Model {
  Name			  "ball"
  Version		  2.00
  SimParamPage		  Solver
  SampleTimeColors	  off
  WideVectorLines	  off
  PaperOrientation	  landscape
  StartTime		  "0.0"
  StopTime		  "10.0"
  Solver		  ode45
  RelTol		  "1e-3"
  AbsTol		  "1e-6"
  Refine		  "1"
  MaxStep		  "auto"
  InitialStep		  "auto"
  FixedStep		  "auto"
  MaxOrder		  5
  OutputOption		  RefineOutputTimes
  OutputTimes		  "[]"
  LoadExternalInput	  off
  ExternalInput		  "[t, u]"
  SaveTime		  on
  TimeSaveName		  "tout"
  SaveState		  off
  StateSaveName		  "xout"
  SaveOutput		  on
  OutputSaveName	  "yout"
  LoadInitialState	  off
  InitialState		  "xInitial"
  SaveFinalState	  off
  FinalStateName	  "xFinal"
  LimitMaxRows		  off
  MaxRows		  "1000"
  Decimation		  "1"
  AlgebraicLoopMsg	  warning
  MinStepSizeMsg	  warning
  UnconnectedInputMsg	  warning
  UnconnectedOutputMsg	  warning
  UnconnectedLineMsg	  warning
  ConsistencyChecking	  off
  ZeroCross		  on
  BlockDefaults {
    Orientation		    right
    ForegroundColor	    black
    BackgroundColor	    white
    DropShadow		    off
    NamePlacement	    normal
    FontName		    "Helvetica"
    FontSize		    10
    FontWeight		    normal
    FontAngle		    normal
    ShowName		    on
  }
  AnnotationDefaults {
    HorizontalAlignment	    center
    VerticalAlignment	    middle
    ForegroundColor	    black
    BackgroundColor	    white
    DropShadow		    off
    FontName		    "Helvetica"
    FontSize		    10
    FontWeight		    normal
    FontAngle		    normal
  }
  System {
    Name		    "ball"
    Location		    [70, 200, 509, 329]
    Open		    on
    ScreenColor		    white
    Block {
      BlockType		      Inport
      Name		      "theta"
      Position		      [15, 60, 35, 80]
      Port		      "1"
      PortWidth		      "-1"
      SampleTime	      "-1"
    }
    Block {
      BlockType		      Fcn
      Name		      "Ball-Beam\nLagrangian\nModel"
      Position		      [210, 50, 270, 80]
      Expr		      "(-1/(J/(R^2)+m))*(m*g*sin(u[3])-m*u[1]*(u[4])^2)"
    }
    Block {
      BlockType		      Derivative
      Name		      "Derivative"
      Position		      [100, 80, 130, 110]
    }
    Block {
      BlockType		      Gain
      Name		      "Gain"
      Position		      [50, 55, 80, 85]
      Gain		      "d/L"
    }
    Block {
      BlockType		      Integrator
      Name		      "Integrator"
      Position		      [285, 50, 315, 80]
      ExternalReset	      none
      InitialConditionSource      internal
      InitialCondition	      "0"
      LimitOutput	      off
      UpperSaturationLimit      "inf"
      LowerSaturationLimit      "-inf"
      ShowSaturationPort      off
      ShowStatePort	      off
      AbsoluteTolerance	      "auto"
    }
    Block {
      BlockType		      Integrator
      Name		      "Integrator1"
      Position		      [350, 50, 380, 80]
      ExternalReset	      none
      InitialConditionSource      internal
      InitialCondition	      "0"
      LimitOutput	      off
      UpperSaturationLimit      "inf"
      LowerSaturationLimit      "-inf"
      ShowSaturationPort      off
      ShowStatePort	      off
      AbsoluteTolerance	      "auto"
    }
    Block {
      BlockType		      Mux
      Name		      "Mux"
      Position		      [150, 47, 185, 83]
      Inputs		      "4"
    }
    Block {
      BlockType		      Outport
      Name		      "r"
      Position		      [410, 55, 430, 75]
      Port		      "1"
      OutputWhenDisabled      held
      InitialOutput	      "0"
    }
    Line {
      SrcBlock		      "Gain"
      SrcPort		      1
      Points		      [0, 0]
      Branch {
	DstBlock		"Mux"
	DstPort			3
      }
      Branch {
	DstBlock		"Derivative"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "theta"
      SrcPort		      1
      DstBlock		      "Gain"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Derivative"
      SrcPort		      1
      DstBlock		      "Mux"
      DstPort		      4
    }
    Line {
      SrcBlock		      "Integrator1"
      SrcPort		      1
      Points		      [5, 0]
      Branch {
	Points			[0, -55; -275, 0; 0, 40]
	DstBlock		"Mux"
	DstPort			1
      }
      Branch {
	DstBlock		"r"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Integrator"
      SrcPort		      1
      Points		      [10, 0]
      Branch {
	Points			[0, -40; -205, 0; 0, 35]
	DstBlock		"Mux"
	DstPort			2
      }
      Branch {
	DstBlock		"Integrator1"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Mux"
      SrcPort		      1
      DstBlock		      "Ball-Beam\nLagrangian\nModel"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Ball-Beam\nLagrangian\nModel"
      SrcPort		      1
      DstBlock		      "Integrator"
      DstPort		      1
    }
    Annotation {
      Position		      [101, 61]
      Text		      "alpha"
    }
    Annotation {
      Position		      [392, 75]
      Text		      "r"
    }
    Annotation {
      Position		      [333, 75]
      Text		      "d/dt(r)"
    }
  }
}