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The elapsed time is the present time minus the start time that you specify. -------------------- This Express VI is configured as follows: Time Target: 1 s Auto Reset: Off $PTH0 lvexpress.chmElapsed_Time.html? ?sAaaaaAA?@?ffffffffffffffffffffffffffffo           VVVVV+VV+VVV+++VVV+++++++VV++++++++V+V+++V Elapsed Time@ Time Target (s) @!Reset@! Auto Reset!0 @Perror in (no error)@ Set Start Time (s)@ Get Start Time (s)@0Start Time Text@ Present (s)@0 Present Text@ Elapsed Time (s)@!Time has Elapsed@0Elapsed Time Text@P error out\     @!Reset@ Set Start Time (s)@ Time Target (s)@!Time has Elapsed@! Auto Reset@ Elapsed Time (s) @!status @code@0source@P error out@ Present (s)@ Get Start Time (s)@ Get Start Time @ Present@ Elapsed Time@0Start Time Text@0 Present Text@0Elapsed TimeText @Perror in (no error)@0Elapsed Time Text@ Elapsed Time Target@ Set Start Time\       5        ~FPHPnkalmanfilter_dcmotor_usb_io_sim.vi:Instance:Instance 2 39Saved kalmanfilter_dcmotor_usb_io_sim .viXDBB Present TextXDBB Present TextH]Dp}[p}[Elapsed Time Text]Dp}[p}[Elapsed Time TextH[Di j  Start Time Text[Di j  Start Time TextHm/#n"#RDCdDdsourceRDCdDdsourceHG(H PDijcodePDijcodeHstRD$CbDbstatusRD$CbDbstatusM$JQKQP?X@XPaneUD?k@k error outUD?k@k error outRDsourceRDsourceH+PDcodePDcodeHRD$statusRD$statusM$PPane_Derror in (no error)_Derror in (no error)^DklGet Start Time (s)^DklGet Start Time (s)Ho#p#WD;; Present (s)WD;; Present (s)H  \Dr s Elapsed Time (s)\Dr s Elapsed Time (s)H&s3&u3VD!.!. Auto ResetVD!.!. 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Trigger TypesC:SIM Registry Node Record.ctl@P3457 Node Record@@8 Node Data @ Numeric@@:inputs@@:outputs@@:reset@@: lower limits@@: upper limitsGSIM limit type.ctl+@upperlowerbothnone limit type@@@ limit types@@6 reset types @@:initial conditions@@: reset I.C. @!Boolean@@Elimited?@0String@@G State NamesRSIM solver state data.ctl0@P ;<=>?ABCDFHCont State data@ tick period (sec)@ time (ticks)@@Efire?@ period (sec)@@M period (sec)@@M skew (sec)@ period (sec)@@P period (tick)@@P skew (tick)@PNOQRregistry@!discrete blocks?@ steps per tick@ steps to tick@!discrete tick?FcASIM discrete data.ctl(@PJKLSTUVW DiscreteInfo@@: Disc StatesBSIM Discrete state data.ctl@PYHDisc State data@Error Block IDH2Q!SIM Simulation Registry Error.ctl@P[Registry Error @Numeric@@] ZC IndicesTlWSIM Simulation Registry.ctl0@P &(19IXZ\^Simulation Registry@!variable step solver?@!First Substep?@!Continuous States?nSIM simulation data.ctlj@P&  !"#$%_`abSimulation data out@ Initial Time (s)@ Final Time (s)@ Step Size (s)o_simSolvers.ctl@ Runge-Kutta 1 (Euler) Runge-Kutta 2 Runge-Kutta 3 Runge-Kutta 4Runge-Kutta 23 (variable)Runge-Kutta 45 (variable)BDF (variable)Adams-Moulton (variable)Rosenbrock (variable)Discrete States Only Linearizer State Query Trim Eval ODE Solver@ Minimum Step Size (s)@ Maximum Step Size (s)@ Relative Tolerance@ Absolute Tolerance@!Software Timing@ Initial Step Size (s) @!Automatic Fixed Step Size?"@!Automatic Discrete Step Size?@ Discrete Step Size (s)@!Calculate using Time Step@! Solver Wired?@Prev.Frm.Expected End@Prev.Frm.Actual End@!Prev.Frm.Finished Late?@Prev.Iter.Expected End@Prev.Iter.Actual End@!Prev.Iter.Finished Late?@Expected Iteration Start@Actual Iteration Start@Expected Frame Start@Actual Frame Start@0 Source Name@0Name @Period@Deadline @Offset @Start@Priority @Timeout@ 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 phaseModed@NormalAbortedAsynchronous wakeupTiming source errorTimed loop errorTimeout Wakeup reason@PError@0 Source Type@0Secondary Source Type@Global End Time@Global Start Time@! Nan/Inf Check SimParams.ctlz@P+defghijklmnopqrstuvwxyz{|}~"#SimulationParameters out SimParams.ctlv@P+defghijklmnopqrstuvwxyz{|}~"#SimulationParameters,c` SIMUSIMMPVICCSIM subVI tag data.ctlPTH0I Simulation ScriptingEditor UtilitiesSIM subVI tag data.ctl @ period @ skewSIM subVI execution type.ctli@ Function callDiscrete ContinuousInitialization onlyFinal step onlySimulation execution typeCSIM subVI tag data.ctl#@PSIM subVI tag dataSIMUSIMMPVICCSIM subVI execution type.ctlPTH0O Simulation ScriptingEditor UtilitiesSIM subVI execution type.ctlSIM subVI execution type.ctli@ Function callDiscrete ContinuousInitialization onlyFinal step onlySimulation execution typeSIMUSIMMPVIXNSIMX SimTime.xnodePTH0? SimulationUtility SIMX SimTimeSIMX SimTime.xnode̻VIVI sim time.viPTH0: simulationutilityimplementation sim time.vif@ simulation timeSIM integration method.ctl@ RK 1 (Euler) Linearizer State Query Trim EvalAdamsRK 3RK 4RK 45BDFRK 2RK 23 RosenbrockDiscrete States Onlycontinuous integrator@ initial time@ final time@ step size@ proposed step size@ max step size@ min step size@ discrete time step@ max step ratioeSIM diagram eval stage.ctlA@Init Minor Substep Major SubstepFinalDiag Eval Stage@ Substep Index@ Timestep Index@ current timestep base@ proposed step time@ absolute tolerance@ relative tolerance@!step accepted?@!step complete? @!Halt?@!reset integrator?@ machine epsilon@ min float @!status @code@0source@Perror@ Method Order@!Finished Late [i-1]@!Discrete step?@!NaN and Inf check?@ Final Timestep Index@!(maj+disc)or(init)?@!Full Solver Reset:SIMSCR Execution Mode.ctl@Execution Mode@!check vector sizes?@!solver handles zc?@ Current Idx @0Tag@@' Node Tags@ Input Width @Disc ID@ Num Cont St@ Cont St Idx@ Num Disc St@ Disc St Idx@ Output WidthI2RZSIM Registry Node Header.ctl#@P)*+,-./ Node Header@@0 Node Headers @ Signal@@2 Node Data@@2 Node Outputs@@2 Z.C. SignalsQSIM trigger type.ctl3@risingfallingeithernone trigger type @@6Z.C. Trigger TypesC:SIM Registry Node Record.ctl@P3457 Node Record@@8 Node Data @ Numeric@@:inputs@@:outputs@@:reset@@: lower limits@@: upper limitsGSIM limit type.ctl+@upperlowerbothnone limit type@@@ limit types@@6 reset types @@:initial conditions@@: reset I.C. @!Boolean@@Elimited?@0String@@G State NamesRSIM solver state data.ctl0@P ;<=>?ABCDFHCont State data@ tick period (sec)@ time (ticks)@@Efire?@ period (sec)@@M period (sec)@@M skew (sec)@ period (sec)@@P period (tick)@@P skew (tick)@PNOQRregistry@!discrete blocks?@ steps per tick@ steps to tick@!discrete tick?FcASIM discrete data.ctl(@PJKLSTUVW DiscreteInfo@@: Disc StatesBSIM Discrete state data.ctl@PYHDisc State data@Error Block IDH2Q!SIM Simulation Registry Error.ctl@P[Registry Error @Numeric@@] ZC IndicesTlWSIM Simulation Registry.ctl0@P &(19IXZ\^Simulation Registry@!variable step solver?@!First Substep?@!Continuous States?nSIM simulation data.ctlf@P&  !"#$%_`abSimulation datanSIM simulation data.ctlj@P&  !"#$%_`abSimulation data outLcd  eSIMUSIMMPVIVISIM Memory Access Sim Data.viPTH0[ SimulationUtilityImplementationSIM Memory.llbSIM Memory Access Sim Data.vim@0 CallChainOut @!fire @!Init?SIM integration method.ctl@ RK 1 (Euler) Linearizer State Query Trim EvalAdamsRK 3RK 4RK 45BDFRK 2RK 23 RosenbrockDiscrete States Onlycontinuous integrator@ initial time@ final time@ step size@ proposed step size@ max step size@ min step size@ discrete time step@ max step ratioeSIM diagram eval stage.ctlA@Init Minor Substep Major SubstepFinalDiag 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 @!status @code@0source@Perror@ Method Order@!Finished Late [i-1]@!Discrete step?@!NaN and Inf check?@ Final Timestep Index@!(maj+disc)or(init)?@!Full Solver Reset:SIMSCR Execution Mode.ctl@Execution Mode@!check vector sizes?@!solver handles zc?@ Current Idx @0Tag@@) Node Tags@ Input Width @Disc ID@ Num Cont St@ Cont St Idx@ Num Disc St@ Disc St Idx@ Output WidthI2RZSIM Registry Node Header.ctl#@P+,-./01 Node Header@@2 Node Headers @ Signal@@4 Node Data@@4 Node Outputs@@4 Z.C. SignalsQSIM trigger type.ctl3@risingfallingeithernone trigger type @@8Z.C. Trigger TypesC:SIM Registry Node Record.ctl@P5679 Node Record@@: Node Data @ Numeric@@<inputs@@<outputs@@<reset@@< lower limits@@< upper limitsGSIM limit type.ctl+@upperlowerbothnone limit type@@B limit types@@8 reset types @@<initial conditions@@< reset I.C. @!Boolean@@Glimited?@0String@@I State NamesRSIM solver state data.ctl0@P =>?@ACDEFHJCont State data@ tick period (sec)@ time (ticks)@@Gfire?@ period (sec)@@O period (sec)@@O skew (sec)@ period (sec)@@R period (tick)@@R skew (tick)@PPQSTregistry@!discrete blocks?@ steps per tick@ steps to tick@!discrete tick?FcASIM discrete data.ctl(@PLMNUVWXY DiscreteInfo@@< Disc StatesBSIM Discrete state data.ctl@P[JDisc State data@Error Block IDH2Q!SIM Simulation Registry Error.ctl@P]Registry Error @Numeric@@_ ZC IndicesTlWSIM Simulation Registry.ctl0@P (*3;KZ\^`Simulation Registry@!variable step solver?@!First Substep?@!Continuous States?nSIM simulation data.ctlj@P&  !"#$%&'abcdSimulation data outP@ Continuous$Continuous(include minor time steps)Discreteexecution type"@0DNL_Simulation CallChain@ sample skew (sec)@ sample period (sec)nSIM simulation data.ctlf@P&  !"#$%&'abcdSimulation data< effgfhijkx   lSIMUSIMMPVIVIsim fire discrete subvi.viPTH0H simulationimplementationsharedsim fire discrete subvi.vik @ period @ skewSIM subVI execution type.ctli@ Function callDiscrete ContinuousInitialization onlyFinal step onlySimulation execution typeCSIM subVI tag data.ctl#@PSIM subVI exec dataSIM integration method.ctl@ RK 1 (Euler) Linearizer State Query Trim EvalAdamsRK 3RK 4RK 45BDFRK 2RK 23 RosenbrockDiscrete States Onlycontinuous integrator@ initial time@ final time@ step size@ proposed step size@ max step size@ min step size@ discrete time step@ max step ratioeSIM diagram eval stage.ctlA@Init Minor Substep Major SubstepFinalDiag 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 @!status @code@0source@Perror@ Method Order@!Finished Late [i-1]@!Discrete step?@!NaN and Inf check?@ Final Timestep Index@!(maj+disc)or(init)?@!Full Solver Reset:SIMSCR Execution Mode.ctl@Execution Mode@!check vector sizes?@!solver handles zc?@ Current Idx @0Tag@@+ Node Tags@ Input Width @Disc ID@ Num Cont St@ Cont St Idx@ Num Disc St@ Disc St Idx@ Output WidthI2RZSIM Registry Node Header.ctl#@P-./0123 Node Header@@4 Node Headers @ Signal@@6 Node Data@@6 Node Outputs@@6 Z.C. SignalsQSIM trigger type.ctl3@risingfallingeithernone trigger type @@:Z.C. Trigger TypesC:SIM Registry Node Record.ctl@P789; Node Record@@< Node Data @ Numeric@@>inputs@@>outputs@@>reset@@> lower limits@@> upper limitsGSIM limit type.ctl+@upperlowerbothnone limit type@@D limit types@@: reset types @@>initial conditions@@> reset I.C. @!Boolean@@Ilimited?@0String@@K State NamesRSIM solver state data.ctl0@P ?@ABCEFGHJLCont State data@ tick period (sec)@ time (ticks)@@Ifire?@ period (sec)@@Q period (sec)@@Q skew (sec)@ period (sec)@@T period (tick)@@T skew (tick)@PRSUVregistry@!discrete blocks?@ steps per tick@ steps to tick@!discrete tick?FcASIM discrete data.ctl(@PNOPWXYZ[ DiscreteInfo@@> Disc StatesBSIM Discrete state data.ctl@P]LDisc State data@Error Block IDH2Q!SIM Simulation Registry Error.ctl@P_Registry Error @Numeric@@a ZC IndicesTlWSIM Simulation Registry.ctl0@P *,5=M\^`bSimulation Registry@!variable step solver?@!First Substep?@!Continuous States?nSIM simulation data.ctlf@P&  !"#$%&'()cdefSimulation data @!Fire!nSIM simulation data.ctlj@P&  !"#$%&'()cdefSimulation data out4 ghi jSIMUSIMMPVIXNSIMX Halt.xnodePTH09 SimulationUtility SIMX HaltSIMX Halt.xnode̺VIVI SIM Halt.viPTH0: simulationUtilityImplementation SIM Halt.vif @!Halt?SIM integration method.ctl@ RK 1 (Euler) Linearizer State Query Trim EvalAdamsRK 3RK 4RK 45BDFRK 2RK 23 RosenbrockDiscrete States Onlycontinuous integrator@ initial time@ final time@ step size@ proposed step size@ max step size@ min step size@ discrete time step@ max step ratioeSIM diagram eval stage.ctlA@Init Minor Substep Major SubstepFinalDiag Eval Stage@ Substep Index@ Timestep Index@ simulation time@ current timestep base@ proposed step time@ absolute tolerance@ relative tolerance@!step accepted?@!step complete?@!reset integrator?@ machine epsilon@ min float @!status @code@0source@Perror@ Method Order@!Finished Late [i-1]@!Discrete step?@!NaN and Inf check?@ Final Timestep Index@!(maj+disc)or(init)?@!Full Solver Reset:SIMSCR Execution Mode.ctl@Execution Mode@!check vector sizes?@!solver handles zc?@ Current Idx @0Tag@@' Node Tags@ Input Width @Disc ID@ Num Cont St@ Cont St Idx@ Num Disc St@ Disc St Idx@ Output WidthI2RZSIM Registry Node Header.ctl#@P)*+,-./ Node Header@@0 Node Headers @ Signal@@2 Node Data@@2 Node Outputs@@2 Z.C. SignalsQSIM trigger type.ctl3@risingfallingeithernone trigger type @@6Z.C. Trigger TypesC:SIM Registry Node Record.ctl@P3457 Node Record@@8 Node Data @ Numeric@@:inputs@@:outputs@@:reset@@: lower limits@@: upper limitsGSIM limit type.ctl+@upperlowerbothnone limit type@@@ limit types@@6 reset types @@:initial conditions@@: reset I.C. @!Boolean@@Elimited?@0String@@G State NamesRSIM solver state data.ctl0@P ;<=>?ABCDFHCont State data@ tick period (sec)@ time (ticks)@@Efire?@ period (sec)@@M period (sec)@@M skew (sec)@ period (sec)@@P period (tick)@@P skew (tick)@PNOQRregistry@!discrete blocks?@ steps per tick@ steps to tick@!discrete tick?FcASIM discrete data.ctl(@PJKLSTUVW DiscreteInfo@@: Disc StatesBSIM Discrete state data.ctl@PYHDisc State data@Error Block IDH2Q!SIM Simulation Registry Error.ctl@P[Registry Error @Numeric@@] ZC IndicesTlWSIM Simulation Registry.ctl0@P &(19IXZ\^Simulation Registry@!variable step solver?@!First Substep?@!Continuous States?nSIM simulation data.ctlf@P&  !"#$%_`abSimulation datanSIM simulation data.ctlj@P&  !"#$%_`abSimulation data outLcd eSIMUSIMMPVIVI+SIM Transfer Function Distributor (SISO).viPTH0} SimulationContinuousLinearImplementationSIM Transfer Function.llb+SIM Transfer Function Distributor (SISO).vin @ Numeric@@ Numerator@@ DenominatorGSIM SISO Transfer Function.ctl@PTransfer Function"@0DNL_Simulation CallChainSIM integration method.ctl@ RK 1 (Euler) Linearizer State Query Trim EvalAdamsRK 3RK 4RK 45BDFRK 2RK 23 RosenbrockDiscrete States Onlycontinuous integrator@ initial time@ final time@ step size@ proposed step size@ max step size@ min step size@ discrete time step@ max step ratioeSIM diagram eval stage.ctlA@Init Minor Substep Major SubstepFinalDiag 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 @!status @code@0source@Perror@ Method Order@!Finished Late [i-1]@!Discrete step?@!NaN and Inf check?@ Final Timestep Index@!(maj+disc)or(init)?@!Full Solver Reset:SIMSCR Execution Mode.ctl@Execution Mode@!check vector sizes?@!solver handles zc?@ Current Idx @0Tag@@, Node Tags@ Input Width @Disc ID@ Num Cont St@ Cont St Idx@ Num Disc St@ Disc St Idx@ Output WidthI2RZSIM Registry Node Header.ctl#@P./01234 Node Header@@5 Node Headers @ Signal@@7 Node Data@@7 Node Outputs@@7 Z.C. SignalsQSIM trigger type.ctl3@risingfallingeithernone trigger type @@;Z.C. Trigger TypesC:SIM Registry Node Record.ctl@P89:< Node Record@@= Node Data@@inputs@@outputs@@reset@@ lower limits@@ upper limitsGSIM limit type.ctl+@upperlowerbothnone limit type@@D limit types@@; reset types @@initial conditions@@ reset I.C. @!Boolean@@Ilimited?@0String@@K State NamesRSIM solver state data.ctl0@P ?@ABCEFGHJLCont State data@ tick period (sec)@ time (ticks)@@Ifire?@ period (sec)@@Q period (sec)@@Q skew (sec)@ period (sec)@@T period (tick)@@T skew (tick)@PRSUVregistry@!discrete blocks?@ steps per tick@ steps to tick@!discrete tick?FcASIM discrete data.ctl(@PNOPWXYZ[ DiscreteInfo@@ Disc StatesBSIM Discrete state data.ctl@P]LDisc State data@Error Block IDH2Q!SIM Simulation Registry Error.ctl@P_Registry Error @Numeric@@a ZC IndicesTlWSIM Simulation Registry.ctl0@P +-6>M\^`bSimulation Registry@!variable step solver?@!First Substep?@!Continuous States?nSIM simulation data.ctlf@P&  !"#$%&'()*cdefSimulation data@ Block Idx Out @ outputnSIM simulation data.ctlj@P&  !"#$%&'()*cdefSimulation data out @@kstates4 ghijl  mSIMUSIMMPVIVI)SIM Transfer Function collector (SISO).viPTH0{ SimulationContinuousLinearImplementationSIM Transfer Function.llb)SIM Transfer Function collector (SISO).viiSIM integration method.ctl@ RK 1 (Euler) Linearizer State Query Trim EvalAdamsRK 3RK 4RK 45BDFRK 2RK 23 RosenbrockDiscrete States Onlycontinuous integrator@ initial time@ final time@ step size@ proposed step size@ max step size@ min step size@ discrete time step@ max step ratioeSIM diagram eval stage.ctlA@Init Minor Substep Major SubstepFinalDiag 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 @!status @code@0source@Perror@ Method Order@!Finished Late [i-1]@!Discrete step?@!NaN and Inf check?@ Final Timestep Index@!(maj+disc)or(init)?@!Full Solver Reset:SIMSCR Execution Mode.ctl@Execution Mode@!check vector sizes?@!solver handles zc?@ Current Idx @0Tag@@& Node Tags@ Input Width @Disc ID@ Num Cont St@ Cont St Idx@ Num Disc St@ Disc St Idx@ Output WidthI2RZSIM Registry Node Header.ctl#@P()*+,-. Node Header@@/ Node Headers @ Signal@@1 Node Data@@1 Node Outputs@@1 Z.C. SignalsQSIM trigger type.ctl3@risingfallingeithernone trigger type @@5Z.C. Trigger TypesC:SIM Registry Node Record.ctl@P2346 Node Record@@7 Node Data @ Numeric@@9inputs@@9outputs@@9reset@@9 lower limits@@9 upper limitsGSIM limit type.ctl+@upperlowerbothnone limit type@@? limit types@@5 reset types @@9initial conditions@@9 reset I.C. @!Boolean@@Dlimited?@0String@@F State NamesRSIM solver state data.ctl0@P :;<=>@ABCEGCont State data@ tick period (sec)@ time (ticks)@@Dfire?@ period (sec)@@L period (sec)@@L skew (sec)@ period (sec)@@O period (tick)@@O skew (tick)@PMNPQregistry@!discrete blocks?@ steps per tick@ steps to tick@!discrete tick?FcASIM discrete data.ctl(@PIJKRSTUV DiscreteInfo@@9 Disc StatesBSIM Discrete state data.ctl@PXGDisc State data@Error Block IDH2Q!SIM Simulation Registry Error.ctl@PZRegistry Error @Numeric@@\ ZC IndicesTlWSIM Simulation Registry.ctl0@P %'08HWY[]Simulation Registry@!variable step solver?@!First Substep?@!Continuous States?nSIM simulation data.ctlf@P&  !"#$^_`aSimulation datanSIM simulation data.ctlj@P&  !"#$^_`aSimulation data out@ Block Idx In @ input"@0DNL_Simulation CallChainLbcccdecfcccccccg hSIMUSIMMPVIVIio_model_subvi.viPTH0io_model_subvi.vi@ y@! select_io_sim@ u  VIXNSIMX TimeWaveform.xnodePTH0O Simulation SignalDisplaySIMX TimeWaveformSIMX TimeWaveform.xnode̺VIVISIM Time Waveform (vector).viPTH0h Simulation SignalDisplayImplementationSIM Time Waveform.llbSIM Time Waveform (vector).vij @ Value@@ValueSIM integration method.ctl@ RK 1 (Euler) Linearizer State Query Trim EvalAdamsRK 3RK 4RK 45BDFRK 2RK 23 RosenbrockDiscrete States Onlycontinuous integrator@ initial time@ final time@ step size@ proposed step size@ max step size@ min step size@ discrete time step@ max step ratioeSIM diagram eval stage.ctlA@Init Minor Substep Major SubstepFinalDiag 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 @!status @code@0source@Perror@ Method Order@!Finished Late [i-1]@!Discrete step?@!NaN and Inf check?@ Final Timestep Index@!(maj+disc)or(init)?@!Full Solver Reset:SIMSCR Execution Mode.ctl@Execution Mode@!check vector sizes?@!solver handles zc?@ Current Idx @0Tag@@) Node Tags@ Input Width @Disc ID@ Num Cont St@ Cont St Idx@ Num Disc St@ Disc St Idx@ Output WidthI2RZSIM Registry Node Header.ctl#@P+,-./01 Node Header@@2 Node Headers @ Signal@@4 Node Data@@4 Node Outputs@@4 Z.C. SignalsQSIM trigger type.ctl3@risingfallingeithernone trigger type @@8Z.C. Trigger TypesC:SIM Registry Node Record.ctl@P5679 Node Record@@: Node Data @ Numeric@@<inputs@@<outputs@@<reset@@< lower limits@@< upper limitsGSIM limit type.ctl+@upperlowerbothnone limit type@@B limit types@@8 reset types @@<initial conditions@@< reset I.C. @!Boolean@@Glimited?@0String@@I State NamesRSIM solver state data.ctl0@P =>?@ACDEFHJCont State data@ tick period (sec)@ time (ticks)@@Gfire?@ period (sec)@@O period (sec)@@O skew (sec)@ period (sec)@@R period (tick)@@R skew (tick)@PPQSTregistry@!discrete blocks?@ steps per tick@ steps to tick@!discrete tick?FcASIM discrete data.ctl(@PLMNUVWXY DiscreteInfo@@< Disc StatesBSIM Discrete state data.ctl@P[JDisc State data@Error Block IDH2Q!SIM Simulation Registry Error.ctl@P]Registry Error @Numeric@@_ ZC IndicesTlWSIM Simulation Registry.ctl0@P (*3;KZ\^`Simulation Registry@!variable step solver?@!First Substep?@!Continuous States?nSIM simulation data.ctlf@P&  !"#$%&'abcdSimulation dataT@@fWaveform ChartnSIM simulation data.ctlj@P&  !"#$%&'abcdSimulation data out4 egh iSIMUSIMMPVIXNSIMX Manager.xnodePTH0M SimulationImplementationShared SIMX ManagerSIMX Manager.xnode̷VIVISIM fixed stepsize manager.viPTH0K SimulationImplementationSharedSIM fixed stepsize manager.vif@!step complete?SIM integration method.ctl@ RK 1 (Euler) Linearizer State Query Trim EvalAdamsRK 3RK 4RK 45BDFRK 2RK 23 RosenbrockDiscrete States Onlycontinuous integrator@ initial time@ final time@ step size@ proposed step size@ max step size@ min step size@ discrete time step@ max step ratioeSIM diagram eval stage.ctlA@Init Minor Substep Major SubstepFinalDiag Eval Stage@ Substep Index@ Timestep Index@ simulation time@ current timestep base@ proposed step time@ absolute tolerance@ relative tolerance@!step accepted? @!Halt?@!reset integrator?@ machine epsilon@ min float @!status @code@0source@Perror@ Method Order@!Finished Late [i-1]@!Discrete step?@!NaN and Inf check?@ Final Timestep Index@!(maj+disc)or(init)?@!Full Solver Reset:SIMSCR Execution Mode.ctl@Execution Mode@!check vector sizes?@!solver handles zc?@ Current Idx @0Tag@@& Node Tags@ Input Width @Disc ID@ Num Cont St@ Cont St Idx@ Num Disc St@ Disc St Idx@ Output WidthI2RZSIM Registry Node Header.ctl#@P()*+,-. Node Header@@/ Node Headers @ Signal@@1 Node Data@@1 Node Outputs@@1 Z.C. SignalsQSIM trigger type.ctl3@risingfallingeithernone trigger type @@5Z.C. Trigger TypesC:SIM Registry Node Record.ctl@P2346 Node Record@@7 Node Data @ Numeric@@9inputs@@9outputs@@9reset@@9 lower limits@@9 upper limitsGSIM limit type.ctl+@upperlowerbothnone limit type@@? limit types@@5 reset types @@9initial conditions@@9 reset I.C. @!Boolean@@Dlimited?@0String@@F State NamesRSIM solver state data.ctl0@P :;<=>@ABCEGCont State data@ tick period (sec)@ time (ticks)@@Dfire?@ period (sec)@@L period (sec)@@L skew (sec)@ period (sec)@@O period (tick)@@O skew (tick)@PMNPQregistry@!discrete blocks?@ steps per tick@ steps to tick@!discrete tick?FcASIM discrete data.ctl(@PIJKRSTUV DiscreteInfo@@9 Disc StatesBSIM Discrete state data.ctl@PXGDisc State data@Error Block IDH2Q!SIM Simulation Registry Error.ctl@PZRegistry Error @Numeric@@\ ZC IndicesTlWSIM Simulation Registry.ctl0@P %'08HWY[]Simulation Registry@!variable step solver?@!First Substep?@!Continuous States?nSIM simulation data.ctlj@P&  !"#$^_`aSimulation data outnSIM simulation data.ctlf@P&  !"#$^_`aSimulation databcd(  eSIMUSIMMPVIVISIM Linearizer manager.viPTH0{ SimulationContinuousLinearImplementationSharedSolversSIM Linearizer Manager.llbSIM Linearizer manager.vig @!Stop?SIM integration method.ctl@ RK 1 (Euler) Linearizer State Query Trim EvalAdamsRK 3RK 4RK 45BDFRK 2RK 23 RosenbrockDiscrete States Onlycontinuous integrator@ initial time@ final time@ step size@ proposed step size@ max step size@ min step size@ discrete time step@ max step ratioeSIM diagram eval stage.ctlA@Init Minor Substep Major SubstepFinalDiag 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 @!status @code@0source@Perror@ Method Order@!Finished Late [i-1]@!Discrete step?@!NaN and Inf check?@ Final Timestep Index@!(maj+disc)or(init)?@!Full Solver Reset:SIMSCR Execution Mode.ctl@Execution Mode@!check vector sizes?@!solver handles zc?@ Current Idx @0Tag@@' Node Tags@ Input Width @Disc ID@ Num Cont St@ Cont St Idx@ Num Disc St@ Disc St Idx@ Output WidthI2RZSIM Registry Node Header.ctl#@P)*+,-./ Node Header@@0 Node Headers @ Signal@@2 Node Data@@2 Node Outputs@@2 Z.C. SignalsQSIM trigger type.ctl3@risingfallingeithernone trigger type @@6Z.C. Trigger TypesC:SIM Registry Node Record.ctl@P3457 Node Record@@8 Node Data @ Numeric@@:inputs@@:outputs@@:reset@@: lower limits@@: upper limitsGSIM limit type.ctl+@upperlowerbothnone limit type@@@ limit types@@6 reset types @@:initial conditions@@: reset I.C. @!Boolean@@Elimited?@0String@@G State NamesRSIM solver state data.ctl0@P ;<=>?ABCDFHCont State data@ tick period (sec)@ time (ticks)@@Efire?@ period (sec)@@M period (sec)@@M skew (sec)@ period (sec)@@P period (tick)@@P skew (tick)@PNOQRregistry@!discrete blocks?@ steps per tick@ steps to tick@!discrete tick?FcASIM discrete data.ctl(@PJKLSTUVW DiscreteInfo@@: Disc StatesBSIM Discrete state data.ctl@PYHDisc State data@Error Block IDH2Q!SIM Simulation Registry Error.ctl@P[Registry Error @Numeric@@] ZC IndicesTlWSIM Simulation Registry.ctl0@P &(19IXZ\^Simulation Registry@!variable step solver?@!First Substep?@!Continuous States?nSIM simulation data.ctlj@P&  !"#$%_`abSimulation data outnSIM simulation data.ctlf@P&  !"#$%_`abSimulation datacde( fSIMUSIMMPVIVISIM Trim manager.viPTH0o SimulationContinuousLinearImplementationSharedSolversSIM Trim Manager.llbSIM Trim manager.vig @!Stop?SIM integration method.ctl@ RK 1 (Euler) Linearizer State Query Trim EvalAdamsRK 3RK 4RK 45BDFRK 2RK 23 RosenbrockDiscrete States Onlycontinuous integrator@ initial time@ final time@ step size@ proposed step size@ max step size@ min step size@ discrete time step@ max step ratioeSIM diagram eval stage.ctlA@Init Minor Substep Major SubstepFinalDiag 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 @!status @code@0source@Perror@ Method Order@!Finished Late [i-1]@!Discrete step?@!NaN and Inf check?@ Final Timestep Index@!(maj+disc)or(init)?@!Full Solver Reset:SIMSCR Execution Mode.ctl@Execution Mode@!check vector sizes?@!solver handles zc?@ Current Idx @0Tag@@' Node Tags@ Input Width @Disc ID@ Num Cont St@ Cont St Idx@ Num Disc St@ Disc St Idx@ Output WidthI2RZSIM Registry Node Header.ctl#@P)*+,-./ Node Header@@0 Node Headers @ Signal@@2 Node Data@@2 Node Outputs@@2 Z.C. SignalsQSIM trigger type.ctl3@risingfallingeithernone trigger type @@6Z.C. Trigger TypesC:SIM Registry Node Record.ctl@P3457 Node Record@@8 Node Data @ Numeric@@:inputs@@:outputs@@:reset@@: lower limits@@: upper limitsGSIM limit type.ctl+@upperlowerbothnone limit type@@@ limit types@@6 reset types @@:initial conditions@@: reset I.C. @!Boolean@@Elimited?@0String@@G State NamesRSIM solver state data.ctl0@P ;<=>?ABCDFHCont State data@ tick period (sec)@ time (ticks)@@Efire?@ period (sec)@@M period (sec)@@M skew (sec)@ period (sec)@@P period (tick)@@P skew (tick)@PNOQRregistry@!discrete blocks?@ steps per tick@ steps to tick@!discrete tick?FcASIM discrete data.ctl(@PJKLSTUVW DiscreteInfo@@: Disc StatesBSIM Discrete state data.ctl@PYHDisc State data@Error Block IDH2Q!SIM Simulation Registry Error.ctl@P[Registry Error @Numeric@@] ZC IndicesTlWSIM Simulation Registry.ctl0@P &(19IXZ\^Simulation Registry@!variable step solver?@!First Substep?@!Continuous States?nSIM simulation data.ctlj@P&  !"#$%_`abSimulation data outnSIM simulation data.ctlj@P&  !"#$%_`abSimulation data incde( fSIMUSIMMPVIVISIM TrimLin Global Error.viPTH0d SimulationModel Trim and LinearizeSIM Lin Trim Shared.llbSIM TrimLin Global Error.vi @!status @code@0source@P error outPSIMUSIMMPVIVISIM stop conditions.viPTH0D SimulationImplementationSharedSIM stop conditions.vih @!resultSIM integration method.ctl@ RK 1 (Euler) Linearizer State Query Trim EvalAdamsRK 3RK 4RK 45BDFRK 2RK 23 RosenbrockDiscrete States Onlycontinuous integrator@ initial time@ final time@ step size@ proposed step size@ max step size@ min step size@ discrete time step@ max step ratioeSIM diagram eval stage.ctlA@Init Minor Substep Major SubstepFinalDiag 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 @!status @code@0source@Perror@ Method Order@!Finished Late [i-1]@!Discrete step?@!NaN and Inf check?@ Final Timestep Index@!(maj+disc)or(init)?@!Full Solver Reset:SIMSCR Execution Mode.ctl@Execution Mode@!check vector sizes?@!solver handles zc?@ Current Idx @0Tag@@( Node Tags@ Input Width @Disc ID@ Num Cont St@ Cont St Idx@ Num Disc St@ Disc St Idx@ Output WidthI2RZSIM Registry Node Header.ctl#@P*+,-./0 Node Header@@1 Node Headers @ Signal@@3 Node Data@@3 Node Outputs@@3 Z.C. SignalsQSIM trigger type.ctl3@risingfallingeithernone trigger type @@7Z.C. Trigger TypesC:SIM Registry Node Record.ctl@P4568 Node Record@@9 Node Data @ Numeric@@;inputs@@;outputs@@;reset@@; lower limits@@; upper limitsGSIM limit type.ctl+@upperlowerbothnone limit type@@A limit types@@7 reset types @@;initial conditions@@; reset I.C. @!Boolean@@Flimited?@0String@@H State NamesRSIM solver state data.ctl0@P <=>?@BCDEGICont State data@ tick period (sec)@ time (ticks)@@Ffire?@ period (sec)@@N period (sec)@@N skew (sec)@ period (sec)@@Q period (tick)@@Q skew (tick)@POPRSregistry@!discrete blocks?@ steps per tick@ steps to tick@!discrete tick?FcASIM discrete data.ctl(@PKLMTUVWX DiscreteInfo@@; Disc StatesBSIM Discrete state data.ctl@PZIDisc State data@Error Block IDH2Q!SIM Simulation Registry Error.ctl@P\Registry Error @Numeric@@^ ZC IndicesTlWSIM Simulation Registry.ctl0@P ')2:JY[]_Simulation Registry@!variable step solver?@!First Substep?@!Continuous States?nSIM simulation data.ctlj@P&  !"#$%&`abcSimulation data Out"@Default Collector Stop ModenSIM simulation data.ctlf@P&  !"#$%&`abcSimulation data,def`  gSIMUSIMMPVIVISIMSCR Append VI info.viPTH0L Simulation ScriptingCompanion DiagramSIMSCR Append VI info.vi @!status @code@0source@P error out@Perror in SIMUSIMMPVIVISIM MergeSimErrors.viPTH0C SimulationImplementationSharedSIM MergeSimErrors.vi @!status @code@0source@P error out@Perror 2@Perror 1,` SIMUSIMMPVIVISIM Bundle Sim Info.viPTH0D SimulationImplementationSharedSIM Bundle Sim Info.vi3@ Initial Time (s)@ Final Time (s)@ Step Size (s)o_simSolvers.ctl@ Runge-Kutta 1 (Euler) Runge-Kutta 2 Runge-Kutta 3 Runge-Kutta 4Runge-Kutta 23 (variable)Runge-Kutta 45 (variable)BDF (variable)Adams-Moulton (variable)Rosenbrock (variable)Discrete States Only Linearizer State Query Trim Eval ODE Solver@ Minimum Step Size (s)@ Maximum Step Size (s)@ Relative Tolerance@ Absolute Tolerance@!Software Timing@ Initial Step Size (s) @!Automatic Fixed Step Size?"@!Automatic Discrete Step Size?@ Discrete Step Size (s)@!Calculate using Time Step@! Solver Wired?@Prev.Frm.Expected End@Prev.Frm.Actual End@!Prev.Frm.Finished Late?@Prev.Iter.Expected End@Prev.Iter.Actual End@!Prev.Iter.Finished Late?@Expected Iteration Start@Actual Iteration Start@Expected Frame Start@Actual Frame Start@0 Source Name@0Name @Period@Deadline @Offset @Start@Priority @Timeout@ No Change/Process missed periods, maintain original phase/Discard missed periods, maintain original phase-Process missed periods, ignore original phase-Discard missed periods, ignore original phaseModed@NormalAbortedAsynchronous wakeupTiming source errorTimed loop errorTimeout Wakeup reason @!status @code@0source@P$%&Error@0 Source Type@0Secondary Source Type@Global End Time@Global Start Time@!Full Solver Reset:SIMSCR Execution Mode.ctl@Execution Mode@! Nan/Inf Check SimParams.ctlv@P+  !"#'()*+,-.Simulation Params out@P$%&error in SimParams.ctlv@P+  !"#'()*+,-.Simulation Params in< /01x  2SIMUSIMMPVIVI_simClearTimingSource.viPTH0Z Simulation ScriptingCompanion Diagram SimConfigNode_simClearTimingSource.vi1@ Initial Time (s)@ Final Time (s)@ Step Size (s)o_simSolvers.ctl@ Runge-Kutta 1 (Euler) Runge-Kutta 2 Runge-Kutta 3 Runge-Kutta 4Runge-Kutta 23 (variable)Runge-Kutta 45 (variable)BDF (variable)Adams-Moulton (variable)Rosenbrock (variable)Discrete States Only Linearizer State Query Trim Eval ODE Solver@ Minimum Step Size (s)@ Maximum Step Size (s)@ Relative Tolerance@ Absolute Tolerance@!Software Timing@ Initial Step Size (s) @!Automatic Fixed Step Size?"@!Automatic Discrete Step Size?@ Discrete Step Size (s)@!Calculate using Time Step@! Solver Wired?@Prev.Frm.Expected End@Prev.Frm.Actual End@!Prev.Frm.Finished Late?@Prev.Iter.Expected End@Prev.Iter.Actual End@!Prev.Iter.Finished Late?@Expected Iteration Start@Actual Iteration Start@Expected Frame Start@Actual Frame Start@0 Source Name@0Name @Period@Deadline @Offset @Start@Priority @Timeout@ No Change/Process missed periods, maintain original phase/Discard missed periods, maintain original phase-Process missed periods, ignore original phase-Discard missed periods, ignore original phaseModed@NormalAbortedAsynchronous wakeupTiming source errorTimed loop errorTimeout Wakeup reason @!status @code@0source@P$%&Error@0 Source Type@0Secondary Source Type@Global End Time@Global Start Time@!Full Solver Reset:SIMSCR Execution Mode.ctl@Execution Mode@! Nan/Inf Check~ SimParams.ctlh@P+  !"#'()*+,-.Timing4 /0SIMUSIMMPUAy c d1` P c(@flg@oRt@eof@Pudf@ Simulation time [s]@ dfd@ txd@ old@ extP  P c4 @ Ts [s]P  @ L (in simulation)P   P @*P c0@! select_io_sim@!dfd@!txd@!old@!extP  ! c@ TP $ @ k2P & @ k1P ( @ uP *  c@ KP -  cT&@@0Estimated torque, x2 = L@@0dfd@@0txd@@0old@@0extP 123450 P @9*P778: @;! @6P=>>8?@ @A @83 PDDD @EP???? P8? @H P@?; @JP8??? @LPP N @O&P<BCFBGCIKMP@0PRPSS @PUUUL c!2@@0$Estimated and measured speed, x1 = yP X2345 c-@!Is Observable?P [ ! c# @ Numeric@@^R@@dfd@@txd@@old@@extP _`abc @Peee^@@^QP g`abc@@^GP i`abc@i@dfd@txd@old@extP klmno P@ tP r  c @!StopP u !PUUUHP@ @xP88 P@ @{ P @}Pyz||~8 @PolyIdx\SIMX SubVIIconStyle.ctl<@StaticDynamic ParameterizedTextOnly Icon Style@3Icon @0ID@0NamemSIMX ParamSrcPrivate.ctlK@ Config PageInternal TerminalOnlyTerminalConfigPageOnlySource @!Input?@0String@@Feedthrough Map @flags@ ConPane IdxASIMX ParamHeader.ctl#@P ParamHeader @SValue@STypeDesc9NI_XNodeSupport.lvlib XNodeInt.ctl#@Left7NI_XNodeSupport.lvlib XNodeInt.ctl!@Top9NI_XNodeSupport.lvlib XNodeInt.ctl#@Right;NI_XNodeSupport.lvlib XNodeInt.ctl%@BottomHNI_XNodeSupport.lvlibXNodeRect32.ctl0@PBoundsF BSIMX ParameterElement.ctl$@PParameter Element@@ Instances: BSIMX ParameterRec.ctl@P ParameterRec@@ Parameters @!VI Ok?@2VI Path@0 Attribute@@ AttributesMFSIMX ImplementationElement.ctl%@PCurrent Implementation@@Displayed Params@v@h3H XPoint32.ctl@PParam Minimums3H XPoint32.ctl@PParam Maximums1H XPoint32.ctl@P Param CurrentRSIMX ParameterizedIconState.ctl*@PParameterized Icon Info@@ Text Inputs@@ Text Outputs1H XPoint32.ctl@P Text Minimums1H XPoint32.ctl@P Text Maximums1H XPoint32.ctl@P Text Current@ Output WidthMMSIMX TextOnlyIconState.ctl)@PText Only Icon InfoB BSIMX SubVIState.ctl&@P SubVI Info @ColorKSIMX Orientation.ctl-@ForwardBackwardBlock OrientationQSIMX DiagramType.ctl3@SimDiagCompDiag StandardDiag Target Diag@0 DisplayName @SVarData? BSimX_Generic.ctl%@P Generic Info@SIMX SimTime.xnodeSIMX SimTime.ctl&@PState@ simulation time@ RK 1 (Euler) Linearizer State Query Trim EvalAdamsRK 3RK 4RK 45BDFRK 2RK 23 RosenbrockDiscrete States Onlycontinuous integrator@ initial time@ final time@ step size@ proposed step size@ max step size@ min step size@ discrete time step@ max step ratio>@Init Minor Substep Major SubstepFinalDiag Eval Stage@ Substep Index@ Timestep Index@ current timestep base@ proposed step time@ absolute tolerance@ relative tolerance@!step accepted?@!step complete? @!Halt?@!reset integrator?@ machine epsilon@ min float @!status @code@0source@Perror@ Method Order@!Finished Late [i-1]@!Discrete step?@!NaN and Inf check?@ Final Timestep Index@!(maj+disc)or(init)?@!Full Solver Reset@Execution Mode@!check vector sizes?@!solver handles zc?@ Current Idx @0Tag@@ Node Tags@ Input Width @Disc ID@ Num Cont St@ Cont St Idx@ Num Disc St@ Disc St Idx @P Node Header@@ Node Headers @ Signal@@ Node Data@@ Node Outputs@@ Z.C. Signals0@risingfallingeithernone trigger type @@Z.C. Trigger Types@P Node Record@@ Node Data@@^inputs@@^outputs@@^reset@@^ lower limits@@^ upper limits(@upperlowerbothnone limit type@@ limit types@@ reset types @@^initial conditions@@^ reset I.C. @!Boolean@@limited?@@ State Names,@P Cont State data@ tick period (sec)@ time (ticks)@@fire?@ period (sec)@@ period (sec)@@ skew (sec)@ period (sec)@@ period (tick)@@ skew (tick)@Pregistry@!discrete blocks?@ steps per tick@ steps to tick@!discrete tick?$@P DiscreteInfo@@^ Disc States@PDisc State data@Error Block ID@P Registry Error @Numeric@@ ZC Indices,@P   Simulation Registry@!variable step solver?@!First Substep?@!Continuous States?b@P& Simulation dataf@P& Simulation data out@ BSimX_SubVIWrapper.ctl"@PSubVI Wrapper Info @2Configuration CallbacksLNSIMX ConfigurableSubVIState.ctl$@PConfigurable SubVI InfoRSIMX TransferFunction.xnodeSIMX TransferFunction.ctl0@PState@ input u(k)@ output y(k)@@ state x(k)@@^ Numerator@@^ Denominator@PTransfer FunctionJSIMX TimeWaveform.xnodeSIMX TimeWaveform.ctl,@PState @ Value@@Value@@0Waveform Chart:SIMX Halt.xnode SIMX Halt.ctl$@PState>SIMX Memory.xnodeSIMX Memory.ctl&@PState @ input @ output@ initial value@ y@ Initial Value @ element@ Initial Time (s)@ Final Time (s)@ Step Size (s)o_simSolvers.ctl@ Runge-Kutta 1 (Euler) Runge-Kutta 2 Runge-Kutta 3 Runge-Kutta 4Runge-Kutta 23 (variable)Runge-Kutta 45 (variable)BDF (variable)Adams-Moulton (variable)Rosenbrock (variable)Discrete States Only Linearizer State Query Trim Eval ODE Solver@ Minimum Step Size (s)@ Maximum Step Size (s)@ Relative Tolerance@ Absolute Tolerance@!Software Timing@ Initial Step Size (s) @!Automatic Fixed Step Size?"@!Automatic Discrete Step Size?@ Discrete Step Size (s)@!Calculate using Time Step@! 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Nan/Inf Check~ SimParams.ctlh@P+)*+,-./0123456789:;<=>?@ABCDEFGHIJKLMNOPQTiming@!timing src wired?@0 Target Name@S Target DataZXDataNode.xnodenitl_TargetSpecificData.ctl6@PTUTL Target Specific Data"@@VTarget Specific Data@S G Only Data@ID @!Wired?@0Type@PYZ[Pearl@@\Size@@\Hidden@ TL_Lft_Ear TL_Rt_Ear TL_Lft_DnTL_Rf_Dn TS_Lft_Ear TS_Rt_EarTS_1stFrame_Lft_Dn TS_Lft_DnTS_LastFrame_Rt_DnTS_Rt_Dn TL_TS_Lft_Ear TL_TS_Rt_Ear TL_TS_Lft_Dn TL_TS_Rt_DnTL_TS_1stFrame_Lft_DnTL_TS_LastFrame_Rt_Dn SIM_Lft_Ear SIM_Rt_Ear DataNode_Type@@ InvisibleB SimDog.xnode SimDog.ctl.@P RSWX]^_`State@ Runge-Kutta 1 (Euler) Runge-Kutta 2 Runge-Kutta 3 Runge-Kutta 4Runge-Kutta 23 (variable)Runge-Kutta 45 (variable)BDF (variable)Adams-Moulton (variable)Rosenbrock (variable)Discrete States Only Linearizer State Query Trim Eval ODE Solverd@P+)*+b-./0123456789:;<=>?@ABCDEFGHIJKLMNOQTimingr@P+)*+b-./0123456789:;<=>?@ABCDEFGHIJKLMNOQDefault Constant Data @ @b Pef @I Peh @J Pej @= Pel@y@ x@ index (row) @index@disabled index (col)@Expected End [f-1]@Actual End [f-1]@!Finished Late? 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[i-1]@Expected Start [i]@Actual Start [i]@Expected Start [f]@Actual Start [f]XDNodeRunTimeDep.lvlibnitl_modes.ctl@ 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 phaseModeXDNodeRunTimeDep.lvlib wakeup.ctl~@NormalAbortedAsynchronous wakeupTiming source errorTimed loop errorTimeout Wakeup Reason@Frame Duration@Iteration Duration@ Assigned CPUzcsXDNodeRunTimeDep.lvlibtiming_clust.ctl`@Pstuvwxyz{|BCDEFGH}~KLMNOTiming @SType@StaticIDEbXDataNode.xnode TermInfo.ctl/@PYZTermInfo@@Size@@Hidden]XDataNode.xnode DN_Type.ctl@ TL_Lft_Ear TL_Rt_Ear TL_Lft_DnTL_Rt_Dn TS_Lft_Ear TS_Rt_EarTS_1stFrame_Lft_Dn TS_Lft_DnTS_LastFrame_Rt_DnTS_Rt_Dn TL_TS_Lft_Ear TL_TS_Rt_Ear TL_TS_Lft_Dn TL_TS_Rt_DnTL_TS_1stFrame_Lft_DnTL_TS_LastFrame_Rt_Dn DataNode_TypeH(XDataNode.xnode XDataNode.ctl2@P `SWXStateZ@NormalAbortedAsynchronous wakeupTiming source errorTimed loop errorTimeout @ Pe@ 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 phase @ Pe@!tP>> @PPC9 2NI_XNodeSupport.lvlib XNodeInt.ctl#@Left7 2NI_XNodeSupport.lvlib XNodeInt.ctl!@Top9 2NI_XNodeSupport.lvlib XNodeInt.ctl#@Right; 2NI_XNodeSupport.lvlib XNodeInt.ctl%@BottomH CNI_XNodeSupport.lvlibXNodeRect32.ctl0@PBoundsFYuSIMX ParameterElement.ctl$@PParameter Element@@ Instances:YuSIMX ParameterRec.ctl@P ParameterRec@@ ParametersBYuSIMX SubVIState.ctl&@P SubVI Info?YuSimX_Generic.ctl%@P Generic Info@YvSIMX Manager.xnodeSIMX Manager.ctl&@PState @ PC P8 @ P @!Stop?@0message @!result@ sample period (sec)@ sample skew (sec)P@ Continuous$Continuous(include minor time steps)Discreteexecution type @ Pe@!create if not found? (T)f@ Function callDiscrete ContinuousInitialization onlyFinal step onlySimulation execution type @ Pe @ period @ skewSIM subVI execution type.ctli@ Function callDiscrete ContinuousInitialization onlyFinal step onlySimulation execution typeCSIM subVI tag data.ctl#@PSIM subVI exec data"@0DNL_Simulation CallChainVNormalAbortedAsynchronous wakeupTiming source errorTimed loop errorTimeout @ Pe No Change/Process missed periods, maintain original phase/Discard missed periods, maintain original phase-Process missed periods, ignore original phase-Discard missed periods, ignore original phase @ Pe c< c@ dB c,u@@states@ Block Idx Out c c @!Fire! @$ @( P @!Init? @!fire cSIM integration method.ctl@ RK 1 (Euler) Linearizer State Query Trim EvalAdamsRK 3RK 4RK 45BDFRK 2RK 23 RosenbrockDiscrete States Onlycontinuous integratoreSIM diagram eval stage.ctlA@Init Minor Substep Major SubstepFinalDiag Eval StageI2RZSIM Registry Node Header.ctl#@P Node Header@@ Node HeadersQSIM trigger type.ctl3@risingfallingeithernone trigger type @@Z.C. Trigger TypesC:SIM Registry Node Record.ctl@P Node Record@@ Node DataGSIM limit type.ctl+@upperlowerbothnone limit type@@ limit types@@ reset typesRSIM solver state data.ctl0@P Cont State dataFcASIM discrete data.ctl(@P DiscreteInfoBSIM Discrete state data.ctl@PDisc State dataH2Q!SIM Simulation Registry Error.ctl@P Registry ErrorTlWSIM Simulation Registry.ctl0@P  Simulation RegistrynSIM simulation data.ctlj@P&PSimulation data Out@P error outSIM integration method.ctl} RK 1 (Euler) Linearizer State Query Trim EvalAdamsRK 3RK 4RK 45BDFRK 2RK 23 RosenbrockDiscrete States OnlynSIM simulation data.ctlj@P&PSimulation data out c"@Default Collector Stop Mode SimParams.ctlv@P+)*+,-./0123456789:;<=>?@ABCDEFGHIJKLMNOPQSimulationParameters@ Initial Time@ Final Time@ Time Step@ Runge-Kutta 1 (Euler) Runge-Kutta 2 Runge-Kutta 3 Runge-Kutta 4Runge-Kutta 23 (variable)Runge-Kutta 45 (variable)BDF (variable)Adams-Moulton (variable)Rosenbrock (variable)Discrete States Only Linearizer State Query Trim EvalContinuous Solver Method@ Minimum Time Step@ Maximum Time Step@ Initial Time Step@!AutoFixedStepSize@!AutoDiscreteStepSize@ Discrete Time Step"@!CalculatePeriodUsingTimeStep@! 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E~8q :qwizw% {;U%?E?퉲퇐 rGV1>)s?F w`}Q6"Kd.ye/{{-}O&R[iR}=H]ҰӴ|ܓ2crϦ +MVnO_&ӄqVv,V+Vvy <"."2]4m;Y*TZL*?| ?K|V 7V5YXywa$C^sO(]T%w[;Fkur0ѷ8 ~ԆhRGW-:x-Wv%jf6&ߕ`֕0g F 1z^)Ic4ѿ>wIwc62QS\G/NsуdN{p=єhw'-1DoXJ?=7;zG4SD[8O9=p'Q@8Φ33_4hLk<14h{t]8xaD9]?N;F$J|ۑD}F2'g_xʝUx0%qN$i0 &?<ʳ$OPyNK%t=( r:`9itfNWsz9O "N?D'rao?@ABCDEFGHIJKLMNOPQRSTTiming @!Input?@!timing src wired?@0 Target Name@S Target DataZXDataNode.xnodenitl_TargetSpecificData.ctl6@PXYTL Target Specific Data"@@ZTarget Specific Data@S G Only Data@ID @!Wired?@0Type@P]^_DVPearl@@`Size@@`Hidden@ TL_Lft_Ear TL_Rt_Ear TL_Lft_DnTL_Rf_Dn TS_Lft_Ear TS_Rt_EarTS_1stFrame_Lft_Dn TS_Lft_DnTS_LastFrame_Rt_DnTS_Rt_Dn TL_TS_Lft_Ear TL_TS_Rt_Ear TL_TS_Lft_Dn TL_TS_Rt_DnTL_TS_1stFrame_Lft_DnTL_TS_LastFrame_Rt_Dn SIM_Lft_Ear SIM_Rt_Ear DataNode_Type @!Boolean@@d InvisibleB SimDog.xnode SimDog.ctl.@P UVW[\abceState @ xpri1 @ xpri2 @ Ts [s]@ u@ T P @lSIM integration method.ctl@ RK 1 (Euler) Linearizer State Query Trim EvalAdamsRK 3RK 4RK 45BDFRK 2RK 23 RosenbrockDiscrete States Onlycontinuous integrator@ initial time@ final time@ step size@ proposed step size@ max step size@ min step size@ discrete time step@ max step ratioeSIM diagram eval stage.ctlA@Init Minor Substep Major SubstepFinalDiag 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 error@ Method Order@!Finished Late [i-1]@!Discrete step?@!NaN and Inf check?@ Final Timestep Index@!(maj+disc)or(init)?@!check vector sizes?@!solver handles zc?@ Current Idx @0Tag@@ Node Tags@ Input Width @Disc ID@ Num Cont St@ Cont St Idx@ Num Disc St@ Disc St Idx@ Output WidthI2RZSIM Registry Node Header.ctl#@P Node Header@@ Node Headers @ Signal@@ Node Data@@ Node Outputs@@ Z.C. SignalsQSIM trigger type.ctl3@risingfallingeithernone trigger type @@Z.C. Trigger TypesC:SIM Registry Node Record.ctl@P Node Record@@ Node Data@@inputs@@outputs@@reset@@ lower limits@@ upper limitsGSIM limit type.ctl+@upperlowerbothnone limit type@@ limit types@@ reset types @@initial conditions@@ reset I.C.@@dlimited?@0String@@ State NamesRSIM solver state data.ctl0@P Cont State data@ tick period (sec)@ time (ticks)@@dfire?@ period (sec)@@ period (sec)@@ skew (sec)@ period (sec)@@ period (tick)@@ skew (tick)@Pregistry@!discrete blocks?@ steps per tick@ steps to tick@!discrete tick?FcASIM discrete data.ctl(@P DiscreteInfo@@ Disc StatesBSIM Discrete state data.ctl@PDisc State data@Error Block IDH2Q!SIM Simulation Registry Error.ctl@P Registry Error @Numeric@@ ZC IndicesTlWSIM Simulation Registry.ctl0@P Simulation Registry@!variable step solver?@!First Substep?@!Continuous States?nSIM simulation data.ctlj@P&opqrstuvwxyz{|}~RSSimulation data Out SimParams.ctlv@P+*+,-./0123456789:;<=>?@ABCDEFGHIJKLMNOPQRSTSimulation Params out@ Initial Time@ Final Time@ Time Step@ Runge-Kutta 1 (Euler) Runge-Kutta 2 Runge-Kutta 3 Runge-Kutta 4Runge-Kutta 23 (variable)Runge-Kutta 45 (variable)BDF (variable)Adams-Moulton (variable)Rosenbrock (variable)Discrete States Only Linearizer State Query Trim EvalContinuous Solver Method@ Minimum Time Step@ Maximum Time Step@ Initial Time Step@!AutoFixedStepSize@!AutoDiscreteStepSize@ Discrete Time Step"@!CalculatePeriodUsingTimeStep@! SolverWired@ prevFrmExpEnd@ prevFrmActEnd@! prevFrmLate@prevIterExpEnd@prevIterActEnd@! prevIterLate@ ExpIterStart@ ActIterStart@ ExpFrmStart@ ActFrmStart@0srcName@0name @period@deadline @offset @start@priority @timeoutd@NormalAbortedAsynchronous wakeupTiming source errorTimed loop errorTimeout Wakeup Reason@0srcType@0 secondSrcType@ globalEndTime@globalStartTime@! ResetSolverF@Single-Step ExecutionExecute Until CompletionExecution Mode\P+012KMT"@0DNL_Simulation CallChain@iT&@@Estimated torque, x2 = L@ Runge-Kutta 1 (Euler) Runge-Kutta 2 Runge-Kutta 3 Runge-Kutta 4Runge-Kutta 23 (variable)Runge-Kutta 45 (variable)BDF (variable)Adams-Moulton (variable)Rosenbrock (variable)Discrete States Only Linearizer State Query Trim Eval ODE Solver@Execution Moded@P+*+,./0123456789:;<=>?@ABCDEFGHIJKLMNOPQRTTiming@@Waveform Chart@! select_io_sim@ L (in simulation)@0 CallChainOut @!fire @!Init?nSIM simulation data.ctlj@P&opqrstuvwxyz{|}~RSSimulation data outP@ Continuous$Continuous(include minor time steps)Discreteexecution type@ sample skew (sec)@ sample period (sec)nSIM simulation data.ctlf@P&opqrstuvwxyz{|}~RSSimulation data< x   @ output@! created new?@p notifier out@!create if not found? (T) @(@ # waiting@@@@C/@@A@ Sampling Time (s)@0 Model name@@ Input names@@ Output names@@ Input Delays@@ Output Delays@ Sampling Time@0NotesD\;CD General Elements.ctl$@P properties@@B@@C@@D@@ StateNames @@Transport DelayRCD State Space Model (MIMO).ctl*@PState-Space ModelL    P!@@G@@Q@@R@!Is Observable? @ Numeric$@@'Closed-Loop Eigenvalues.@@Steady-State Kalman Gain (L)>@@,Steady-State Estimation Error Covariance (P)@@NF@@5Steady-State Error Covariance of Updated Estimate (Z)@@HCT L #()$*%+, -    + P./@!Is Detectable?&@@Observability Matrix@ Tolerance< 1&2 3 x  @ index (row) @index@ph notifier out @ input@ initial value@pg notifier out @ Value@@;Value4 < @ RK 1 (Euler) Linearizer State Query Trim EvalAdamsRK 3RK 4RK 45BDFRK 2RK 23 RosenbrockDiscrete States Onlycontinuous integrator>@Init Minor Substep Major SubstepFinalDiag Eval Stage @P Node Header@@@ Node Headers0@risingfallingeithernone trigger type @@BZ.C. Trigger Types@PC Node Record@@D Node Data(@upperlowerbothnone limit type@@F limit types@@B reset types,@P GHCont State data$@P DiscreteInfo@PDisc State data@P Registry Error,@P AEIJKLSimulation Registryb@P&>pqrstuvw?yz{|}~RMSimulation dataf@P&>pqrstuvw?yz{|}~RMSimulation data out@@ Numerator@@ DenominatorGSIM SISO Transfer Function.ctl@PPQTransfer Function@ Block Idx Out@@states4 RST  @ Block Idx InLV8  @!Fire! @ period @ skewSIM subVI execution type.ctli@ Function callDiscrete ContinuousInitialization onlyFinal step onlySimulation execution typeCSIM subVI tag data.ctl#@PYZ[SIM subVI exec dataL Function callDiscrete ContinuousInitialization onlyFinal step only @PolyIdx\SIMX SubVIIconStyle.ctl<@StaticDynamic ParameterizedTextOnly Icon Style@3Icon @0IDmSIMX ParamSrcPrivate.ctlK@ Config PageInternal TerminalOnlyTerminalConfigPageOnlySource@@Feedthrough Map @flags@ ConPane IdxASIMX ParamHeader.ctl#@PaDbVcde ParamHeader @SValue@STypeDesc9NI_XNodeSupport.lvlib XNodeInt.ctl#@Left7NI_XNodeSupport.lvlib XNodeInt.ctl!@Top9NI_XNodeSupport.lvlib XNodeInt.ctl#@Right;NI_XNodeSupport.lvlib XNodeInt.ctl%@BottomHNI_XNodeSupport.lvlibXNodeRect32.ctl0@PijklBoundsF BSIMX ParameterElement.ctl$@PghmdParameter Element@@n Instances: BSIMX ParameterRec.ctl@Pfo ParameterRec@@p Parameters @!VI Ok?@2VI Path@0 Attribute@@t AttributesMFSIMX ImplementationElement.ctl%@PsuCurrent Implementation@@Displayed Params@v@h3H XPoint32.ctl@PxyParam Minimums3H XPoint32.ctl@PxyParam Maximums1H XPoint32.ctl@Pxy Param CurrentRSIMX ParameterizedIconState.ctl*@Pwz{|Parameterized Icon Info@@ Text Inputs@@ Text Outputs1H XPoint32.ctl@Pxy Text Minimums1H XPoint32.ctl@Pxy Text Maximums1H XPoint32.ctl@Pxy Text CurrentMMSIMX TextOnlyIconState.ctl)@P~Text Only Icon InfoB BSIMX SubVIState.ctl&@P^_`qrv} SubVI Info @ColorKSIMX Orientation.ctl-@ForwardBackwardBlock OrientationQSIMX DiagramType.ctl3@SimDiagCompDiag StandardDiag Target Diag@0 DisplayName @SVarData? BSimX_Generic.ctl%@Pmd Generic Info@SIMX SimTime.xnodeSIMX SimTime.ctl&@PStateL{  L @ Simulation time [s] @) @ element @k @j  P PYZ[4 \X @ BSimX_SubVIWrapper.ctl"@PSubVI Wrapper Info @2Configuration CallbacksLNSIMX ConfigurableSubVIState.ctl$@PConfigurable SubVI InfoJSIMX TimeWaveform.xnodeSIMX TimeWaveform.ctl,@PState@PPn2@@$Estimated and measured speed, x1 = y:SIMX Halt.xnode SIMX Halt.ctl$@PStater@P+*+,./0123456789:;<=>?@ABCDEFGHIJKLMNOPQRTDefault Constant Data<_Q @ number: 0 to 1@P error 2@P error 1,`  @!result"@Default Collector Stop Mode,`  P @!Stop?nSIM simulation data.ctlj@P&opqrstuvwxyz{|}~RSSimulation data in( @0message@0button name ("OK") @!true( SIM integration method.ctl} RK 1 (Euler) Linearizer State Query Trim EvalAdamsRK 3RK 4RK 45BDFRK 2RK 23 RosenbrockDiscrete States Only9 2NI_XNodeSupport.lvlib XNodeInt.ctl#@Left7 2NI_XNodeSupport.lvlib XNodeInt.ctl!@Top9 2NI_XNodeSupport.lvlib XNodeInt.ctl#@Right; 2NI_XNodeSupport.lvlib XNodeInt.ctl%@BottomH CNI_XNodeSupport.lvlibXNodeRect32.ctl0@PBoundsFYuSIMX ParameterElement.ctl$@PghdParameter Element@@ Instances:YuSIMX ParameterRec.ctl@Pf ParameterRec@@ ParametersBYuSIMX SubVIState.ctl&@P^_`rv} SubVI Info?YuSimX_Generic.ctl%@Pd Generic Info@YvSIMX Manager.xnodeSIMX Manager.ctl&@PState(  j@P+*+,./0123456789:;<=>?@ABCDEFGHIJKLMNOPQRT timing (out)h@P+*+,./0123456789:;<=>?@ABCDEFGHIJKLMNOPQRT timing (in)< x  SimParams.ctlz@P+*+,-./0123456789:;<=>?@ABCDEFGHIJKLMNOPQRSTSimulationParameters out SimParams.ctlv@P+*+,-./0123456789:;<=>?@ABCDEFGHIJKLMNOPQRSTSimulationParameters,` 4 U SimParams.ctlz@P+*+,-./0123456789:;<=>?@ABCDEFGHIJKLMNOPQRSTSimulationParameters Out@!First Call?: T/F@Expected End [f-1]@Actual End [f-1]@!Finished Late? [f-1]@Expected End [i-1]@Actual End [i-1]@!Finished Late? [i-1]@Expected Start [i]@Actual Start [i]@Expected Start [f]@Actual Start [f]XDNodeRunTimeDep.lvlibnitl_modes.ctl@ 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 phaseModeXDNodeRunTimeDep.lvlib wakeup.ctl~@NormalAbortedAsynchronous wakeupTiming source errorTimed loop errorTimeout Wakeup Reason@Frame Duration@Iteration Duration@ Assigned CPUzcsXDNodeRunTimeDep.lvlibtiming_clust.ctl`@PCDEFGHIJMNOPQTiming @SType@StaticIDEbXDataNode.xnode TermInfo.ctl/@P]^DVTermInfo@@Size@@Hidden]XDataNode.xnode DN_Type.ctl@ TL_Lft_Ear TL_Rt_Ear TL_Lft_DnTL_Rt_Dn TS_Lft_Ear TS_Rt_EarTS_1stFrame_Lft_Dn TS_Lft_DnTS_LastFrame_Rt_DnTS_Rt_Dn TL_TS_Lft_Ear TL_TS_Rt_Ear TL_TS_Lft_Dn TL_TS_Rt_DnTL_TS_1stFrame_Lft_DnTL_TS_LastFrame_Rt_Dn DataNode_TypeH(XDataNode.xnode XDataNode.ctl2@P eVW[\State@ input u(k)@ output y(k)@@ state x(k)4 R @ 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 phase Z@NormalAbortedAsynchronous wakeupTiming source errorTimed loop errorTimeout B@PCDEFGHIJMNOPQ @PPQTransfer Function>PCDEFGHIJMNOPQ@!t>PnnM 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 phaseVNormalAbortedAsynchronous wakeupTiming source errorTimed loop errorTimeout>SIMX Memory.xnodeSIMX Memory.ctl&@PStateRSIMX TransferFunction.xnodeSIMX TransferFunction.ctl0@PState@P error in LMCEIGJ  SimParams.ctlv@P+*+,-./0123456789:;<=>?@ABCDEFGHIJKLMNOPQRSTSimulation Params in< x  x ! ""##$$  %&'$'' ()fghijklmnlmnkjifjk"{jjjhg)ki      ki"  #nn#$nn$%nn%(!&& #()$*%+, -01&2 3 45566M M7 h7h777 h77h77h   i89: g:g::: g:(:gkk::=NOUNONO89TSRW8VgX\[]Z<{ON{<ON{)jjkY\j( =<""Onn*N<TRQPOON=NM < ON<LKJXIHGFEDC\BA@?>=i<;:987i6543210/i+,,+*i.,+**+,./0123456789:;<=>?@ABCDEFGoHI)<o=<NOJKLMNOPQRT./0123456789:;j<=>?@ABCDEFGHIJKLMNOPURCDREFGHIkJ MNOPQMCDEFGHIJ MNOPQQPONMJIHGFEDCCDEFGHIJ MNOPQRRRRjQPONMJIHGFEDCMCDEFGHIJ MNOPQQPONMJIHGFEDCCDEFGHIJ MN{OPQJGIECMCDEFGHIJ MNOPQJGIECM2FPHP"kalmanfilter_dcmotor_usb_io_sim.vi_D##Simulation time [s]H D 0k 1kBreak the motor with your finger. See how the Kalman Filter estimates the torque :-) This is equivalent to estimating the water current force acting on the ship in a dynamic positioning system!YD@SM@TM Kalman gains:D45``me=y-xpri1; xpost1=xp1+k1*e; xpost2=xp2+k2*e; xpri1=(1-(Ts/T))*xpost1+(Ts/T)*xpost2+(K*Ts/T)*uk; xpri2=xpost2;XDv2rv3r Motor model:RD##Ts [s]H 7 6]DL (in simulation)LmtntHqsHD*i7z*j7zcD56y=[1/(T*s+1)]*(K*u + L)VD>K>K Real motor[DSimulated motorYD select_io_simOD$**OFFeDMNFinn Haugen 3. March 2008MDlylyTH 7 6NDyS_yT_k2HWYNDOS\_OT\_k1HbWobYbMDuLpwqwHtvHD4tA{4uA{MD=J=JKHP ]7P ]6dD#Q#QEstimated torque, x2 = LHD 1 0P  PaneHN** LahbhHe&g&N LahbhHegH}S}U}P  PaneH   _D$Simulation Time [s]H"4K5KU D$n AmplitudeHD@M@MpD$Estimated and measured speed, x1 = yHD0/PPaneHN LahbhHegN LahbhHegH}S}U}PPaneH_D$Simulation Time [s]H"2I3IU D$L|^k AmplitudeHD+8+8ZDSTIs Observable?O$t%u%YesSDQxRxNumericHW}Y|bSTMeasurement variance RM&&RH;M=LH;M=LSDTyaTzaNumericHcrcpk=QJ=RJProcess disturbance variance Q MLY$LY$QHn9{Kn;{JHR9_KR;_JSD2?2?NumericHANANMSkTkGH?;LM?=LLH#;0M#=0LXD)#c*#c Iteration noMD##iH)-6e)/6dYD`m`m Real time [s]MDmzmztHss PD %< &<StopP$,,G-,GSTOP-z0xLj@@AKalman Filter for estimation of load torque L (and motor speed y)PPanenD8$E8&E"kalmanfilter_dcmotor_usb_io_sim.viSE False TDChop VIsaDmzmzSIM MergeSimErrors.vinD L K"kalmanfilter_dcmotor_usb_io_sim.vinD F E"kalmanfilter_dcmotor_usb_io_sim.viYENF[NG[ "Trim Eval" bEa'na(nTARGET_TYPE==Embedded QDStop?SDananmessageHDq"q$eDsesgSIM Linearizer manager.vibEa,na-nTARGET_TYPE==Embedded QDStop?SD`m`mmessageHDp&p(_Dt{t}SIM Trim manager.vigDSIM TrimLin Global Error.viRDresultbDx$x&SIM stop conditions.vi^Dr_raBundleFinishedLateREDoQDpQ True dDgtgtSIM Init From Cluster.viRD0/Timing^DbaExpected End [f-1]HD \DSRActual End [f-1]HD## `D$d$cFinished Late? [f-1]^D%2`%2_Expected End [i-1]HD5B5B \D6CQ6CPActual End [i-1]HDFSFS `DGTbGTaFinished Late? [i-1]^DUb\Ub[Expected Start [i]HDerer \DfsMfsLActual Start [i]HDvv ^Dw^w]Expected Start [f]HD \DONActual Start [f]HD WDFE Source NameHD PD"!NameHD RD%$PeriodHD TD0/DeadlineHD RD&%OffsetHD QDStartHD  TD ) (PriorityHD SD-,TimeoutHD - - PD!.!!. ModeND!. !.  HD2V?_2X?^HD1>F1>EYD2?U2?T Wakeup ReasonND2? 2?  HDCBPKCDPJHDBO2BO1RD%$statusPDcodeHD  RD!'!&sourceHD$1$ 1PDUb"U b!PaneQDCPCPErrorWDyCyB Source TypeHD aDyxSecondary Source TypeHD [DRQGlobal End TimeHD ]DXWGlobal Start TimeHD ZDQPFrame DurationHD ^D]\Iteration DurationHD XDIH Assigned CPUHD PD-,PaneLD^D13Template unbundlerfD  sim fire discrete subvi.viRE$%% True ]D L Kio_model_subvi.viiDSIM Memory Access Sim Data.viSE!! False RE66 True dD create if not found? (T)RE_aly_byy True REO\O\ True dDp}p}create if not found? (T)iDSIM Memory Access Sim Data.viSE False RE44 True dD  create if not found? (T)RE2_?w2`Lw True RE"/"/ True dDCPCPcreate if not found? (T)wD(*+SIM Transfer Function Distributor (SISO).viuDY [)SIM Transfer Function collector (SISO).viWD65 sim time.vi[D Q PSimulation TimeWD,+ Build ArrayWD Build ArrayWD Build ArrayWD Build ArrayiDSIM Time Waveform (vector).vidDx)x+Simulation Time WaveformWD87 SIM Halt.vi[D _- a-Halt SimulationiDSIM Time Waveform (vector).vifD&3&3Simulation Time Waveform 2LdDd&zz e=y-xpri1; xpost1=xp1+k1*e; xpost2=xp2+k2*e; xpri1=(1-(Ts/T))*xpost1+(Ts/T)*xpost2+(K*Ts/T)*uk; xpri2=xpost2;MDyODxp1MDeRDxpost1ODxp2RDxpost2QD  xpri1QD++xpri2NDk1ND  k2ND**TsMD1>1>KNDCPCPukMDVcVcTXD Formula NodeiDNMSIM fixed stepsize manager.viWDu4u3 SIM ManagerMDyHDYDERHERG Initial ValueHDU>bGU@bFYDrJrI Initial ValueHD@IBHSDelementHDSDelementHD_Dhu'hu&sample period (sec)HDx&x%]DJW'JW&sample skew (sec)HDZg&Zg%ZD/.execution typeHD3<5;HD#"_D)(sample period (sec)HD(!']Dx)x(sample skew (sec)HD(!'ZD/.execution typeHD3<5;HD#"_D6C 6CSIM subVI exec dataRD%$periodHD PDskewHD## eD$$Simulation execution typeLD$ $ HD(H5Q(J5PHD'48'47PDHUHUPaneLD6C6CdDDNL_Simulation CallChainHDdD DNL_Simulation CallChainHDdD^k^kDNL_Simulation CallChainHDn{n{dDLYhLYgDNL_Simulation CallChainHD\ ig\ ifbD!N!M Accept Step While LoopMD  tHD  HD + +HD Y Y HD  HD  HDC JD JHDy z HD  HD} *~ *$RD0/Timing^DbaExpected End [f-1]HD \DSRActual End [f-1]HD## `D$d$cFinished Late? [f-1]^D%2`%2_Expected End [i-1]HD5B5B \D6CQ6CPActual End [i-1]HDFSFS `DGTbGTaFinished Late? [i-1]^DUb\Ub[Expected Start [i]HDerer \DfsMfsLActual Start [i]HDvv ^Dw^w]Expected Start [f]HD \DONActual Start [f]HD WDFE Source NameHD PD"!NameHD RD%$PeriodHD TD0/DeadlineHD RD&%OffsetHD QDStartHD  TD ) (PriorityHD SD-,TimeoutHD - - PD!.!!. ModeND!. !.  HD2V?_2X?^HD1>F1>EYD2?U2?T Wakeup ReasonND2? 2?  HDCBPKCDPJHDBO2BO1RD%$statusPDcodeHD  RD!'!&sourceHD$1$ 1PDUb"U b!PaneQDCPCPErrorWDyCyB Source TypeHD aDyxSecondary Source TypeHD [DRQGlobal End TimeHD ]DXWGlobal Start TimeHD ZDQPFrame DurationHD ^D]\Iteration DurationHD XDIH Assigned CPUHD PD-,PaneLDRD  Timing^DbaExpected End [f-1]HD \DSRActual End [f-1]HD## `D$d$cFinished Late? [f-1]^D%2`%2_Expected End [i-1]HD5B5B \D6CQ6CPActual End [i-1]HDFSFS `DGTbGTaFinished Late? [i-1]^DUb\Ub[Expected Start [i]HDerer \DfsMfsLActual Start [i]HDvv ^Dw^w]Expected Start [f]HD \DONActual Start [f]HD WDFE Source NameHD PD"!NameHD RD%$PeriodHD TD0/DeadlineHD RD&%OffsetHD QDStartHD  TD ) (PriorityHD SD-,TimeoutHD - - PD!.!!. ModeND!. !.  HD2V?_2X?^HD1>F1>EYD2?U2?T Wakeup ReasonND2? 2?  HDCBPKCDPJHDBO2BO1RD%$statusPDcodeHD  RD!'!&sourceHD$1$ 1PDUb"U b!PaneQDCPCPErrorWDyCyB Source TypeHD aDyxSecondary Source TypeHD [DRQGlobal End TimeHD ]DXWGlobal Start TimeHD ZDQPFrame DurationHD ^D]\Iteration DurationHD XDIH Assigned CPUHD PD**PaneND   aD9; Simulation While LoopRD0/Timing^DbaExpected End [f-1]HD \DSRActual End [f-1]HD## `D$d$cFinished Late? [f-1]^D%2`%2_Expected End [i-1]HD5B5B \D6CQ6CPActual End [i-1]HDFSFS `DGTbGTaFinished Late? [i-1]^DUb\Ub[Expected Start [i]HDerer \DfsMfsLActual Start [i]HDvv ^Dw^w]Expected Start [f]HD \DONActual Start [f]HD WDFE Source NameHD PD"!NameHD RD%$PeriodHD TD0/DeadlineHD RD&%OffsetHD QDStartHD  TD ) (PriorityHD SD-,TimeoutHD - - PD!.!!. 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