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      BlockType		      Mux
      Name		      "Mux2"
      Ports		      [2, 1]
      Position		      [380, 66, 385, 104]
      ShowName		      off
      Inputs		      "2"
      DisplayOption	      "bar"
    }
    Block {
      BlockType		      Scope
      Name		      "Scope"
      Ports		      [1]
      Position		      [430, 189, 460, 221]
      Location		      [42, 81, 402, 349]
      Open		      on
      NumInputPorts	      "1"
      List {
	ListType		AxesTitles
	axes1			"%<SignalLabel>"
      }
      TimeRange		      "50"
      YMin		      "0"
      YMax		      "1.4"
      DataFormat	      "StructureWithTime"
    }
    Block {
      BlockType		      Scope
      Name		      "Scope1"
      Ports		      [1]
      Position		      [430, 294, 460, 326]
      Location		      [37, 408, 408, 672]
      Open		      on
      NumInputPorts	      "1"
      List {
	ListType		AxesTitles
	axes1			"%<SignalLabel>"
      }
      TimeRange		      "50"
      YMin		      "0"
      YMax		      "1.4"
      SaveName		      "ScopeData1"
      DataFormat	      "StructureWithTime"
    }
    Block {
      BlockType		      Scope
      Name		      "Scope2"
      Ports		      [1]
      Position		      [430, 69, 460, 101]
      Location		      [42, 81, 402, 349]
      Open		      on
      NumInputPorts	      "1"
      List {
	ListType		AxesTitles
	axes1			"%<SignalLabel>"
      }
      TimeRange		      "50"
      YMin		      "0"
      YMax		      "1.4"
      SaveName		      "ScopeData2"
      DataFormat	      "StructureWithTime"
    }
    Block {
      BlockType		      Step
      Name		      "Step"
      Position		      [80, 190, 110, 220]
      SampleTime	      "0"
    }
    Block {
      BlockType		      Step
      Name		      "Step1"
      Position		      [30, 295, 60, 325]
      SampleTime	      "0"
    }
    Block {
      BlockType		      Step
      Name		      "Step2"
      Position		      [80, 80, 110, 110]
      SampleTime	      "0"
    }
    Block {
      BlockType		      TransferFcn
      Name		      "Transfer Fcn"
      Position		      [170, 182, 250, 228]
      Denominator	      "[16 4 1]"
    }
    Block {
      BlockType		      TransferFcn
      Name		      "Transfer Fcn1"
      Position		      [245, 297, 325, 343]
      Denominator	      "[6 1]"
    }
    Block {
      BlockType		      TransferFcn
      Name		      "Transfer Fcn2"
      Position		      [170, 72, 250, 118]
      Denominator	      "[6 1]"
    }
    Line {
      SrcBlock		      "Step"
      SrcPort		      1
      Points		      [0, 0; 15, 0]
      Branch {
	DstBlock		"Transfer Fcn"
	DstPort			1
      }
      Branch {
	Points			[0, -35; 170, 0; 0, 25]
	DstBlock		"Mux"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Transfer Fcn"
      SrcPort		      1
      Points		      [0, 0; 85, 0]
      Branch {
	DstBlock		"Mux"
	DstPort			2
      }
      Branch {
	Points			[0, 105]
	DstBlock		"Mux1"
	DstPort			2
      }
    }
    Line {
      SrcBlock		      "Mux"
      SrcPort		      1
      DstBlock		      "Scope"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Step1"
      SrcPort		      1
      Points		      [0, 0; 15, 0]
      Branch {
	DstBlock		"Add"
	DstPort			1
      }
      Branch {
	Points			[0, -25; 310, 0]
	DstBlock		"Mux1"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Transfer Fcn1"
      SrcPort		      1
      Points		      [0, 0; 15, 0]
      Branch {
	Points			[0, 60; -270, 0; 0, -50]
	DstBlock		"Add"
	DstPort			2
      }
      Branch {
	DstBlock		"Mux1"
	DstPort			3
      }
    }
    Line {
      SrcBlock		      "Mux1"
      SrcPort		      1
      DstBlock		      "Scope1"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Add"
      SrcPort		      1
      DstBlock		      "Controller"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Controller"
      SrcPort		      1
      DstBlock		      "Transfer Fcn1"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Step2"
      SrcPort		      1
      Points		      [0, 0; 15, 0]
      Branch {
	Points			[0, -35; 170, 0; 0, 15]
	DstBlock		"Mux2"
	DstPort			1
      }
      Branch {
	DstBlock		"Transfer Fcn2"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Transfer Fcn2"
      SrcPort		      1
      Points		      [0, 0; 100, 0]
      Branch {
	DstBlock		"Mux2"
	DstPort			2
      }
      Branch {
	Points			[0, 120]
	DstBlock		"Mux"
	DstPort			3
      }
    }
    Line {
      SrcBlock		      "Mux2"
      SrcPort		      1
      DstBlock		      "Scope2"
      DstPort		      1
    }
    Annotation {
      Name		      "Solution of Example 2 from Topic 13 (PID tuning"
")"
      Position		      [261, 21]
      FontName		      "Arial Black"
      FontSize		      12
    }
    Annotation {
      Name		      "Step response --> Desired response trajectory a"
"nd process"
      Position		      [159, 154]
    }
    Annotation {
      Name		      "Close loop performance"
      Position		      [84, 274]
    }
    Annotation {
      Name		      "Step response of process"
      Position		      [84, 44]
    }
  }
}