<?xml version="1.0" encoding="UTF-8"?>
<Document>
 <Model version="4.8" build="4.8.2.10124">
  <Sidops><![CDATA[model 128 184
 description '<Information>
 <Description>
    <Version>4.8</Version>
<IsMainModel>0</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>C:\users\wouter\My Documents\studie\ma\mahd\implementation\SCARA\02_physics\scara_physics.emx</LibraryPath>
  <TimeStamp>2020-7-15 11:32:27</TimeStamp>
</Description>
 <Attributes>
  <GlobalRelations>parameters
	real A = 0.05 {m};
	real B = 0.05 {m};
variables
	real J0_1_BF1[2];
	real J1_2_BF1[2];
	real J1_2_BF2[2];
	real EE1_BF2[2];
initialequations
	J0_1_BF1 = [A/2;0];
	J1_2_BF1 = [-A/2;0];
	J1_2_BF2 = [B/2;0];
	EE1_BF2 = [-B/2;0];</GlobalRelations>
 </Attributes>
</Information>';
 type Mainmodel
 end;
 implementation bg
  submodels
   COM1 424 584
    description '<Information><Description><Version>4.8</Version><IsMainModel>1</IsMainModel></Description><Attributes><GlobalRelations>parameters
	real mass = 1 {kg};</GlobalRelations></Attributes></Information>';
    type Submodel
     ports
      translation in p [2,1];
      signal in mass {kg} ;
    end;
    icon bg ellipse bottom
     figures
      ellipse 416 576 432 592 color 0 fill 15132390;
      line 424 576 424 592 color 0 fill 15132390;
      line 416 584 432 584 color 0 fill 15132390;
    end;
    implementation bg
     submodels
      Gain 368 408
       description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Signal\Block Diagram\Gain.emx</LibraryPath>
  <TimeStamp>2007-9-26 12:15:12</TimeStamp>
</Description>';
       type Gain
        ports
         signal in input;
         signal out output [2,1];
       end;
       icon bg bottom
        figures
         rectangle 352.1 392 383.9 424 color 0 fill 15132390;
         text 'K' 368 408 color 16711680 16 bold;
       end;
       implementation eq
equations
	output = [0;-g_n] * input;
    implementation_end;
      I 248 520
       description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Bond Graph\2D\I-2.emx</LibraryPath>
  <TimeStamp>2007-9-25 12:7:37</TimeStamp>
</Description>';
       type 'I-2'
        ports
         power in p [2,1];
         signal out state [2,1];
         signal in mass {kg} ;
        restrictions
         causality preferred in p;
       end;
       icon bg bottom
        figures
         text 'I' 248 520 color 0 18 bold;
       end;
       implementation eq
equations
    state = int(p.e);
    p.f = inverse ([mass,0;0,mass]) * state;
implementation_end;
      plug p 304 468;
      plug mass 208 408;
      OneJunction2 304 520
       description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>
  <TimeStamp>2007-9-27 9:51:18</TimeStamp>
</Description>';
       knot OneJunction
        ports
         translation knot duplicatable none p [2,1];
         signal knot out flow [2,1];
        restrictions
         causality constraint one_out p;
       end;
       icon bg
        figures
         text '1' 304 520 color 0 18 bold;
       end;
       implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
      Sg 368 520
       description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Bond Graph\2D\MSe-2.emx</LibraryPath>
  <TimeStamp>2007-9-25 12:7:58</TimeStamp>
</Description>';
       type 'MSe-2'
        ports
         power out p [2,1];
         signal in effort [2,1];
        restrictions
         causality fixed out p;
       end;
       icon bg bottom
        figures
         text 'MSe' 368 520 color 0 18 bold;
       end;
       implementation eq
variables
	real flow[2];
equations
	p.e = effort;
	flow = p.f;
implementation_end;
      Splitter1 248 408
       description '<Description><Version>4.0</Version>
   <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>
  <TimeStamp>2008-01-17 11:28:29</TimeStamp>
<IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
</Description>';
       knot Splitter
        ports
         signal knot duplicatable out output [1];
         signal knot in input [1];
       end;
       icon bg ellipse
        figures
         ellipse 244.8 404.8 251.2 411.2 color -1 fill 0;
         ellipse 243.7 403.7 252.3 412.3 color -1;
        terminals
         input 248 408 fixed;
       end;
       implementation eq
equations
    collect (output) = input;
implementation_end;
     end;
     connections
      Gain\output -> Sg\effort;
      I\p <= OneJunction2\p;
      mass -> Splitter1\input;
      p => OneJunction2\p;
      Sg\p => OneJunction2\p;
      Splitter1\output -> Gain\input;
      Splitter1\output -> I\mass;
     end;
    implementation_end;
   COM2 824 584
    description '<Information><Description><Version>4.8</Version><IsMainModel>1</IsMainModel></Description><Attributes><GlobalRelations>parameters
	real mass = 1 {kg};</GlobalRelations></Attributes></Information>';
    type Submodel
     ports
      power in p [2,1];
      signal in mass {kg} ;
    end;
    icon bg ellipse
     figures
      ellipse 816 576 832 592 color 0 fill 15132390;
      line 824 576 824 592 color 0 fill 15132390;
      line 816 584 832 584 color 0 fill 15132390;
    end;
    implementation bg
     submodels
      Gain 368 408
       description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Signal\Block Diagram\Gain.emx</LibraryPath>
  <TimeStamp>2007-9-26 12:15:12</TimeStamp>
</Description>';
       type Gain
        ports
         signal in input;
         signal out output [2,1];
       end;
       icon bg bottom
        figures
         rectangle 352.1 392 383.9 424 color 0 fill 15132390;
         text 'K' 368 408 color 16711680 16 bold;
       end;
       implementation eq
equations
	output = [0;-g_n] * input;
    implementation_end;
      I 248 520
       description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Bond Graph\2D\I-2.emx</LibraryPath>
  <TimeStamp>2007-9-25 12:7:37</TimeStamp>
</Description>';
       type 'I-2'
        ports
         power in p [2,1];
         signal out state [2,1];
         signal in mass {kg} ;
        restrictions
         causality preferred in p;
       end;
       icon bg bottom
        figures
         text 'I' 248 520 color 0 18 bold;
       end;
       implementation eq
equations
    state = int(p.e);
    p.f = inverse ([mass,0;0,mass]) * state;
implementation_end;
      plug p 304 468;
      plug mass 208 408;
      OneJunction2 304 520
       description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>
  <TimeStamp>2007-9-27 9:51:18</TimeStamp>
</Description>';
       knot OneJunction
        ports
         power knot duplicatable none p [2,1];
         signal knot out flow [2,1];
        restrictions
         causality constraint one_out p;
       end;
       icon bg
        figures
         text '1' 304 520 color 0 18 bold;
       end;
       implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
      Sg 368 520
       description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Bond Graph\2D\MSe-2.emx</LibraryPath>
  <TimeStamp>2007-9-25 12:7:58</TimeStamp>
</Description>';
       type 'MSe-2'
        ports
         power out p [2,1];
         signal in effort [2,1];
        restrictions
         causality fixed out p;
       end;
       icon bg bottom
        figures
         text 'MSe' 368 520 color 0 18 bold;
       end;
       implementation eq
variables
	real flow[2];
equations
	p.e = effort;
	flow = p.f;
implementation_end;
      Splitter1 248 408
       description '<Description><Version>4.0</Version>
   <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>
  <TimeStamp>2008-01-17 11:28:29</TimeStamp>
<IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
</Description>';
       knot Splitter
        ports
         signal knot duplicatable out output [1];
         signal knot in input [1];
       end;
       icon bg ellipse
        figures
         ellipse 244.8 404.8 251.2 411.2 color -1 fill 0;
         ellipse 243.7 403.7 252.3 412.3 color -1;
        terminals
         input 248 408 fixed;
       end;
       implementation eq
equations
    collect (output) = input;
implementation_end;
     end;
     connections
      Gain\output -> Sg\effort;
      I\p <= OneJunction2\p;
      mass -> Splitter1\input;
      p => OneJunction2\p;
      Sg\p => OneJunction2\p;
      Splitter1\output -> Gain\input;
      Splitter1\output -> I\mass;
     end;
    implementation_end;
   I 432 176
    description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\I.emx</LibraryPath>
  <TimeStamp>2011-11-29 15:55:55</TimeStamp>
</Description>
</Information>';
    type I
     ports
      power in p;
      signal out state;
      signal in i;
     restrictions
      causality preferred in p;
    end;
    icon bg bottom
     figures
      text 'I' 432 176 color 0 18 bold;
    end;
    implementation eq
equations
    state = int(p.e);
    p.f = state / i;
implementation_end;
   I1 824 176
    description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\I.emx</LibraryPath>
  <TimeStamp>2011-11-29 15:55:55</TimeStamp>
</Description>
</Information>';
    type I
     ports
      power in p;
      signal out state;
      signal in i;
     restrictions
      causality preferred in p;
    end;
    icon bg bottom
     figures
      text 'I' 824 176 color 0 18 bold;
    end;
    implementation eq
equations
    state = int(p.e);
    p.f = state / i;
implementation_end;
   inverse_kinematics 304 32
    description '<Information>
 <Description>
    <Version>4.8</Version>
  <LibraryPath>SCARA\inverse_kinematics_v1.emx</LibraryPath>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <TimeStamp>2020-7-10 12:26:18</TimeStamp>
<AllowLibraryUpdate>False</AllowLibraryUpdate>
 </Description>
</Information>';
    type 'Submodel-Equation'
     ports
      signal in input [2,1] {m} ;
      signal out angle1 {rad} ;
      signal out angle2 {rad} ;
      signal out a {rad} ;
      signal out b {rad} ;
      signal out c {rad} ;
      signal out phi {rad} ;
    end;
    implementation eq
parameters
	real A_length = 0.065 {m}; // length of first arm
	real B_length = 0.05 {m}; // length of second arm
	real to_rad = 1 {rad};
variables
	real x {m}, y {m};
	real C_length {m}; // length to x and y.
	real angle_sum {rad}; //  test angle
equations
	x = input[1];
	y = input[2];
	phi = atan2(y, x);
	C_length = sqrt(x^2 + y^2);	
 	a = arccos ((B_length^2 + C_length^2 - A_length^2) / (2 * B_length * C_length));
	b = arccos ((A_length^2 + C_length^2 - B_length^2) / (2 * A_length * C_length));
	c = arccos ((A_length^2 + B_length^2 - C_length^2) / (2 * A_length * B_length));
	angle1 = b + phi;
	angle2 =  angle1 - pi * to_rad + c;
	
	

 implementation_end;
   MSe1 624 192
    description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\MSe.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:12:33</TimeStamp>
</Description>
</Information>';
    type MSe
     ports
      power out p;
      signal in effort;
     restrictions
      causality fixed out p;
    end;
    icon bg bottom
     figures
      text 'MSe' 624 192 color 0 18 bold;
    end;
    implementation eq
variables
	real flow;
equations
	p.e = effort;
	flow = p.f;
implementation_end;
   MSe2 248 176
    description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\MSe.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:12:33</TimeStamp>
</Description>
</Information>';
    type MSe
     ports
      rotation out p;
      signal in effort;
     restrictions
      causality fixed out p;
    end;
    icon bg bottom
     figures
      text 'MSe' 248 176 color 0 18 bold;
    end;
    implementation eq
variables
	real flow;
equations
	p.e = effort;
	flow = p.f;
implementation_end;
   MXTF 352.3 288
    description '<Information>
 <Description>
    <Version>4.8</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Z:\home\wouter\Documents\20-sim\library\Bond Graph\2D\MXTF-2.emx</LibraryPath>
  <TimeStamp>2020-7-14 17:06:13</TimeStamp>
<AllowLibraryUpdate>True</AllowLibraryUpdate>
 </Description>
</Information>';
    type 'TF-2'
     ports
      power in p1;
      power out p2 [2,1];
      signal in p [2,1];
     restrictions
      causality constraint not_equal p1 p2;
      causality fixed in p2;
      causality fixed out p1;
    end;
    icon bg bottom
     figures
      text 'MXTF' 352.3 288 color 0 18 bold;
    end;
    implementation eq
variables
	real r[2];
equations		
	r = [-p[2];p[1]];
	p1.e = transpose (r) * p2.e;
	p2.f = r * p1.f;implementation_end;
   OneJunction 424 368
    description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:17:51</TimeStamp>
</Description>
</Information>';
    knot OneJunction
     ports
      power knot duplicatable none p [2,1];
      signal knot out flow [2,1];
     restrictions
      causality constraint one_out p;
    end;
    icon bg
     figures
      text '1' 424 368 color 0 18 bold;
    end;
    implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
   OneJunction1 424 520
    description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:17:51</TimeStamp>
</Description>
</Information>';
    knot OneJunction
     ports
      translation knot duplicatable none p [2,1];
      signal knot out flow [2,1];
     restrictions
      causality constraint one_out p;
    end;
    icon bg
     figures
      text '1' 424 520 color 0 18 bold;
    end;
    implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
   OneJunction10 824 232
    description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:17:51</TimeStamp>
</Description>
</Information>';
    knot OneJunction
     ports
      rotation knot duplicatable none p [1];
      signal knot out flow [1];
     restrictions
      causality constraint one_out p;
    end;
    icon bg
     figures
      text '1' 824 232 color 0 18 bold;
    end;
    implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
   OneJunction11 984 512
    description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:17:51</TimeStamp>
</Description>
</Information>';
    knot OneJunction
     ports
      power knot duplicatable none p [2,1];
      signal knot out flow [2,1];
     restrictions
      causality constraint one_out p;
    end;
    icon bg
     figures
      text '1' 984 512 color 0 18 bold;
    end;
    implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
   OneJunction12 704 368
    description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:17:51</TimeStamp>
</Description>
</Information>';
    knot OneJunction
     ports
      power knot duplicatable none p [2,1];
      signal knot out flow [2,1];
     restrictions
      causality constraint one_out p;
    end;
    icon bg
     figures
      text '1' 704 368 color 0 18 bold;
    end;
    implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
   OneJunction3 432 232
    description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:17:51</TimeStamp>
</Description>
</Information>';
    knot OneJunction
     ports
      rotation knot duplicatable none p [1];
      signal knot out flow [1];
     restrictions
      causality constraint one_out p;
    end;
    icon bg
     figures
      text '1' 432 232 color 0 18 bold;
    end;
    implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
   OneJunction5 272.3 368
    description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:17:51</TimeStamp>
</Description>
</Information>';
    knot OneJunction
     ports
      power knot duplicatable none p [2,1];
      signal knot out flow [2,1];
     restrictions
      causality constraint one_out p;
    end;
    icon bg
     figures
      text '1' 272.3 368 color 0 18 bold;
    end;
    implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
   OneJunction6 272 520
    description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:17:51</TimeStamp>
</Description>
</Information>';
    knot OneJunction
     ports
      power knot duplicatable none p [2,1];
      signal knot out flow [2,1];
     restrictions
      causality constraint one_out p;
    end;
    icon bg
     figures
      text '1' 272 520 color 0 18 bold;
    end;
    implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
   OneJunction7 824 368
    description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:17:51</TimeStamp>
</Description>
</Information>';
    knot OneJunction
     ports
      power knot duplicatable none p [2,1];
      signal knot out flow [2,1];
     restrictions
      causality constraint one_out p;
    end;
    icon bg
     figures
      text '1' 824 368 color 0 18 bold;
    end;
    implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
   OneJunction8 824 520
    description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:17:51</TimeStamp>
</Description>
</Information>';
    knot OneJunction
     ports
      power knot duplicatable none p [2,1];
      signal knot out flow [2,1];
     restrictions
      causality constraint one_out p;
    end;
    icon bg
     figures
      text '1' 824 520 color 0 18 bold;
    end;
    implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
   OneJunction9 984 368
    description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:17:51</TimeStamp>
</Description>
</Information>';
    knot OneJunction
     ports
      power knot duplicatable none p [2,1];
      signal knot out flow [2,1];
     restrictions
      causality constraint one_out p;
    end;
    icon bg
     figures
      text '1' 984 368 color 0 18 bold;
    end;
    implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
   PID 248 112
    description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Signal\Control\PID Control\Continuous\PID.emx</LibraryPath>
  <TimeStamp>2008-1-17 10:49:30</TimeStamp>
</Description>';
    type PID
     ports
      signal in error;
      signal out output;
    end;
    icon bg bottom
     figures
      rectangle 232 96 264 128 color 0 fill 15132390;
      text 'PID' 248 111.5 color 16711680 18 bold;
    end;
    implementation eq
parameters
	real kp = 0.05 {};			// Proportional gain
	real tauD = 1.0 {s};		// Derivative time constant: tauD > 0
	real beta = 0.001 {};		// Tameness constant: 0 < beta << 1
	real tauI = 1.0 {s};		// Integral time constant: tauI > 0
variables
	real pdout, pdrate, pdstate;
	real pirate, pistate;
equations
	pdrate = (kp * error - pdout) / (beta * tauD);
	pdstate = int (pdrate);
	pdout = pdstate + (kp * error / beta);
	pirate = pdout / tauI;
	pistate = int (pirate);
	output = pistate + pdout;
      implementation_end;
   PID1 624 136
    description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Signal\Control\PID Control\Continuous\PID.emx</LibraryPath>
  <TimeStamp>2008-1-17 10:49:30</TimeStamp>
</Description>';
    type PID
     ports
      signal in error;
      signal out output;
    end;
    icon bg bottom
     figures
      rectangle 608 120 640 152 color 0 fill 15132390;
      text 'PID' 624 135.5 color 16711680 18 bold;
    end;
    implementation eq
parameters
	real kp = 0.02 {};			// Proportional gain
	real tauD = 1.0 {s};		// Derivative time constant: tauD > 0
	real beta = 0.001 {};		// Tameness constant: 0 < beta << 1
	real tauI = 0.05 {s};		// Integral time constant: tauI > 0
variables
	real pdout, pdrate, pdstate;
	real pirate, pistate;
equations
	pdrate = (kp * error - pdout) / (beta * tauD);
	pdstate = int (pdrate);
	pdout = pdstate + (kp * error / beta);
	pirate = pdout / tauI;
	pistate = int (pirate);
	output = pistate + pdout;
      implementation_end;
   PlusMinus1 616 400
    description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Signal\Block Diagram\PlusMinus.emx</LibraryPath>
  <TimeStamp>2007-9-27 10:15:13</TimeStamp>
</Description>';
    knot PlusMinus
     ports
      signal knot duplicatable in plus [1];
      signal knot duplicatable in minus [1];
      signal knot out output [1];
    end;
    icon bg ellipse
     figures
      ellipse 608 392 624 408 color 0 fill 16777215;
    end;
    implementation eq
equations
    output = sum (collect (plus)) - sum (collect (minus));
    implementation_end;
   PlusMinus2 304 112
    description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Signal\Block Diagram\PlusMinus.emx</LibraryPath>
  <TimeStamp>2007-9-27 10:15:13</TimeStamp>
</Description>';
    knot PlusMinus
     ports
      signal knot duplicatable in plus [1];
      signal knot duplicatable in minus [1];
      signal knot out output [1];
    end;
    icon bg ellipse
     figures
      ellipse 296 104 312 120 color 0 fill 16777215;
    end;
    implementation eq
equations
    output = sum (collect (plus)) - sum (collect (minus));
    implementation_end;
   PlusMinus3 568 136
    description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Signal\Block Diagram\PlusMinus.emx</LibraryPath>
  <TimeStamp>2007-9-27 10:15:13</TimeStamp>
</Description>';
    knot PlusMinus
     ports
      signal knot duplicatable in plus [1];
      signal knot duplicatable in minus [1];
      signal knot out output [1];
    end;
    icon bg ellipse
     figures
      ellipse 560 128 576 144 color 0 fill 16777215;
    end;
    implementation eq
equations
    output = sum (collect (plus)) - sum (collect (minus));
    implementation_end;
   R1 624 272
    description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\R.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:35:37</TimeStamp>
</Description>
</Information>';
    type R
     ports
      power in p;
    end;
    icon bg bottom
     figures
      text 'R' 624 272 color 0 18 bold;
    end;
    implementation eq
parameters
	real r = 0.001;
equations
	p.e = r * p.f;
implementation_end;
   R2 248 280
    description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\R.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:35:37</TimeStamp>
</Description>
</Information>';
    type R
     ports
      power in p;
    end;
    icon bg bottom
     figures
      text 'R' 248 280 color 0 18 bold;
    end;
    implementation eq
parameters
	real r = 0.001;
equations
	p.e = r * p.f;
implementation_end;
   rectanglepath 64 32
    description '<Information>
 <Description>
    <Version>4.8</Version>
  <LibraryPath>setpoint\rectanglepath.emx</LibraryPath>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <TimeStamp>2020-7-10 12:30:38</TimeStamp>
<AllowLibraryUpdate>False</AllowLibraryUpdate>
 </Description>
</Information>';
    type 'Submodel-Equation'
     ports
      signal out output [2,1];
    end;
    implementation eq
/* 
This will generate coordinates for the box that has to be drawn
*/
parameters
	real w = 0.07{m} ;
	real h = 0.05 {m};
	real t  = 1 {s};
	real origin[2] = [0.01,0.03]{m};
variables
	real v {m/s};
	real t_w {s};
	real t_h {s};
	real period {s};
	real test1, test2, test3;
initialequations
	v = (2*w + 2*h)/t;
	t_w = w / v;
	t_h = h / v;
equations
	period = floor(time / t) * t;
	output[1] = v*(ramp(period+t_h) - ramp(period + t_w+t_h) - ramp(period + t_w + t_h + t_h)) + origin[1];
	output[2] = v*(ramp(period) - ramp(period + t_h) - ramp(period + t_h + t_w) + ramp(period + 2 * t_h + t_w))+ origin[2];
implementation_end;
   RTF 424 456
    description '<Information>
 <Description>
    <Version>4.8</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\2D\RTF-2.emx</LibraryPath>
  <TimeStamp>2020-7-14 12:43:04</TimeStamp>
</Description>
</Information>';
    type 'TF-2'
     ports
      power in p1 [2,1];
      power out p2 [2,1];
      signal in angle {rad} ;
     restrictions
      causality constraint not_equal p1 p2;
    end;
    icon bg bottom
     figures
      text 'RTF' 424 456 color 0 18 bold;
    end;
    implementation eq
/*
2D rotation transformer. Takes an angle as input and then rotates the dimensions
*/
variables
	real r[2,2];
equations	
	r = [cos(angle), -sin(angle); sin(angle), cos(angle)];				
	p1.e = transpose (r) * p2.e;
	p2.f = r * p1.f;
implementation_end;
   RTF1 616 368
    description '<Information>
 <Description>
    <Version>4.8</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\2D\RTF-2.emx</LibraryPath>
  <TimeStamp>2020-7-14 12:43:04</TimeStamp>
</Description>
</Information>';
    type 'TF-2'
     ports
      power in p1 [2,1];
      power out p2 [2,1];
      signal in angle {rad} ;
     restrictions
      causality constraint not_equal p1 p2;
    end;
    icon bg bottom
     figures
      text 'RTF' 616 368 color 0 18 bold;
    end;
    implementation eq
/*
2D rotation transformer. Takes an angle as input and then rotates the dimensions
*/
variables
	real r[2,2];
equations	
	r = [cos(angle), -sin(angle); sin(angle), cos(angle)];				
	p1.e = transpose (r) * p2.e;
	p2.f = r * p1.f;
implementation_end;
   RTF2 272 432
    description '<Information>
 <Description>
    <Version>4.8</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\2D\RTF-2.emx</LibraryPath>
  <TimeStamp>2020-7-14 12:43:04</TimeStamp>
</Description>
</Information>';
    type 'TF-2'
     ports
      power in p1 [2,1];
      power out p2 [2,1];
      signal in angle {rad} ;
     restrictions
      causality constraint not_equal p1 p2;
    end;
    icon bg bottom
     figures
      text 'RTF' 272 432 color 0 18 bold;
    end;
    implementation eq
/*
2D rotation transformer. Takes an angle as input and then rotates the dimensions
*/
variables
	real r[2,2];
equations
	r = [cos(angle), -sin(angle); sin(angle), cos(angle)];				
	p1.e = transpose (r) * p2.e;
	p2.f = r * p1.f;
implementation_end;
   RTF3 824 432
    description '<Information>
 <Description>
    <Version>4.8</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\2D\RTF-2.emx</LibraryPath>
  <TimeStamp>2020-7-14 12:43:04</TimeStamp>
</Description>
</Information>';
    type 'TF-2'
     ports
      power in p1 [2,1];
      power out p2 [2,1];
      signal in angle {rad} ;
     restrictions
      causality constraint not_equal p1 p2;
    end;
    icon bg bottom
     figures
      text 'RTF' 824 432 color 0 18 bold;
    end;
    implementation eq
/*
2D rotation transformer. Takes an angle as input and then rotates the dimensions
*/
variables
	real r[2,2];
equations	
	r = [cos(angle), -sin(angle); sin(angle), cos(angle)];				
	p1.e = transpose (r) * p2.e;
	p2.f = r * p1.f;
implementation_end;
   RTF4 984 424
    description '<Information>
 <Description>
    <Version>4.8</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\2D\RTF-2.emx</LibraryPath>
  <TimeStamp>2020-7-14 12:43:04</TimeStamp>
</Description>
</Information>';
    type 'TF-2'
     ports
      power in p1 [2,1];
      power out p2 [2,1];
      signal in angle {rad} ;
     restrictions
      causality constraint not_equal p1 p2;
    end;
    icon bg bottom
     figures
      text 'RTF' 984 424 color 0 18 bold;
    end;
    implementation eq
/*
2D rotation transformer. Takes an angle as input and then rotates the dimensions
*/
variables
	real r[2,2];
equations	
	r = [cos(angle), -sin(angle); sin(angle), cos(angle)];				
	p1.e = transpose (r) * p2.e;
	p2.f = r * p1.f;
implementation_end;
   Sf 192 520
    description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Bond Graph\2D\Sf-2.emx</LibraryPath>
  <TimeStamp>2007-9-25 12:7:5</TimeStamp>
</Description>';
    type 'Sf-2'
     ports
      power out p [2,1];
     restrictions
      causality fixed in p;
    end;
    icon bg bottom
     figures
      text 'Sf' 192 520 color 0 18 bold;
    end;
    implementation eq
parameters
	real flow[2,1] = 	[0.0; 0.0];
variables
	real effort [2];
equations
	p.f = flow;
	effort = p.e;
implementation_end;
   Sf1 152 232
    description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\Sf.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:38:03</TimeStamp>
</Description>
</Information>';
    type Sf
     ports
      power out p;
     restrictions
      causality fixed in p;
    end;
    icon bg bottom
     figures
      text 'Sf' 152 232 color 0 18 bold;
    end;
    implementation eq
parameters
	real flow = 0;
variables
	real effort;
equations
	p.f = flow;
	effort = p.e;
implementation_end;
   Splitter1 384 400
    description '<Description><Version>4.0</Version>
   <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>
  <TimeStamp>2008-01-17 11:28:29</TimeStamp>
<IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
</Description>';
    knot Splitter
     ports
      signal knot duplicatable out output [1];
      signal knot in input [1];
    end;
    icon bg ellipse
     figures
      ellipse 380.8 396.8 387.2 403.2 color -1 fill 0;
      ellipse 379.7 395.7 388.3 404.3 color -1;
     terminals
      input 384 400 fixed;
    end;
    implementation eq
equations
    collect (output) = input;
implementation_end;
   Splitter2 800 400
    description '<Description><Version>4.0</Version>
   <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>
  <TimeStamp>2008-01-17 11:28:29</TimeStamp>
<IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
</Description>';
    knot Splitter
     ports
      signal knot duplicatable out output [1];
      signal knot in input [1];
    end;
    icon bg ellipse
     figures
      ellipse 796.8 396.8 803.2 403.2 color -1 fill 0;
      ellipse 795.7 395.7 804.3 404.3 color -1;
     terminals
      input 800 400 fixed;
    end;
    implementation eq
equations
    collect (output) = input;
implementation_end;
   Splitter3 304 400
    description '<Description><Version>4.0</Version>
   <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>
  <TimeStamp>2008-01-17 11:28:29</TimeStamp>
<IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
</Description>';
    knot Splitter
     ports
      signal knot duplicatable out output [1];
      signal knot in input [1];
    end;
    icon bg ellipse
     figures
      ellipse 300.8 396.8 307.2 403.2 color -1 fill 0;
      ellipse 299.7 395.7 308.3 404.3 color -1;
     terminals
      input 304 400 fixed;
    end;
    implementation eq
equations
    collect (output) = input;
implementation_end;
   Splitter4 704 400
    description '<Description><Version>4.0</Version>
   <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>
  <TimeStamp>2008-01-17 11:28:29</TimeStamp>
<IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
</Description>';
    knot Splitter
     ports
      signal knot duplicatable out output [1];
      signal knot in input [1];
    end;
    icon bg ellipse
     figures
      ellipse 700.8 396.8 707.2 403.2 color -1 fill 0;
      ellipse 699.7 395.7 708.3 404.3 color -1;
     terminals
      input 704 400 fixed;
    end;
    implementation eq
equations
    collect (output) = input;
implementation_end;
   Submodel3 352 480
    description '<Description><Version>4.0</Version>
   <LibraryPath>Template\Submodel-Equation.emx</LibraryPath>
<IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
   <TimeStamp>2007-11-1 22:32:1</TimeStamp>
   <AllowLibraryUpdate>False</AllowLibraryUpdate>
</Description>';
    type 'Submodel-Equation'
     ports
      signal in angle_velocity {rad/s} ;
      signal out angle {rad} ;
      signal in velocity [2,1] {m/s} ;
      signal out position [2,1] {m} ;
      signal out mass {kg} ;
      signal out angular_momentum {N.m.s} ;
      signal out joint1 [2,1];
      signal out joint2 [2,1];
    end;
    implementation eq
/* Equation Submodel
Enter your equations here. You can use the Toolbar buttons at the top ( Add , f(x) etc. ).
*/
parameters
	real density = 1400 {kg/m3};
	real dimension[3] = [0.005;0.065;0.01] {m};
	real initial_position[2] = [0.0325;0] {m};
	real initial_angle = 0 {rad};
variables
	real body_angle[3];
	real body_position[3];
	real body_size[3];
	real moment[3];
initialequations
	mass = dimension[1] *  dimension[2] * dimension[3] * density;
	moment[1] = mass/12 * ( dimension[2]^2 + dimension[3]^2);
	moment[2] = mass/12 * ( dimension[1]^2 + dimension[3]^2);
	moment[3] = mass/12 * ( dimension[1]^2 + dimension[2]^2);
	angular_momentum = moment[1];
equations
	angle = int(angle_velocity,initial_angle);
	body_angle = [angle;0;0];
	position = int(velocity,initial_position);
	body_position = [0; position[1];position[2]];
	joint1=[-dimension[2]/2;0];
	joint2=[dimension[2]/2;0];
	
 implementation_end;
   Submodel4 744 480
    description '<Description><Version>4.0</Version>
   <LibraryPath>Template\Submodel-Equation.emx</LibraryPath>
<IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
   <TimeStamp>2007-11-1 22:32:1</TimeStamp>
   <AllowLibraryUpdate>False</AllowLibraryUpdate>
</Description>';
    type 'Submodel-Equation'
     ports
      signal in angle_velocity {rad/s} ;
      signal out angle {rad} ;
      signal in velocity [2,1] {m/s} ;
      signal out position [2,1] {m} ;
      signal out mass {kg} ;
      signal out angular_momentum {N.m.s} ;
      signal out joint1 [2,1];
      signal out joint2 [2,1];
    end;
    icon bg
     figures
      rectangle 704 464 784 496 color 0 fill 15132390;
      text 'name' 744 480 color 0 16;
    end;
    implementation eq
/* Equation Submodel
Enter your equations here. You can use the Toolbar buttons at the top ( Add , f(x) etc. ).
*/
parameters
	real density = 1400 {kg/m3};
	real dimension[3] = [0.005;0.05;0.01] {m};
	real initial_position[2] = [0.09;0.0] {m};
	real initial_angle = 0.0 {rad};
variables
	real body_angle[3];
	real body_position[3];
	real body_size[3];
	real moment[3];
initialequations
	mass = dimension[1] *  dimension[2] * dimension[3] * density;
	moment[1] = mass/12 * ( dimension[2]^2 + dimension[3]^2);
	moment[2] = mass/12 * ( dimension[1]^2 + dimension[3]^2);
	moment[3] = mass/12 * ( dimension[1]^2 + dimension[2]^2);
	angular_momentum = moment[1];
equations
	angle = int(angle_velocity,initial_angle);
	body_angle = [angle;0;0];
	position = int(velocity,initial_position);
	body_position = [0; position[1];position[2]];
	joint1=[-dimension[2]/2;0];
	joint2=[dimension[2]/2;0];
	
 implementation_end;
   TF 504 288
    description '<Information>
 <Description>
    <Version>4.8</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Z:\home\wouter\Documents\20-sim\library\Bond Graph\2D\MXTF-2.emx</LibraryPath>
  <TimeStamp>2020-7-14 16:54:28</TimeStamp>
<AllowLibraryUpdate>True</AllowLibraryUpdate>
 </Description>
</Information>';
    type 'TF-2'
     ports
      power in p1;
      power out p2 [2,1];
      signal in p [2,1];
     restrictions
      causality constraint not_equal p1 p2;
      causality fixed in p2;
      causality fixed out p1;
    end;
    icon bg bottom
     figures
      text 'MXTF' 504 288 color 0 18 bold;
    end;
    implementation eq
variables
	real r[2];
equations		
	r = [-p[2];p[1]];
	p1.e = transpose (r) * p2.e;
	p2.f = r * p1.f;implementation_end;
   TF2 904 288
    description '<Information>
 <Description>
    <Version>4.8</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Z:\home\wouter\Documents\20-sim\library\Bond Graph\2D\MXTF-2.emx</LibraryPath>
  <TimeStamp>2020-7-14 17:06:13</TimeStamp>
<AllowLibraryUpdate>True</AllowLibraryUpdate>
 </Description>
</Information>';
    type 'TF-2'
     ports
      power in p1;
      power out p2 [2,1];
      signal in p [2,1];
     restrictions
      causality constraint not_equal p1 p2;
      causality fixed in p2;
      causality fixed out p1;
    end;
    icon bg bottom
     figures
      text 'MXTF' 904 288 color 0 18 bold;
    end;
    implementation eq
variables
	real r[2];
equations		
	r = [-p[2];p[1]];
	p1.e = transpose (r) * p2.e;
	p2.f = r * p1.f;implementation_end;
   TF3 808 288
    description '<Information>
 <Description>
    <Version>4.8</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Z:\home\wouter\Documents\20-sim\library\Bond Graph\2D\MXTF-2.emx</LibraryPath>
  <TimeStamp>2020-7-14 16:54:28</TimeStamp>
<AllowLibraryUpdate>True</AllowLibraryUpdate>
 </Description>
</Information>';
    type 'TF-2'
     ports
      power in p1;
      power out p2 [2,1];
      signal in p [2,1];
     restrictions
      causality constraint not_equal p1 p2;
      causality fixed in p2;
      causality fixed out p1;
    end;
    icon bg bottom
     figures
      text 'MXTF' 808 288 color 0 18 bold;
    end;
    implementation eq
variables
	real r[2];
equations		
	r = [-p[2];p[1]];
	p1.e = transpose (r) * p2.e;
	p2.f = r * p1.f;implementation_end;
   ZeroJunction 504 368
    description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\ZeroJunction.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:45:16</TimeStamp>
</Description>
</Information>';
    knot ZeroJunction
     ports
      power knot duplicatable none p [2,1];
      signal knot out effort [2,1];
     restrictions
      causality constraint one_in p;
    end;
    icon bg
     figures
      text '0' 504 368 color 0 18 bold;
    end;
    implementation eq
equations
	sum (direct (p.f)) = 0;
	equal (collect (p.e));
	effort = first (p.e);
implementation_end;
   ZeroJunction1 352.3 368
    description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\ZeroJunction.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:45:16</TimeStamp>
</Description>
</Information>';
    knot ZeroJunction
     ports
      power knot duplicatable none p [2,1];
      signal knot out effort [2,1];
     restrictions
      causality constraint one_in p;
    end;
    icon bg
     figures
      text '0' 352.3 368 color 0 18 bold;
    end;
    implementation eq
equations
	sum (direct (p.f)) = 0;
	equal (collect (p.e));
	effort = first (p.e);
implementation_end;
   ZeroJunction2 904 368
    description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\ZeroJunction.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:45:16</TimeStamp>
</Description>
</Information>';
    knot ZeroJunction
     ports
      power knot duplicatable none p [2,1];
      signal knot out effort [2,1];
     restrictions
      causality constraint one_in p;
    end;
    icon bg
     figures
      text '0' 904 368 color 0 18 bold;
    end;
    implementation eq
equations
	sum (direct (p.f)) = 0;
	equal (collect (p.e));
	effort = first (p.e);
implementation_end;
   ZeroJunction3 752.3 368
    description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\ZeroJunction.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:45:16</TimeStamp>
</Description>
</Information>';
    knot ZeroJunction
     ports
      power knot duplicatable none p [2,1];
      signal knot out effort [2,1];
     restrictions
      causality constraint one_in p;
    end;
    icon bg
     figures
      text '0' 752.3 368 color 0 18 bold;
    end;
    implementation eq
equations
	sum (direct (p.f)) = 0;
	equal (collect (p.e));
	effort = first (p.e);
implementation_end;
   ZeroJunction4 624 232
    description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\ZeroJunction.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:45:16</TimeStamp>
</Description>
</Information>';
    knot ZeroJunction
     ports
      rotation knot duplicatable none p [1];
      signal knot out effort [1];
     restrictions
      causality constraint one_in p;
    end;
    icon bg
     figures
      text '0' 624 232 color 0 18 bold;
    end;
    implementation eq
equations
	sum (direct (p.f)) = 0;
	equal (collect (p.e));
	effort = first (p.e);
implementation_end;
   ZeroJunction5 248 232
    description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\ZeroJunction.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:45:16</TimeStamp>
</Description>
</Information>';
    knot ZeroJunction
     ports
      rotation knot duplicatable none p [1];
      signal knot out effort [1];
     restrictions
      causality constraint one_in p;
    end;
    icon bg
     figures
      text '0' 248 232 color 0 18 bold;
    end;
    implementation eq
equations
	sum (direct (p.f)) = 0;
	equal (collect (p.e));
	effort = first (p.e);
implementation_end;
  end;
  connections
   I\p <= OneJunction3\p;
   I1\p <= OneJunction10\p;
   inverse_kinematics\angle1 -> PlusMinus2\plus;
   inverse_kinematics\angle2 -> PlusMinus3\plus;
   inverse_kinematics\input <- rectanglepath\output;
   MSe1\effort <- PID1\output;
   MSe1\p => ZeroJunction4\p;
   MSe2\effort <- PID\output;
   MXTF\p2 => ZeroJunction1\p;
   OneJunction\p => RTF\p1;
   OneJunction\p => ZeroJunction\p;
   OneJunction\p => ZeroJunction1\p;
   OneJunction1\flow -> Submodel3\velocity 344 520;
   OneJunction1\p => COM1\p;
   OneJunction10\flow -> Submodel4\angle_velocity 728 288 728 424;
   OneJunction10\p => TF2\p1;
   OneJunction10\p => TF3\p1;
   OneJunction3\flow -> Submodel3\angle_velocity 328 264 328 440;
   OneJunction3\p => MXTF\p1;
   OneJunction3\p => TF\p1;
   OneJunction3\p => ZeroJunction4\p;
   OneJunction5\p => RTF2\p1;
   OneJunction7\p => RTF3\p1;
   OneJunction7\p => ZeroJunction2\p;
   OneJunction7\p => ZeroJunction3\p;
   OneJunction8\flow -> Submodel4\velocity 744 520;
   OneJunction8\p => COM2\p;
   OneJunction9\p => RTF4\p1;
   PlusMinus1\output -> RTF1\angle;
   PlusMinus2\output -> PID\error;
   PlusMinus3\output -> PID1\error;
   RTF\p2 => OneJunction1\p;
   RTF1\p2 => OneJunction12\p;
   RTF2\p2 => OneJunction6\p;
   RTF3\p2 => OneJunction8\p;
   RTF4\p2 => OneJunction11\p;
   Sf\p => OneJunction6\p;
   Sf1\p => ZeroJunction5\p;
   Splitter1\output -> PlusMinus1\plus;
   Splitter1\output -> RTF\angle 400 416 400 432;
   Splitter1\output -> Splitter3\input;
   Splitter2\output -> RTF3\angle 800 408;
   Splitter2\output -> RTF4\angle 952 400;
   Splitter2\output -> Splitter4\input;
   Splitter3\output -> PlusMinus2\minus 304 160;
   Splitter3\output -> RTF2\angle 296 400;
   Splitter4\output -> PlusMinus1\minus;
   Splitter4\output -> PlusMinus3\minus 568 208;
   Submodel3\angle -> Splitter1\input 368 448 368 416;
   Submodel3\angular_momentum -> I\i 320 440 320 264;
   Submodel3\joint1 -> MXTF\p 392 320;
   Submodel3\joint2 -> TF\p;
   Submodel3\mass -> COM1\mass 336 528 416 528 416 568;
   Submodel4\angle -> Splitter2\input;
   Submodel4\angular_momentum -> I1\i 720 424 720 288;
   Submodel4\joint1 -> TF3\p;
   Submodel4\joint2 -> TF2\p;
   Submodel4\mass -> COM2\mass 736 528 736 584;
   TF\p2 => ZeroJunction\p;
   TF2\p2 => ZeroJunction2\p;
   TF3\p2 => ZeroJunction3\p;
   ZeroJunction\p => RTF1\p1;
   ZeroJunction1\p => OneJunction5\p;
   ZeroJunction2\p => OneJunction9\p;
   ZeroJunction3\p => OneJunction12\p;
   ZeroJunction4\p => OneJunction10\p;
   ZeroJunction4\p => R1\p;
   ZeroJunction5\p <= MSe2\p;
   ZeroJunction5\p => OneJunction3\p;
   ZeroJunction5\p => R2\p;
  end;
 implementation_end;
]]>
</Sidops>
 </Model>
 <Experiments>
     <DefaultExperiment><![CDATA[Experiment 1]]>
</DefaultExperiment>
  <Experiment>
    <Name>Experiment 1</Name>
    <CreatedBy></CreatedBy>
    <Info></Info>
<ExpData>
  <VersionNumber>4.8</VersionNumber>
  <ModelProperties>
  </ModelProperties>
  <Variables>
   <Constants>
   </Constants>
   <Parameters>
   </Parameters>
   <Initials>
    <Variable>
     <Name>I1\state_initial</Name>
     <Value>0</Value>
    </Variable>
    <Variable>
     <Name>I\state_initial</Name>
     <Value>0</Value>
    </Variable>
    <Variable>
     <Name>PID1\pdstate_initial</Name>
     <Value>0</Value>
    </Variable>
    <Variable>
     <Name>PID1\pistate_initial</Name>
     <Value>0</Value>
    </Variable>
    <Variable>
     <Name>PID\pdstate_initial</Name>
     <Value>0</Value>
    </Variable>
    <Variable>
     <Name>PID\pistate_initial</Name>
     <Value>0</Value>
    </Variable>
    <Variable>
     <Name>COM1\I\p.e_initial</Name>
     <Rows>2</Rows>
     <Columns>1</Columns>
     <Value>0 0</Value>
    </Variable>
    <Variable>
     <Name>COM2\I\p.e_initial</Name>
     <Rows>2</Rows>
     <Columns>1</Columns>
     <Value>0 0</Value>
    </Variable>
   </Initials>
  </Variables>
  <PlotSpecs>
   <VarNames>
    <VarName>time</VarName>
    <VarName>Submodel3\body_position[1]</VarName>
    <VarName>Submodel3\body_position[2]</VarName>
    <VarName>Submodel3\body_position[3]</VarName>
    <VarName>Submodel3\body_angle[1]</VarName>
    <VarName>Submodel3\body_angle[2]</VarName>
    <VarName>Submodel3\body_angle[3]</VarName>
    <VarName>Submodel3\dimension[1]</VarName>
    <VarName>Submodel3\dimension[2]</VarName>
    <VarName>Submodel3\dimension[3]</VarName>
    <VarName>Submodel4\dimension[1]</VarName>
    <VarName>Submodel4\dimension[2]</VarName>
    <VarName>Submodel4\dimension[3]</VarName>
    <VarName>Submodel4\body_angle[1]</VarName>
    <VarName>Submodel4\body_angle[2]</VarName>
    <VarName>Submodel4\body_angle[3]</VarName>
    <VarName>Submodel4\body_position[1]</VarName>
    <VarName>Submodel4\body_position[2]</VarName>
    <VarName>Submodel4\body_position[3]</VarName>
    <VarName>PlusMinus2\output</VarName>
    <VarName>PlusMinus3\output</VarName>
    <VarName>MSe2\effort</VarName>
    <VarName>MSe1\effort</VarName>
   </VarNames>
   <Plots>
    <Plot>
     <PlotType>GraphPlot</PlotType>
     <BasePlot>
       <PlotId>1</PlotId>
       <UseWindowsBGColor>false</UseWindowsBGColor>
       <BGColor>16777215</BGColor>
       <PlotIsVisible>true</PlotIsVisible>
     </BasePlot>
     <Grid>
      <DrawGrid>true</DrawGrid>
      <GridColor>15780518</GridColor>
      <GridBorderLineColor>12624260</GridBorderLineColor>
      <GridZeroLineColor>0</GridZeroLineColor>
      <XTicks>10</XTicks>
      <YTicks>10</YTicks>
      <ZTicks>10</ZTicks>
      <Use3DLook>false</Use3DLook>
     </Grid>
     <PlotBGColor>16777215</PlotBGColor>
     <ShowPlotTitle>true</ShowPlotTitle>
     <TitlePosition>1</TitlePosition>
     <PlotTitle>model</PlotTitle>
     <ShowXValues>true</ShowXValues>
     <Fonts>
      <TitleFont>
       <Name>Arial</Name>
       <Height>12</Height>
       <PitchFamily>34</PitchFamily>
       <Weight>400</Weight>
       <Italic>0</Italic>
       <UnderLine>0</UnderLine>
       <StrikeOut>0</StrikeOut>
       <Color>0</Color>
      </TitleFont>
      <LabelFont>
       <Name>Arial</Name>
       <Height>12</Height>
       <PitchFamily>34</PitchFamily>
       <Weight>400</Weight>
       <Italic>0</Italic>
       <UnderLine>0</UnderLine>
       <StrikeOut>0</StrikeOut>
       <Color>0</Color>
      </LabelFont>
      <ValuesFont>
       <Name>Arial</Name>
       <Height>10</Height>
       <PitchFamily>34</PitchFamily>
       <Weight>400</Weight>
       <Italic>0</Italic>
       <UnderLine>0</UnderLine>
       <StrikeOut>0</StrikeOut>
       <Color>0</Color>
      </ValuesFont>
      <LegendFont>
       <Name>Arial</Name>
       <Height>12</Height>
       <PitchFamily>34</PitchFamily>
       <Weight>400</Weight>
       <Italic>0</Italic>
       <UnderLine>0</UnderLine>
       <StrikeOut>0</StrikeOut>
       <Color>0</Color>
      </LegendFont>
     </Fonts>
     <SharedXAxis>true</SharedXAxis>
     <SharedYAxis>true</SharedYAxis>
     <SharedZAxis>false</SharedZAxis>
     <XAxes>
      <Axis>
       <Minimum>0.0</Minimum>
       <Maximum>10.0</Maximum>
       <Linear>true</Linear>
       <Scaling>3</Scaling>
       <Label>time</Label>
      </Axis>
     </XAxes>
     <YAxes>
      <Axis>
       <Minimum>-60.0</Minimum>
       <Maximum>140.0</Maximum>
       <Linear>true</Linear>
       <Scaling>1</Scaling>
       <Label>Joint 2 Torque</Label>
      </Axis>
      <Axis>
       <Minimum>-60.0</Minimum>
       <Maximum>140.0</Maximum>
       <Linear>true</Linear>
       <Scaling>1</Scaling>
       <Label>Joint 1 Torque</Label>
      </Axis>
     </YAxes>
     <ZAxes>
     </ZAxes>
     <Curves>
      <Curve>
       <LineColor>3355111</LineColor>
       <LineStyle>1</LineStyle>
       <TickColor>6076255</TickColor>
       <TickStyle>0</TickStyle>
       <CurveVisible>true</CurveVisible>
       <PixelThresshold>1</PixelThresshold>
       <LineThickness>1</LineThickness>
       <LineOrder>1</LineOrder>
       <ShowYValues>true</ShowYValues>
       <XCurveData>
        <ShowUnit>true</ShowUnit>
        <VarName>time</VarName>
       </XCurveData>
       <YCurveData>
        <ShowUnit>true</ShowUnit>
        <VarName>MSe1\effort</VarName>
       </YCurveData>
      </Curve>
      <Curve>
       <LineColor>6076255</LineColor>
       <LineStyle>1</LineStyle>
       <TickColor>6076255</TickColor>
       <TickStyle>0</TickStyle>
       <CurveVisible>true</CurveVisible>
       <PixelThresshold>1</PixelThresshold>
       <LineThickness>1</LineThickness>
       <LineOrder>1</LineOrder>
       <ShowYValues>true</ShowYValues>
       <XCurveData>
        <ShowUnit>true</ShowUnit>
        <VarName>time</VarName>
       </XCurveData>
       <YCurveData>
        <ShowUnit>true</ShowUnit>
        <VarName>MSe2\effort</VarName>
       </YCurveData>
      </Curve>
     </Curves>
     <Legenda>
      <ShowLegenda>true</ShowLegenda>
      <Position>
       <X>0.9024193548387097</X>
       <Y>0.0308411214953271</Y>
      </Position>
      <BorderPenColor>0</BorderPenColor>
      <BackgroundColor>16777215</BackgroundColor>
     </Legenda>
    </Plot>
    <Plot>
     <PlotType>GraphPlot</PlotType>
     <BasePlot>
       <PlotId>2</PlotId>
       <UseWindowsBGColor>false</UseWindowsBGColor>
       <BGColor>16777215</BGColor>
       <PlotIsVisible>true</PlotIsVisible>
     </BasePlot>
     <Grid>
      <DrawGrid>true</DrawGrid>
      <GridColor>15780518</GridColor>
      <GridBorderLineColor>12624260</GridBorderLineColor>
      <GridZeroLineColor>0</GridZeroLineColor>
      <XTicks>10</XTicks>
      <YTicks>10</YTicks>
      <ZTicks>10</ZTicks>
      <Use3DLook>false</Use3DLook>
     </Grid>
     <PlotBGColor>16777215</PlotBGColor>
     <ShowPlotTitle>true</ShowPlotTitle>
     <TitlePosition>1</TitlePosition>
     <PlotTitle>model(1)</PlotTitle>
     <ShowXValues>true</ShowXValues>
     <Fonts>
      <TitleFont>
       <Name>Arial</Name>
       <Height>12</Height>
       <PitchFamily>34</PitchFamily>
       <Weight>400</Weight>
       <Italic>0</Italic>
       <UnderLine>0</UnderLine>
       <StrikeOut>0</StrikeOut>
       <Color>0</Color>
      </TitleFont>
      <LabelFont>
       <Name>Arial</Name>
       <Height>12</Height>
       <PitchFamily>34</PitchFamily>
       <Weight>400</Weight>
       <Italic>0</Italic>
       <UnderLine>0</UnderLine>
       <StrikeOut>0</StrikeOut>
       <Color>0</Color>
      </LabelFont>
      <ValuesFont>
       <Name>Arial</Name>
       <Height>10</Height>
       <PitchFamily>34</PitchFamily>
       <Weight>400</Weight>
       <Italic>0</Italic>
       <UnderLine>0</UnderLine>
       <StrikeOut>0</StrikeOut>
       <Color>0</Color>
      </ValuesFont>
      <LegendFont>
       <Name>Arial</Name>
       <Height>12</Height>
       <PitchFamily>34</PitchFamily>
       <Weight>400</Weight>
       <Italic>0</Italic>
       <UnderLine>0</UnderLine>
       <StrikeOut>0</StrikeOut>
       <Color>0</Color>
      </LegendFont>
     </Fonts>
     <SharedXAxis>true</SharedXAxis>
     <SharedYAxis>true</SharedYAxis>
     <SharedZAxis>false</SharedZAxis>
     <XAxes>
      <Axis>
       <Minimum>0.0</Minimum>
       <Maximum>10.0</Maximum>
       <Linear>true</Linear>
       <Scaling>3</Scaling>
       <Label>time</Label>
      </Axis>
     </XAxes>
     <YAxes>
      <Axis>
       <Minimum>-2.5</Minimum>
       <Maximum>2.5</Maximum>
       <Linear>true</Linear>
       <Scaling>2</Scaling>
       <Label>error Joint 1</Label>
      </Axis>
      <Axis>
       <Minimum>0.0</Minimum>
       <Maximum>235.918450873204</Maximum>
       <Linear>true</Linear>
       <Scaling>2</Scaling>
       <Label>error joint 2</Label>
      </Axis>
     </YAxes>
     <ZAxes>
     </ZAxes>
     <Curves>
      <Curve>
       <LineColor>3355111</LineColor>
       <LineStyle>1</LineStyle>
       <TickColor>3355111</TickColor>
       <TickStyle>0</TickStyle>
       <CurveVisible>true</CurveVisible>
       <PixelThresshold>1</PixelThresshold>
       <LineThickness>1</LineThickness>
       <LineOrder>1</LineOrder>
       <ShowYValues>true</ShowYValues>
       <XCurveData>
        <ShowUnit>true</ShowUnit>
        <VarName>time</VarName>
       </XCurveData>
       <YCurveData>
        <ShowUnit>true</ShowUnit>
        <VarName>PlusMinus2\output</VarName>
       </YCurveData>
      </Curve>
      <Curve>
       <LineColor>6076255</LineColor>
       <LineStyle>1</LineStyle>
       <TickColor>6076255</TickColor>
       <TickStyle>0</TickStyle>
       <CurveVisible>true</CurveVisible>
       <PixelThresshold>1</PixelThresshold>
       <LineThickness>1</LineThickness>
       <LineOrder>1</LineOrder>
       <ShowYValues>true</ShowYValues>
       <XCurveData>
        <ShowUnit>true</ShowUnit>
        <VarName>time</VarName>
       </XCurveData>
       <YCurveData>
        <ShowUnit>true</ShowUnit>
        <VarName>PlusMinus3\output</VarName>
       </YCurveData>
      </Curve>
     </Curves>
     <Legenda>
      <ShowLegenda>true</ShowLegenda>
      <BorderPenColor>0</BorderPenColor>
      <BackgroundColor>16777215</BackgroundColor>
     </Legenda>
    </Plot>
    <Plot>
     <PlotType>D3DPlot</PlotType>
     <BasePlot>
       <PlotId>3</PlotId>
       <UseWindowsBGColor>false</UseWindowsBGColor>
       <BGColor>16777215</BGColor>
       <PlotIsVisible>true</PlotIsVisible>
     </BasePlot>
     <PlotTitle>3D Animation</PlotTitle>
     <RenderQuality>137</RenderQuality>
     <ShowGrid>true</ShowGrid>
     <ShowFPS>false</ShowFPS>
     <BackgroundColor>4294967295</BackgroundColor>
     <SceneBackgroundImage>Gradients\BlueWhite.png</SceneBackgroundImage>
     <ApplyTextureBackground>true</ApplyTextureBackground>
     <FrameScale>1.0</FrameScale>
     <FrameThickness>1.0</FrameThickness>
     <MainFrame>
      <Frame>
       <ScaleValue>
        <X>
         <Value>1</Value>
        </X>
        <Y>
         <Value>1</Value>
        </Y>
        <Z>
         <Value>1</Value>
        </Z>
       </ScaleValue>
       <ShowReferenceFrame>true</ShowReferenceFrame>
       <Name>Reference Frame</Name>
       <Position>
       </Position>
       <Orientation>
        <Angles>
        </Angles>
        <OrientationType>Bryant</OrientationType>
       </Orientation>
       <LockX>false</LockX>
       <LockY>false</LockY>
       <LockZ>false</LockZ>
       <LockXPitch>false</LockXPitch>
       <LockYYaw>false</LockYYaw>
       <LockZRoll>false</LockZRoll>
       <Childs>
        <Frame>
         <ScaleValue>
     <X>
      <Value>1</Value>
     </X>
     <Y>
      <Value>1</Value>
     </Y>
     <Z>
      <Value>1</Value>
     </Z>
         </ScaleValue>
         <ShowReferenceFrame>false</ShowReferenceFrame>
         <Name>Default Lights and Cameras</Name>
         <Position>
         </Position>
         <Orientation>
     <Angles>
     </Angles>
     <OrientationType>Bryant</OrientationType>
         </Orientation>
         <LockX>false</LockX>
         <LockY>false</LockY>
         <LockZ>false</LockZ>
         <LockXPitch>false</LockXPitch>
         <LockYYaw>false</LockYYaw>
         <LockZRoll>false</LockZRoll>
         <Childs>
     <Light>
      <ShowReferenceFrame>false</ShowReferenceFrame>
      <Name>Ambient</Name>
      <Position>
      </Position>
      <Orientation>
       <ZAxis>
        <Z>
         <Value>1</Value>
        </Z>
       </ZAxis>
       <YAxis>
        <Y>
         <Value>1</Value>
        </Y>
       </YAxis>
       <OrientationType>Direct3D</OrientationType>
      </Orientation>
      <LockX>false</LockX>
      <LockY>false</LockY>
      <LockZ>false</LockZ>
      <LockXPitch>false</LockXPitch>
      <LockYYaw>false</LockYYaw>
      <LockZRoll>false</LockZRoll>
      <Childs>
      </Childs>
      <LightType>0</LightType>
      <LightColor>
       <Color>
        <X>
         <Value>0.3</Value>
        </X>
        <Y>
         <Value>0.3</Value>
        </Y>
        <Z>
         <Value>0.3</Value>
        </Z>
       </Color>
       <Offset>
       </Offset>
       <Multipliers>
        <X>
         <Value>1</Value>
        </X>
        <Y>
         <Value>1</Value>
        </Y>
        <Z>
         <Value>1</Value>
        </Z>
       </Multipliers>
       <Direct3DColorRange>true</Direct3DColorRange>
      </LightColor>
      <AmbientLight>
       <Color>
        <X>
         <Value>0.3</Value>
        </X>
        <Y>
         <Value>0.3</Value>
        </Y>
        <Z>
         <Value>0.3</Value>
        </Z>
       </Color>
       <Offset>
       </Offset>
       <Multipliers>
        <X>
         <Value>1</Value>
        </X>
        <Y>
         <Value>1</Value>
        </Y>
        <Z>
         <Value>1</Value>
        </Z>
       </Multipliers>
       <Direct3DColorRange>true</Direct3DColorRange>
      </AmbientLight>
      <AmbientOn>true</AmbientOn>
      <DiffuseOn>false</DiffuseOn>
      <SpecularOn>false</SpecularOn>
     </Light>
     <Light>
      <ShowReferenceFrame>false</ShowReferenceFrame>
      <Name>Parallel</Name>
      <Position>
       <X>
        <Value>-3</Value>
       </X>
       <Y>
        <Value>5</Value>
       </Y>
       <Z>
        <Value>3</Value>
       </Z>
      </Position>
      <Orientation>
       <ZAxis>
        <X>
         <Value>0.457495710997814</Value>
        </X>
        <Y>
         <Value>-0.762492851663023</Value>
        </Y>
        <Z>
         <Value>-0.457495710997814</Value>
        </Z>
       </ZAxis>
       <YAxis>
        <X>
         <Value>0.235379601434674</Value>
        </X>
        <Y>
         <Value>-0.392299335724456</Value>
        </Y>
        <Z>
         <Value>0.889211827642101</Value>
        </Z>
       </YAxis>
       <OrientationType>Direct3D</OrientationType>
      </Orientation>
      <LockX>false</LockX>
      <LockY>false</LockY>
      <LockZ>false</LockZ>
      <LockXPitch>false</LockXPitch>
      <LockYYaw>false</LockYYaw>
      <LockZRoll>false</LockZRoll>
      <Childs>
      </Childs>
      <LightType>3</LightType>
      <LightColor>
       <Color>
        <X>
         <Value>0.5</Value>
        </X>
        <Y>
         <Value>0.5</Value>
        </Y>
        <Z>
         <Value>0.5</Value>
        </Z>
       </Color>
       <Offset>
       </Offset>
       <Multipliers>
        <X>
         <Value>1</Value>
        </X>
        <Y>
         <Value>1</Value>
        </Y>
        <Z>
         <Value>1</Value>
        </Z>
       </Multipliers>
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</ExpData>
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</Experiments>
</Document>
