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vehicle_steering.xml
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vehicle_steering.xml
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<?xml version="1.0" encoding="iso-8859-1"?>
<sspaceex xmlns="http://www-verimag.imag.fr/xml-namespaces/sspaceex" version="0.2" math="SpaceEx">
<component id="clock">
<param name="t" type="real" local="false" d1="1" d2="1" dynamics="any" />
<param name="T" type="real" local="false" d1="1" d2="1" dynamics="const" />
<location id="1" name="loc1" x="248.0" y="131.0">
<invariant>t<=T</invariant>
<flow>t'==1</flow>
</location>
</component>
<component id="closedloop">
<param name="x1" type="real" local="false" d1="1" d2="1" dynamics="any" />
<param name="x2" type="real" local="false" d1="1" d2="1" dynamics="any" />
<param name="gamma" type="real" local="false" d1="1" d2="1" dynamics="const" />
<param name="k1" type="real" local="false" d1="1" d2="1" dynamics="const" />
<param name="k2" type="real" local="false" d1="1" d2="1" dynamics="const" />
<param name="kr" type="real" local="false" d1="1" d2="1" dynamics="const" />
<param name="r" type="real" local="false" d1="1" d2="1" dynamics="any" controlled="false" />
<location id="1" name="loc1" x="416.0" y="222.0" width="330.0" height="166.0">
<flow>x1'==-gamma*k1*x1+(1-gamma*k2)*x2+gamma*kr*r &
x2'== -k1*x1-k2*x2+kr*r</flow>
</location>
</component>
<component id="reference">
<param name="const" type="real" local="false" d1="1" d2="1" dynamics="const" />
<param name="r" type="real" local="false" d1="1" d2="1" dynamics="any" controlled="false" />
<location id="1" name="loc1" x="252.0" y="170.0">
<invariant>r==const</invariant>
</location>
</component>
<component id="sys1">
<param name="t" type="real" local="false" d1="1" d2="1" dynamics="any" controlled="true" x="581.0" y="68.0" />
<param name="x1" type="real" local="false" d1="1" d2="1" dynamics="any" controlled="true" x="597.0" y="350.0" />
<param name="x2" type="real" local="false" d1="1" d2="1" dynamics="any" controlled="true" x="621.0" y="472.0" />
<param name="r" type="real" local="false" d1="1" d2="1" dynamics="any" controlled="false" x="390.0" y="392.0" />
<bind component="clock" as="clock_1" x="488.0" y="133.0">
<map key="t">t</map>
<map key="T">10</map>
</bind>
<bind component="closedloop" as="closedloop_1" x="483.0" y="396.0">
<map key="x1">x1</map>
<map key="x2">x2</map>
<map key="gamma">0</map>
<map key="k1">0.25</map>
<map key="k2">0.7</map>
<map key="kr">0.25</map>
<map key="r">r</map>
</bind>
<bind component="reference" as="reference_1" x="327.0" y="396.0">
<map key="const">1</map>
<map key="r">r</map>
</bind>
</component>
</sspaceex>