Halt?@!reset integrator?@ machine epsilon@ min float@P @@ @ Numericinputs@@ @ Numericoutputs@@ @ Numericreset$@@ @ Numeric lower limits$@@ @ Numeric upper limits>@@(@upperlowerbothnone limit type limit typesF@@0@risingfallingeithernone trigger type reset types*@@ @ Numericinitial conditions"@@ @ Numeric reset I.C. @@ @!Booleanlimited? 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State data2@P @!status @code@0sourceerror@ Method Order@!Finished Late [i-1]Simulation data out@@TP @TPt0@ dt@@ Y2@P @!status @code@0sourceerror@S attributesWaveform Chart&@dSIM simulation data.ctlP~@SIM integration method.ctlD RK 1 (Euler)Adams LinearizerRK 3RK 4RK 45BDFRK 2RK 23continuous integrator@ initial time@ final time@ step size@ proposed step size@ max step size@ min step size@ discrete time step@ max step ratioj@SIM diagram eval stage.ctl6Init Minor Substep Major Substep Discrete stepDiag Eval Stage@ Substep Index@Timestep Index@ simulation time@ current timestep base@ proposed step time@ absolute tolerance@ relative tolerance@!step accepted?@!step complete? @!Halt?@!reset integrator?@ machine epsilon@ min float@SIM solver state data.ctlP @@ @ Numericinputs@@ @ Numericoutputs@@ @ Numericreset$@@ @ Numeric lower limits$@@ @ Numeric upper limitsZ@@D@SIM limit type.ctlupperlowerbothnone limit type limit typesd@@N@SIM trigger type.ctl"risingfallingeithernone trigger type reset types*@@ @ Numericinitial conditions"@@ @ Numeric reset I.C. @@ @!Booleanlimited? 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State data2@P @!status @code@0sourceerror@ Method Order@!Finished Late [i-1]Simulation data @ output@dSIM simulation data.ctlP~@SIM integration method.ctlD RK 1 (Euler)Adams LinearizerRK 3RK 4RK 45BDFRK 2RK 23continuous integrator@ initial time@ final time@ step size@ proposed step size@ max step size@ min step size@ discrete time step@ max step ratioj@SIM diagram eval stage.ctl6Init Minor Substep Major Substep Discrete stepDiag Eval Stage@ Substep Index@Timestep Index@ simulation time@ current timestep base@ proposed step time@ absolute tolerance@ relative tolerance@!step accepted?@!step complete? @!Halt?@!reset integrator?@ machine epsilon@ min float@SIM solver state data.ctlP @@ @ Numericinputs@@ @ Numericoutputs@@ @ Numericreset$@@ @ Numeric lower limits$@@ @ Numeric upper limitsZ@@D@SIM limit type.ctlupperlowerbothnone limit type limit typesd@@N@SIM trigger type.ctl"risingfallingeithernone trigger type reset types*@@ @ Numericinitial conditions"@@ @ Numeric reset I.C. @@ @!Booleanlimited? State data2@P @!status @code@0sourceerror@ Method Order@!Finished Late [i-1]Simulation data out"@0DNL_Simulation CallChain2"@0DNL_Simulation CallChain @ Td [s]@ y @ Ti [s]@ Kc&P@ Kc  @4@P@ Kc @ Ti [s] @ Td [s] PID gains_simF6@P@ Kc @ Ti [s] @ Td [s]PID gains_real@P@ Initial Time@ Final Time@ Time Step@ Absolute Tolerance@ Relative Tolerance @Discrete Time Step Multiple@0Continuous Solver@0Additional Parameters Sim Params   @!Halt?@dSIM simulation data.ctlP~@SIM integration method.ctlD RK 1 (Euler)Adams LinearizerRK 3RK 4RK 45BDFRK 2RK 23continuous integrator@ initial time@ final time@ step size@ proposed step size@ max step size@ min step size@ discrete time step@ max step ratioj@SIM diagram eval stage.ctl6Init Minor Substep Major Substep Discrete stepDiag Eval Stage@ Substep Index@Timestep Index@ simulation time@ current timestep base@ proposed step time@ absolute tolerance@ relative tolerance@!step accepted?@!step complete? @!Halt?@!reset integrator?@ machine epsilon@ min float@SIM solver state data.ctlP @@ @ Numericinputs@@ @ Numericoutputs@@ @ Numericreset$@@ @ Numeric lower limits$@@ @ Numeric upper limitsZ@@D@SIM limit type.ctlupperlowerbothnone limit type limit typesd@@N@SIM trigger type.ctl"risingfallingeithernone trigger type reset types*@@ @ Numericinitial conditions"@@ @ Numeric reset I.C. @@ @!Booleanlimited? State data2@P @!status @code@0sourceerror@ Method Order@!Finished Late [i-1]Simulation data@dSIM simulation data.ctlP~@SIM integration method.ctlD RK 1 (Euler)Adams LinearizerRK 3RK 4RK 45BDFRK 2RK 23continuous integrator@ initial time@ final time@ step size@ proposed step size@ max step size@ min step size@ discrete time step@ max step ratioj@SIM diagram eval stage.ctl6Init Minor Substep Major Substep Discrete stepDiag Eval Stage@ Substep Index@Timestep Index@ simulation time@ current timestep base@ proposed step time@ absolute tolerance@ relative tolerance@!step accepted?@!step complete? @!Halt?@!reset integrator?@ machine epsilon@ min float@SIM solver state data.ctlP @@ @ Numericinputs@@ @ Numericoutputs@@ @ Numericreset$@@ @ Numeric lower limits$@@ @ Numeric upper limitsZ@@D@SIM limit type.ctlupperlowerbothnone limit type limit typesd@@N@SIM trigger type.ctl"risingfallingeithernone trigger type reset types*@@ @ Numericinitial conditions"@@ @ Numeric reset I.C. @@ @!Booleanlimited? State data2@P @!status @code@0sourceerror@ Method Order@!Finished Late [i-1]Simulation data out @!Halt?@0source @code @!statusr@ timing.ctlVP @Period@Initial Offset@ Loop priority@ Timeout (ms)@ Logging Idx@ offset mode@0 Clock Source@0 Loop namep@񹯌*AlarmRef__NATIONAL_INSTRUMENTS_lvalarm.ctl2P @Alarm @Ring @Ring 2 @True Id Ref (out) @@ @NumericReserved4@P @!status @code@0sourceErrorInTiming @Numeric @True Id @Ring 2 @Ring @Alarm|p@񹯌*AlarmRef__NATIONAL_INSTRUMENTS_lvalarm.ctl2P @Alarm @Ring @Ring 2 @True Id Ref (out)B2P @Alarm @Ring @Ring 2 @True IdfVP @Period@Initial Offset@ Loop priority@ Timeout (ms)@ Logging Idx@ offset mode@0 Clock Source@0 Loop namep@񹯌*AlarmRef__NATIONAL_INSTRUMENTS_lvalarm.ctl2P @Alarm @Ring @Ring 2 @True Id Ref (out) @@ @NumericReserved4@P @!status @code@0sourceErrorInF6@P @!status @code@0sourceerror IO@@TP @TPt0@ dt@@ Y2@P @!status @code@0sourceerror@S attributeschartrbPP@TP @TPt0@ dt@@ Y2@P @!status @code@0sourceerror@S attributes   P@TP @TPt0@ dt@@ Y2@P @!status @code@0sourceerror@S attributes*@!Reset sim controller&@ @ y_meas@ Filtered x@ u_man_sim"@! auto/man_sim$@Sample Rate Divisor r b(   @dSIM simulation data.ctlP~@SIM integration method.ctlD RK 1 (Euler)Adams LinearizerRK 3RK 4RK 45BDFRK 2RK 23continuous integrator@ initial time@ final time@ step size@ proposed step size@ max step size@ min step size@ discrete time step@ max step ratioj@SIM diagram eval stage.ctl6Init Minor Substep Major Substep Discrete stepDiag Eval Stage@ Substep Index@Timestep Index@ simulation time@ current timestep base@ proposed step time@ absolute tolerance@ relative tolerance@!step accepted?@!step complete? @!Halt?@!reset integrator?@ machine epsilon@ min float@SIM solver state data.ctlP @@ @ Numericinputs@@ @ Numericoutputs@@ @ Numericreset$@@ @ Numeric lower limits$@@ @ Numeric upper limitsZ@@D@SIM limit type.ctlupperlowerbothnone limit type limit typesd@@N@SIM trigger type.ctl"risingfallingeithernone trigger type reset types*@@ @ Numericinitial conditions"@@ @ Numeric reset I.C. @@ @!Booleanlimited? State data2@P @!status @code@0sourceerror@ Method Order@!Finished Late [i-1]Simulation data out @!Fire!@dSIM simulation data.ctlP~@SIM integration method.ctlD RK 1 (Euler)Adams LinearizerRK 3RK 4RK 45BDFRK 2RK 23continuous integrator@ initial time@ final time@ step size@ proposed step size@ max step size@ min step size@ discrete time step@ max step ratioj@SIM diagram eval stage.ctl6Init Minor Substep Major Substep Discrete stepDiag Eval Stage@ Substep Index@Timestep Index@ simulation time@ current timestep base@ proposed step time@ absolute tolerance@ relative tolerance@!step accepted?@!step complete? @!Halt?@!reset integrator?@ machine epsilon@ min float@SIM solver state data.ctlP @@ @ Numericinputs@@ @ Numericoutputs@@ @ Numericreset$@@ @ Numeric lower limits$@@ @ Numeric upper limitsZ@@D@SIM limit type.ctlupperlowerbothnone limit type limit typesd@@N@SIM trigger type.ctl"risingfallingeithernone trigger type reset types*@@ @ Numericinitial conditions"@@ @ Numeric reset I.C. @@ @!Booleanlimited? State data2@P @!status @code@0sourceerror@ Method Order@!Finished Late [i-1]Simulation data@Sample Rate Divisor @!Fire!@ timestamp @ value&@!on change (false)D8@p FieldPoint FieldPoint IOFieldPoint IO Point OutD8@p FieldPoint FieldPoint IOFieldPoint IO Point In @ setpoint4@P@ output high@ output low output range@! auto? (T)@ manual control @ output@ process variable:@P@ setpoint high@ setpoint lowsetpoint rangef@P@ proportional gain (Kc)@ integral time (Ti, min)@ derivative time (Td, min) PID gains @ dt (s)@!reinitialize? (F) @ beta@ linearity@ dt out (s)@ dt out (s)@ linearity @ beta&@!reinitialize? (F) @ dt (s)vf@P@ proportional gain (Kc)@ integral time (Ti, min)@ derivative time (Td, min) PID gainsJ:@P@ setpoint high@ setpoint lowsetpoint range&@ process variable @ manual control@! auto? (T)@4@P@ output high@ output low output rangel`   8@p FieldPoint FieldPoint IOFieldPoint IO Point In8@p FieldPoint FieldPoint IOFieldPoint IO Point Out @ value@ timestamp@!on change (false)@@P @!status @code@0sourceerror in (no error)6@P @!status @code@0source error out@ setpoint @ Type 7`T  8@p FieldPoint FieldPoint IOFieldPoint IO Point In @ Type8@p FieldPoint FieldPoint IOFieldPoint IO Point Out @ value@ timestamp@@P @!status @code@0sourceerror in (no error)6@P @!status @code@0source error out@ u_man_real"@! auto/man_real*@!Reset real controller @ u_real"@ setpoint low@ d @ u_sim @ Result @ fb 2 @order$@!initialize_filter 2 @error@ Filtered x@! initialize @order6@LowpassHighpassBandpassBandstop filter type@ low cutoff freq: fl@ high cutoff freq: fh@ sampling freq: fs@ x@ x&@ sampling freq: fs*@ high cutoff freq: fh$@ low cutoff freq: flF6@LowpassHighpassBandpassBandstop filter type@! initialize @error ` T @dSIM simulation data.ctlP~@SIM integration method.ctlD RK 1 (Euler)Adams LinearizerRK 3RK 4RK 45BDFRK 2RK 23continuous integrator@ initial time@ final time@ step size@ proposed step size@ max step size@ min step size@ discrete time step@ max step ratioj@SIM diagram eval stage.ctl6Init Minor Substep Major Substep Discrete stepDiag Eval Stage@ Substep Index@Timestep Index@ simulation time@ current timestep base@ proposed step time@ absolute tolerance@ relative tolerance@!step accepted?@!step complete? @!Halt?@!reset integrator?@ machine epsilon@ min float@SIM solver state data.ctlP @@ @ Numericinputs@@ @ Numericoutputs@@ @ Numericreset$@@ @ Numeric lower limits$@@ @ Numeric upper limitsZ@@D@SIM limit type.ctlupperlowerbothnone limit type limit typesd@@N@SIM trigger type.ctl"risingfallingeithernone trigger type reset types*@@ @ Numericinitial conditions"@@ @ Numeric reset I.C. @@ @!Booleanlimited? State data2@P @!status @code@0sourceerror@ Method Order@!Finished Late [i-1]Simulation data@dSIM simulation data.ctlP~@SIM integration method.ctlD RK 1 (Euler)Adams LinearizerRK 3RK 4RK 45BDFRK 2RK 23continuous integrator@ initial time@ final time@ step size@ proposed step size@ max step size@ min step size@ discrete time step@ max step ratioj@SIM diagram eval stage.ctl6Init Minor Substep Major Substep Discrete stepDiag Eval Stage@ Substep Index@Timestep Index@ simulation time@ current timestep base@ proposed step time@ absolute tolerance@ relative tolerance@!step accepted?@!step complete? @!Halt?@!reset integrator?@ machine epsilon@ min float@SIM solver state data.ctlP @@ @ Numericinputs@@ @ Numericoutputs@@ @ Numericreset$@@ @ Numeric lower limits$@@ @ Numeric upper limitsZ@@D@SIM limit type.ctlupperlowerbothnone limit type limit typesd@@N@SIM trigger type.ctl"risingfallingeithernone trigger type reset types*@@ @ Numericinitial conditions"@@ @ Numeric reset I.C. @@ @!Booleanlimited? State data2@P @!status @code@0sourceerror@ Method Order@!Finished Late [i-1]Simulation data out@!stop simulation?&@!stop simulation? d X( @!step complete?@dSIM simulation data.ctlP~@SIM integration method.ctlD RK 1 (Euler)Adams LinearizerRK 3RK 4RK 45BDFRK 2RK 23continuous integrator@ initial time@ final time@ step size@ proposed step size@ max step size@ min step size@ discrete time step@ max step ratioj@SIM diagram eval stage.ctl6Init Minor Substep Major Substep Discrete stepDiag Eval Stage@ Substep Index@Timestep Index@ simulation time@ current timestep base@ proposed step time@ absolute tolerance@ relative tolerance@!step accepted?@!step complete? @!Halt?@!reset integrator?@ machine epsilon@ min float@SIM solver state data.ctlP @@ @ Numericinputs@@ @ Numericoutputs@@ @ Numericreset$@@ @ Numeric lower limits$@@ @ Numeric upper limitsZ@@D@SIM limit type.ctlupperlowerbothnone limit type limit typesd@@N@SIM trigger type.ctl"risingfallingeithernone trigger type reset types*@@ @ Numericinitial conditions"@@ @ Numeric reset I.C. @@ @!Booleanlimited? State data2@P @!status @code@0sourceerror@ Method Order@!Finished Late [i-1]Simulation data out@dSIM simulation data.ctlP~@SIM integration method.ctlD RK 1 (Euler)Adams LinearizerRK 3RK 4RK 45BDFRK 2RK 23continuous integrator@ initial time@ final time@ step size@ proposed step size@ max step size@ min step size@ discrete time step@ max step ratioj@SIM diagram eval stage.ctl6Init Minor Substep Major Substep Discrete stepDiag Eval Stage@ Substep Index@Timestep Index@ simulation time@ current timestep base@ proposed step time@ absolute tolerance@ relative tolerance@!step accepted?@!step complete? @!Halt?@!reset integrator?@ machine epsilon@ min float@SIM solver state data.ctlP @@ @ Numericinputs@@ @ Numericoutputs@@ @ Numericreset$@@ @ Numeric lower limits$@@ @ Numeric upper limitsZ@@D@SIM limit type.ctlupperlowerbothnone limit type limit typesd@@N@SIM trigger type.ctl"risingfallingeithernone trigger type reset types*@@ @ Numericinitial conditions"@@ @ Numeric reset I.C. @@ @!Booleanlimited? State data2@P @!status @code@0sourceerror@ Method Order@!Finished Late [i-1]Simulation data @!step complete? x  @dSIM simulation data.ctlP~@SIM integration method.ctlD RK 1 (Euler)Adams LinearizerRK 3RK 4RK 45BDFRK 2RK 23continuous integrator@ initial time@ final time@ step size@ proposed step size@ max step size@ min step size@ discrete time step@ max step ratioj@SIM diagram eval stage.ctl6Init Minor Substep Major Substep Discrete stepDiag Eval Stage@ Substep Index@Timestep Index@ simulation time@ current timestep base@ proposed step time@ absolute tolerance@ relative tolerance@!step accepted?@!step complete? @!Halt?@!reset integrator?@ machine epsilon@ min float@SIM solver state data.ctlP @@ @ Numericinputs@@ @ Numericoutputs@@ @ Numericreset$@@ @ Numeric lower limits$@@ @ Numeric upper limitsZ@@D@SIM limit type.ctlupperlowerbothnone limit type limit typesd@@N@SIM trigger type.ctl"risingfallingeithernone trigger type reset types*@@ @ Numericinitial conditions"@@ @ Numeric reset I.C. @@ @!Booleanlimited? State data2@P @!status @code@0sourceerror@ Method Order@!Finished Late [i-1]Simulation data out@!Finished Late [i-1]@dSIM simulation data.ctlP~@SIM integration method.ctlD RK 1 (Euler)Adams LinearizerRK 3RK 4RK 45BDFRK 2RK 23continuous integrator@ initial time@ final time@ step size@ proposed step size@ max step size@ min step size@ discrete time step@ max step ratioj@SIM diagram eval stage.ctl6Init Minor Substep Major Substep Discrete stepDiag Eval Stage@ Substep Index@Timestep Index@ simulation time@ current timestep base@ proposed step time@ absolute tolerance@ relative tolerance@!step accepted?@!step complete? @!Halt?@!reset integrator?@ machine epsilon@ min float@SIM solver state data.ctlP @@ @ Numericinputs@@ @ Numericoutputs@@ @ Numericreset$@@ @ Numeric lower limits$@@ @ Numeric upper limitsZ@@D@SIM limit type.ctlupperlowerbothnone limit type limit typesd@@N@SIM trigger type.ctl"risingfallingeithernone trigger type reset types*@@ @ Numericinitial conditions"@@ @ Numeric reset I.C. @@ @!Booleanlimited? State data2@P @!status @code@0sourceerror@ Method Order@!Finished Late [i-1]Simulation data$@!Finished Late [i-1]&P @Period @Offset@Priority@ No change/Process missed periods, maintain original phase/Discard missed periods, maintain original phase-Process missed periods, ignore original phase-Discard missed periods, ignore original phaseMode@@ReservedP @Expected end [i-1]@Actual end [i-1]@Expected start [i]@Actual start [i]d@NormalAbortedAsynchronous wakeupTiming source errorTimed loop errorTimeout Wakeup reason@!Finished Late [i-1] @Period @Offset@Priority@ No change/Process missed periods, maintain original phase/Discard missed periods, maintain original phase-Process missed periods, ignore original phase-Discard missed periods, ignore original phaseMode@@Reserved@P @Period@Initial Offset@ Loop Priority@ Timeout (ms) @Log Idx @Mode@0source@0 loop name2P @Alarm @Ring @Ring 2 @True Id@4@P @!status @code@0sourceErrorInTimingB2@P @!status @code@0sourceError:*@P @Period@Initial Offset@ Loop priority@ Timeout (ms)@ Logging Idx@ offset mode@0 Clock Source@0 Loop name<@P @Alarm @Ring @Ring 2 @True Id Ref (out) @@ @NumericReserved4@P @!status @code@0sourceErrorInTiming|p`   6@P @!status @code@0source error outP@@6@P @!status @code@0sourceerror inerror array inB@P @!status @code@0sourceerror in 3 (no error)B@P @!status @code@0sourceerror in 2 (no error)B@P @!status @code@0sourceerror in 1 (no error)RB@P @!status @code@0sourceerror in 1 (no error)RB@P @!status @code@0sourceerror in 2 (no error)RB@P @!status @code@0sourceerror in 3 (no error)\P@@6@P @!status @code@0sourceerror inerror array in` @0 timingSource@dSIM simulation data.ctlP~@SIM integration method.ctlD RK 1 (Euler)Adams LinearizerRK 3RK 4RK 45BDFRK 2RK 23continuous integrator@ initial time@ final time@ step size@ proposed step size@ max step size@ min step size@ discrete time step@ max step ratioj@SIM diagram eval stage.ctl6Init Minor Substep Major Substep Discrete stepDiag Eval Stage@ Substep Index@Timestep Index@ simulation time@ current timestep base@ proposed step time@ absolute tolerance@ relative tolerance@!step accepted?@!step complete? @!Halt?@!reset integrator?@ machine epsilon@ min float@SIM solver state data.ctlP @@ @ Numericinputs@@ @ Numericoutputs@@ @ Numericreset$@@ @ Numeric lower limits$@@ @ Numeric upper limitsZ@@D@SIM limit type.ctlupperlowerbothnone limit type limit typesd@@N@SIM trigger type.ctl"risingfallingeithernone trigger type reset types*@@ @ Numericinitial conditions"@@ @ Numeric reset I.C. @@ @!Booleanlimited? State data2@P @!status @code@0sourceerror@ Method Order@!Finished Late [i-1]Simulation data out4@P @!status @code@0sourceerrorin@ SIMSCR simulation parameters.ctlP@ Initial Time@ Final Time@ Time Step@ Absolute Tolerance@ Relative Tolerance @Discrete Time Step Multiple@0Continuous Solver@0Additional ParametersSimulationParameters@ SIMSCR simulation parameters.ctlP@ Initial Time@ Final Time@ Time Step@ Absolute Tolerance@ Relative Tolerance @Discrete Time Step Multiple@0Continuous Solver@0Additional ParametersSimulationParameters@4@P @!status @code@0sourceerrorin&@0 timingSource.@0Additional Parameters*@0Continuous Solver, @Discrete Time Step Multiple$@ Relative Tolerance$@ Absolute Tolerance@ Time Step@ Final Time"@ Initial TimeP@ Initial Time@ Final Time@ Time Step@ Absolute Tolerance@ Relative Tolerance @Discrete Time Step Multiple@0Continuous Solver@0Additional ParametersB2@P @!status @code@0sourceerror@ fb&@!initialize_filter(@millisecond timer value*@millisecond multiple k8|   $ H t t t 0 `pp t t  t t@h t @h ,Lh<| t t t t  4 t L d |"|####$P$l$ t@/ t0` t t5 t th555:0E@@# t0` t##5 tE@EpEEEEEEEEEEpEEEF,EFpE EpEEEEEEEEEEph5GH t@ t0` t t t tQ t t t t t t th5RR R<RTRlS<TTT,TDT\TtThL,  4RlU0 t ,LhTtV V FpFp/5<QVW|V  4RlXYXppEEY8Y8####YTYTYpYp88YYYY0`d$ t t t d< tdX t t t tdpd<dX t td t t tYpdYTYTEe |ffggg@ tgX tg th#h8hXhthYpj EpEEEpp t t tdj<j< t tj<ddjTddjTdjlF,EpEEF,kkkklll0XXlH8l0efflhlh$P$ll|l|$P$llggg@ tgX tg th#h8hXhtj @|##llllllY8Y8Y8Y8YYYY0`d$@|llllEYTYpX#ppEpEEEEEEEEEEpEEEllmmnn$nLnplnY8 t tn$P$lllH88effggg@nyH@0`yl0` t@|@@ t0` t t t t t t@ t t 4|@@"|Pl t t t t t t t@lh/ll  Lt @ @ tgX tg thllmmnn$nLnplnY8 t tnllllllmmnn$nLnplH88lnY8 t tnLL``#h8hXhtj ###EE#pEY/5Q m~4x~7v!!!Real and simulated control systemgD67 Finn Haugen, April 21, 2005oD::""#Setpoint ySP [V] (for both systems)PD>hK>iKy_SPN"" H̑Q(5(5HDoQS`S`QD+8+8chart[D$(|5(}5 Simulation TimeH"Q&+&+U D$ AmplitudeHDRS`S`aD""Simulated y [V] (raw)YDyz Process modelPD?zL?{LStopH$(QUbUb N$+%+ HQ( T*SN$+%+ H4Q(!T*SNZa[a YD   auto/man_realWD00 model_estimH0R?&A%D2,3,3Estimated process model being used in the simulatorYDS`S` PID gains_simNDmzmzKcHȥRmz:mz:RDTi [s]H<~Q::RDTd [s]HR::XDZgZg auto/man_simUDbyobzo u_man_simH|eQu}u~HD$ RrrPDTaTaAutoODManQD{|u_simHoQ`D!!Reset sim controllerpD&/Mr&0Mr$Disturbance d (for simulated system)MDT,a3T-a3dN:A;A HR>&c@&bHDTQf5sFf6sFD%%=PID controller and measurement filter for real control systemRD-u=-v:u_realHtRAyNAzNaD]j#]j#Reset real controllerVDxy u_man_realN$'+%'+ HQ-(:T-*-SD?L?L&BPID controller and measurement filter for simulated control systemH\R|"}"PDAutoZD PID gains_realNDKcHXzQ88RD&3&3Ti [s]HR&38&38HD$ Q##OD7D7DManRD>K>KTd [s]HR>K8>K8_DS Sinitialize_filter 2H$$Q 4 4gD` zM` zMMeasurement filter, fb [Hz]PD||fb 2HT{Q22 ]D)6P)6Pinitialize_filterH$R:T::T:gDSSMeasurement filter, fb [Hz]ND&&fbH$Q+8+8 RDu"u"y_measH\R#"`DucudSimulationParametersLDucjudjXDrs Initial TimeVDrs Final TimeH LvxUDrs Time StepHQvxHQvx^DrsAbsolute ToleranceHR v x ^D r- s-Relative ToleranceH@Q3v@3x3gDFrSFsSDiscrete Time Step MultipleHQYvfYxY]Dng{nh{Continuous SolverHQkmaDghAdditional ParametersH,yQkmHDR&?'?fD&(CD Read Model from File.vivDU%W$*CD Convert Control Design to Simulation.vi[DDQDQHalt SimulationHDpQLaYxLbYxHDQ \Dxz SimTime WaveformHD$QI%sK%rfDDiscrete Transfer FunctionHD$\R'6)5qDon%CD Draw Transfer Function Equation.viHD$@QHDHQ((HD@RHD R[D{}PID Advanced.viHD̥R?? HDRE{F{ MDK TM ShHDtQ Kd McHD}Qn{n{ XDTa"Ta! output rangeYDW dKW dJ setpoint highHDyQg tg tXDh uGh uF setpoint lowHDQx x HDR UD SummationHDRLYLYeDhgFP Write (Polymorphic).vibDP]P]FieldPoint IO Point InHDdQ6C6CPD  Type[DPID Advanced.viHD@QVW HDLRdDFP Read (Polymorphic).viHDxQ!!HDR~ HDcQ`m2`m1bDbdFieldPoint IO Point InHDPRHDQHD$lR0=0=HDXR  hDButterworth Filter PtByPt.viQDKX#KX"orderHDjQ[h"[h!MD"$+$$*yHD4Q'4*'4)XD0/ output rangeYDYX setpoint highHD4R('HD|R,+XDUT setpoint loweD0=0=Simulated control system:`D! Real control system:MD/9<B/;<AyHD L?2LA?4L@HDQvvHDRhDButterworth Filter PtByPt.viQD  orderHDtkQ  MD/!81!7yHDR$(17$*16MD,F9O,H9NyHDdQ<?IN<AIMpD;:$real_and_simulated_control_system.vipD8*:*$real_and_simulated_control_system.viMD?HAGhpD b d$real_and_simulated_control_system.viHDRL@fAfHDTQ?XAWpD$real_and_simulated_control_system.viHDQLgNfMD_hagyHD$Rgt>gt>[DVcVcHalt SimulationgD[h[hSIMSCR Init From Cluster.vi[DananMerge Errors.viVD65 Input NodeWDfh Output NodeaD9; Simulation While LoopiDc}p cp SIM Set Finished Late Flag.vibD  Accept Step While LoopHDpQ\Dxz SimTime WaveformZDgtgtSIM manager.viWDgtUgtT SIM stop.vifDDiscrete Transfer Function[DVXPID Advanced.viHD̥R>? HDR HD}Q HDRXDfs"fs! output rangeYDi vKi vJ setpoint highHDRy y XDz Gz F setpoint lowHD\kQ  HDR33HD R  UD SummationHDQ eDBOBOSimulated control system:hD?Ls?LrButterworth Filter PtByPt.viQD]j#]j"orderHDRmz"mz!HDQ__HD$lR#7$7MD&/38&137yHDQ6(C76*C6MD>FKO>HKNyHDRN?[NNA[MpD/8</:<$real_and_simulated_control_system.viMD?HAGhHD|R?#XA#WpD$real_and_simulated_control_system.viRECP4CC4 True fD4A84A7SIM Fire Discrete SubVI.vi_D4]A4_ASample Rate DivisorHDQDQDQRES`T` True fD#%SIM Fire Discrete SubVI.vi_D)(Sample Rate DivisorHDR(!'[D WVloadlvalarms.viRD:9TimingHDtR RD'&PeriodHD(ZL   ZDEDInitial OffsetHDQ( (YD E D Loop priorityHD,lQ,9, 9XD)G)F Timeout (ms)HDQ=J= JWD-:A-:@ Logging IdxHDKC>KB offset modeHDȏQ_ l_ XDO\FO\E Clock SourceHDLp }p UD`m=`m< Loop nameUDq~5q~4 Ref (out)HD> YY JJ lGlK cIcK STOPManAutoManAutoManAutoManAuto.Initialize filterONInitialize filterON.Initialize filterONInitialize filterON: Automatic-MIMO SSMIMO TFSISO TFMIMO ZPKSISO ZPK Automatic-SSTFZPK Automatic-SSTFZPK Alarm~FPHP$real_and_simulated_control_system.viLVCC SIMSCR simulation parameters.ctlhPTH0SIMUSIMM~FPHPdQ8~Y8n~`XLhj(hy7,  ~DMbd@QWLhkQpS!O/nx|4 D}3y x$ 4 D5 x$ |HXtx:b(L : '60u0/.-4 FR; X^14 N=gL ]@P A"{:8c,dD@p4 J # T8 2 '6T $xxp 2 0"{.c"{.c"{.c0  #:d8hBRp 2 .{:b.{:b.{:bp 0<KKKK<KK<|0 0E@  0 78B0 74@EA  0 20@D@0>x(:>x $xt0 2x(YZ0 2x-JK |0 7>C |0 @Dg8d4 6xRaT8 hB`R@ P*am d(| |, (),)* )d(*< O,e'@+2 | | | |8 hDBR@ P  A #Y', L40 @Dh4Dp ^9ZFf! e   H T4 N  *9 lx$ 0 k ! !Z9>0 G x<$>@ : J!%5ff]0 J & :KZ  |@ : L!%h5|vvo@ : K!%}5nng0 2 x($%0 2 x->?D`0 06M `M2'M $xhD_@4 >> $xd  P4 3 x^'{6`x$ 4  2 x',\x$ 4 3 ^Xx$ 4 6 RaTx$ 0   DG0 2 (YZ0 2 -JK'8h B T4 $ #Px$ 0Dgp $0  ;9Z>|", 0 7 5=L_xX0/FF|| \FEquation draws a picture of the model equation this VI defines.,|L0 ~' DU 4 F x Lx$ 0 , DU0 3 {U0 ~& 8{D 8hB 0 W xX%0D0dP<O Myj`*4 OD>yM dh<  vDTcTh0WL DMyjMyjMyjMyjMyj4 J T #,  0  T #Yd8 2 T ' Up$ $j8h TBRp : T 0$c$c$cp : T $b$b$bL : T ' -0u0/.-@P  A #&Y (|p : 0$c$c$c4 J #, (d$ 8  2 '"U4 ȰL" : '"-0u0/.-0"  #&Ydp" : &$b&$b&$b8"hB R4" 7J TA Yb @ <#\<$4# O<  g$|<$[81Ip4$ N 1 8 0%  1+d4% 2 >'0 p& 2+  6< 6< 6< <&O S -I& -I-I-I-I-I 8&hB @&8&hBT0&DL&|&|<&S`&RC7 &|&|,&X4&!$04& FR 1- , <'<4hL' H0x`'KCluster of proportional gain, integral time and derivative time parameters.0'  cCd4' F Ra  0( 7 g?($0!,(l !  d"<8(hBTg4( F l{  8)2 l{;, ȡ@@+Pg?6dL+ : l{0u0/.-0+  h?d+|p+ 2 0gscgscgscp+ 2 sbsbsb+|@+P?!5v,+"#`#"t"#0%4+ F!   8,hB! p, 2! bbbL, :! 0u0/.-0, ! ?d8,2! ; ȟp. 2! 0ccc.|.|@.P?$p4,.$$&L&%@%%4. F$0   8/2$0 ;Dx$ $x@81h!B$$L1 :$0 0u0/.-01 $0 ?d81h$0B&%1|1|01Dhp1 2$0 0cccp1 2$0 bbb1|,1'l,'*',T41 O Yh  N4S+b4  x$ @?P 4A.+h5d,?566L7$4`664? J5` 9B x$ 8@ 25` ='dx$ $xB|pB 25` 0.:c.:c.:c0B 5` 9+hd8Bh5`B8 68RpB 25` .+:b.+:b.+:bpB 40Pa<KKPaKK<P_KK<B989h9B|0B 40[PY@0B 748PYBqq0B 744VP[YA0B 240PY@qqDB@04T0 L8 T0 L  $w0C 28(lGmLC0D 28-cIdL(E|0E 74TN [C4E  68e4tGw$ 8Fh4B:H9RF|0FDgc4 tF|F|F|4F D w$ ,GFFDDETEGF|<GOBSr^;xA\XG|,GABBChD;8Gh;(B:R @GPQl'|>^ <GS`TTA=J4QAA@G|G|,GJJJK(G|G|hGRThe control output of the PID algorithm that is applied to the controlled process.,G>? ?@?D>@0G = <tSd4G F= ,t> g8H 2= @xO j $wLJ := @xO~0u0/.-pJ := 0;iGuc;iGuc;iGucpJ := GiSubGiSubGiSub0JDcTY= 8Jh=B>=R 0J DOaJHNS@J|<JS@NHxJdSet to TRUE to reinitialize internal parameters (such as integrated error) to default values of 0.0.4J G;(\k$ gK 2;(V]EhTjKK]EhTKKj]EhTddj]EhTKKj]EhTddj0KDcpV;(p NK ;(X'mYiX'mYiX'mYiX'mYiX'mYiK 7;(YX'r^DX'r^DX'r^X'r^DX'r^K|\K 7;(XS"r^hS"r^h4K F; w H]@LP  A (#?Y:WpL :D 0'3$c'3$c'3$cpL :D 3?$b3?$b3?$bLL :D ,';-0u0/.-4L JD #(, w$ 8M 2D ,';Uw$ $w8OhDBM tw$ LP5Control output value used when auto? is set to FALSE.0P ; w'd8P 2; {#] $w`LR :; {#0u0/.-pR 6; 0lxclxclxc@RP=\ =KP pR 2; l'xbl'xbl'xb8Rh;B<0<R 0R Dt`4R D Hw$ `SKCluster of proportional gain, integral time and derivative time parameters.4S F=\  ]0T 7=\ P=0T =\ TAd8Th=\B==Tg4T FH   Ԁ]8U2H  9] $w@,WK`KLLKLDNlLW :H  0u0/.-0W H   =dW|pW 2H 0cccpW 2H  b b b,WMMRQRTNT84W FN %4 ]8X2N %49Ѐ] $w40Z N !8=d<Z n<$g$R8\hHBGD@\P=\ 8=MhO \|\TRUE selects automatic control (default), FALSE selects manual mode. Bumpless transfer is used from manual mode to automatic control.8\h<B;d:R \ < 1` 1` 1a""\ 5<Y ;^ ;^ ;_000\Dc8T< \|,\SSTUHSRTp4\ D6E ,w$ ]|0]DcR;  Bp] 2N ,8b,8b,8bL] :N %40u0/.-0] S@ 9P=dp] 2N 0 ,c ,c ,c@]P=\8P=Q@N H 4] FS@ =L ]8^2S@ =L9] $w L` :S@ =L0u0/.-8`hNBNLt8`hS@BQQ,0`DaM=\ p` 2S@ 08Dc8Dc8Dcp` 2S@ DPbDPbDPb<`OVH9VVx=`|,`W W@WV`|0`Dg<U 0v\`Ginitialize, when TRUE, initializes the internal state of the VI.8`hUB|h 4` OUT w$ <a  rU 5w$ Q@cP[x_NXTZp; Ac U9 9 9 9 9 <cXXXY0Z[[[@4c FW|R _ {N w$ 4d NW| { w$ 8e 2W|  3  w$ $wpg 2W| 0{ c{ c{ ca[Y1;DiNV bY[`bpg 2W|  b b bglow cutoff freq: fl is the low cutoff frequency. low cutoff freq: fl must observe the Nyquist criterion. The default is 0.125.0g W| | 7d8ghW|BV4UR 0gDgT:W| Lg :W|  0u0/.-1bT;Di g|<gO]7 W?\\Ug|\gGinitialize, when TRUE, initializes the internal state of the VI.g|,g]\]^]$8gh\8B\t\$ 4g O\8( 7Q @]<h  r\89U;܁]Q0jD_HT\8 Nj|j \87 W? 7 W? 7 W? 7 W? 7 W? 4j F_dR T X]4k N_d ' ]8l 2_d ,9  d] $vn|T@nPa0T`D_S nlow cutoff freq: fl is the low cutoff frequency. low cutoff freq: fl must observe the Nyquist criterion. The default is 0.125.<n^^_a<``ab(pn 2_d $0b$0b$0bLn :_d ,0u0/.-pn 2_d 0$c$c$c0nDA$R_d Tn|;0n _d 0=d8nh_dB]\R 1b;DiNZVb ,n<`K<=<>aft;DiZb 1gY[`bbfffn|I8n|Rn|j n|F@nPKft(d$c+ n|n|0nData value(s) read from tag.,ndde8eddPfH0n c (d4n Fc t# ]8o 2c $]0Lq :c 0u0/.-pq :c 0cccpq :c bbb0qADg,c 48qhcBccR ~;DiNV 1;Di 1;DiZb  q|Gq|Lq|hH=q|*`q|X<0q|(08q|</q|5 q|3)q|*$)4,q|H q|)\)q|lqt 8&*,2\.:\@pBPQT]aVH[xf~$@qd(~$tbi<!^ qiXii4q FhJtb S8rhhBih| Kr|<rS`hJbj kl r|r ~$f[xVHa]:GDQlJTQPB@p:\.2\-@- ,*&8 t@I,rjk$kTk4r Ni tbk $ 0s 7i f0s i bd8shiBkjTgs|<slHmpXsv(x{t|<s|{txv(spXmlH@sPBifl ,slqqrHlm4md4s FlH q $ Lt :lH u{0u0/.-0t lH qd8thlHBmmR t|t|@tPBifn ,tn0ndno o|oo4t Fm q $ 8u2m u$ $pw 6m 0frcfrcfrcpw 2m frbfrbfrbLw :m u{0u0/.-0w m qd8whmBpDp0R w|w|@wPBifp 8,wppq0x$rss44w FpX q $ 8x2pX u$ $pz 6pX 0frcfrcfrc8z2lH u$ $p| 6lH 0frcfrcfrcp| 2lH frbfrbfrbL| :pX u{0u0/.-0| pX qd8|hpXBsslR ||||@|PBifs P,|tt4tltuLuu4| Fs q $ 8}2s  u$ $p 6s 0frcfrcfrcp 2s frbfrbfrbL :s  u{0u0/.-0 s qd8hsBvvR ||@PBifEvh h,vvwwp~hwx4 Fv( q. $ 82v( 2uA$ $p 6v( 0-f9rc-f9rc-f9rcp 2v( 9fErb9fErb9fErb0 v( .qEd|p 2pX frbfrbfrb8hv(BxxR |@PBiEfky  ,yLyyz(zz{4 Fx EqT $ 82x Xug$ $p 6x 0Sf_rcSf_rcSf_rcp 2x _fkrb_fkrb_fkrbL :x Xug{0u0/.-0 x Tqkd8hxB{`{LR ||4Qikf{,{||<|l4 F{t mf| $ 4 2{t j$ 0 {t |fd8h{tB||T||4Qif},},}`}}4 F| f $ 4 2| j$ 0 | fd8h|B~}T||0D~Th |L :v( 2uA{0u0/.-  r)  )  ) )  )   )   ) 3  )   )   )   )  )  ) 3 (p ?????????????????? r)  )  ) )  )   )   ) 3  )   )   )   )  )  ) 3 (p ?????????????????? 0 r)  0)  / ) &)  ')   )   ) 3  )  )  )  )  ")  ") 3 !(p '??????????????????& )   )  ( (  (  r)  )  ) )  )   )   ) 3  )   )   )   )  )  ) 3 (p ??????????????????0n< 0) A <)  ;(  !66&&( ,??&# <ms) A #<)  ";(#@@@@@@@@@@@@@@@@@@@@@@@@>>>)  !:)   9*!:1 kHz ) A "2<)  #1;(#2@@"@"@"@"@0)  $0:)  %/9&#0:20) A 1A<)  2@;(2A= )  3?:)  4>9&2?:0 ) A @P<)  AO;(AP0H J@0@)  BN:)  CM9(AN:100 ) A O_<)  P^;(P_ @ @ @! 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