package test2d

model vis2d
  import Modelica.Mechanics.MultiBody.Visualizers;
  import Modelica.Mechanics.MultiBody.Frames;

  parameter Real L = 1;
  parameter Real w = 0.02;
  parameter Real orbRadius = 0.04;
  parameter Real axisLength = 0.25;
  parameter Real axisWidth = 0.01;
  parameter Real planeSize = 2.0;
  parameter Real planeThickness = 0.002;
  parameter Real planeOffset = -0.001;

  Modelica.Blocks.Interfaces.RealInput phi annotation(
    Placement(transformation(origin = {-98, -42}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {-94, 60}, extent = {{-10, -10}, {10, 10}})));
  Modelica.Blocks.Interfaces.RealInput y annotation(
    Placement(transformation(origin = {-98, 0}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {-94, -60}, extent = {{-10, -10}, {10, 10}})));
  Modelica.Blocks.Interfaces.RealInput x annotation(
    Placement(transformation(origin = {-98, 40}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {-94, 0}, extent = {{-10, -10}, {10, 10}})));
protected
  Real Rz[3,3];
  Real r[3];

  Visualizers.Advanced.Shape link(
    shapeType = "cylinder",
    length = L/2,
    width = w,
    height = w,
    r_shape = {L / 2, 0, 0},
    lengthDirection = {-1, 0, 0},
    widthDirection = {0, 1, 0},
    r = r,
    R = Frames.from_T(Rz, zeros(3)));

  Visualizers.Advanced.Shape orb(
    shapeType = "sphere",
    length = 2 * orbRadius,
    width = 2 * orbRadius,
    height = 2 * orbRadius,
    r_shape = {0, 0, 0},
    lengthDirection = {1, 0, 0},
    widthDirection = {0, 1, 0},
    r = r,
    R = Frames.from_T(Rz, zeros(3)));

  Visualizers.Advanced.Shape xAxis(
    shapeType = "cylinder",
    length = axisLength,
    width = axisWidth,
    height = axisWidth,
    color = {255, 0, 0},
    specularCoefficient = 0.1,
    r_shape = {axisLength / 2, 0, 0},
    lengthDirection = {1, 0, 0},
    widthDirection = {0, 1, 0},
    r = zeros(3),
    R = Frames.from_T([1, 0, 0;
                       0, 1, 0;
                       0, 0, 1], zeros(3)));

  Visualizers.Advanced.Shape yAxis(
    shapeType = "cylinder",
    length = axisLength,
    width = axisWidth,
    height = axisWidth,
    color = {0, 200, 0},
    specularCoefficient = 0.1,
    r_shape = {0, axisLength / 2, 0},
    lengthDirection = {0, 1, 0},
    widthDirection = {0, 0, 1},
    r = zeros(3),
    R = Frames.from_T([1, 0, 0;
                       0, 1, 0;
                       0, 0, 1], zeros(3)));

  Visualizers.Advanced.Shape zAxis(
    shapeType = "cylinder",
    length = axisLength,
    width = axisWidth,
    height = axisWidth,
    color = {0, 90, 255},
    specularCoefficient = 0.1,
    r_shape = {0, 0, axisLength / 2},
    lengthDirection = {0, 0, 1},
    widthDirection = {1, 0, 0},
    r = zeros(3),
    R = Frames.from_T([1, 0, 0;
                       0, 1, 0;
                       0, 0, 1], zeros(3)));
equation
  r = {x, y, 0};
  // Negate phi here since shapes use inverse frame-mapping
  Rz = [cos(-phi), -sin(-phi), 0;
        sin(-phi),  cos(-phi), 0;
        0,         0,        1];
      
  annotation(
    uses(Modelica(version = "4.1.0")),
  Icon(graphics = {Rectangle(lineColor = {204, 204, 204}, fillColor = {255, 255, 255}, fillPattern = FillPattern.Sphere, extent = {{-100, 100}, {100, -100}}, radius = 10), Text(extent = {{-100, 100}, {100, -100}}, textString = "VIS")}),
  experiment(StartTime = 0, StopTime = 1, Tolerance = 1e-06, Interval = 0.002));
end vis2d;

  model pendulum
  	parameter Modelica.Units.SI.Mass mass;
  	parameter Modelica.Units.SI.Length length;
  	parameter Modelica.Units.SI.MomentOfInertia momentOfInertia;
  	parameter Modelica.Units.SI.Angle startAngle;
  	
    BondGraph.J1 w_com(N = 3, s = {-1, -1, 1}) annotation(
      Placement(transformation(origin = {0, 100}, extent = {{-10, -10}, {10, 10}})));
    BondGraph.I moi(I = momentOfInertia, state(fixed = false)) annotation(
      Placement(transformation(origin = {40, 100}, extent = {{-10, -10}, {10, 10}})));
    mTFrot2lin mTFrot2lin1(r_body = {-0.5*length, 0}) annotation(
      Placement(transformation(origin = {0, 70}, extent = {{-10, -10}, {10, 10}}, rotation = -90)));
    BondGraph._2D.J0 j0(N = 3, s = {1, 1, -1}) annotation(
      Placement(transformation(origin = {0, 40}, extent = {{-10, -10}, {10, 10}})));
    BondGraph._2D.J1 v_com_i(N = 3, s = {1, -1, 1}) annotation(
      Placement(transformation(origin = {40, -20}, extent = {{-10, -10}, {10, 10}})));
    BondGraph._2D.J1 v_P_bff(N = 2, s = {1, -1}) annotation(
      Placement(transformation(origin = {-40, 40}, extent = {{-10, -10}, {10, 10}})));
    BondGraph._2D.J1 v_com_bff(N = 2, s = {-1, -1}) annotation(
      Placement(transformation(origin = {40, 40}, extent = {{-10, -10}, {10, 10}})));
    rTF rTF1 annotation(
      Placement(transformation(origin = {40, 10}, extent = {{-10, -10}, {10, 10}}, rotation = 90)));
    Modelica.Blocks.Continuous.Integrator w2phi(y_start=startAngle)  annotation(
      Placement(transformation(origin = {30, 70}, extent = {{-10, -10}, {10, 10}})));
    BondGraph._2D.I m(I = [mass, 0; 0, mass]) annotation(
      Placement(transformation(origin = {80, -20}, extent = {{-10, -10}, {10, 10}})));
    BondGraph._2D.Se g(e0 = {0, -9.81*mass}) annotation(
      Placement(transformation(origin = {0, -20}, extent = {{-10, -10}, {10, 10}})));
    Modelica.Blocks.Continuous.Integrator vx2x(y_start=-0.5*length*cos(startAngle))  annotation(
      Placement(transformation(origin = {70, -50}, extent = {{-10, -10}, {10, 10}})));
    Modelica.Blocks.Continuous.Integrator vy2y(y_start=-0.5*length*sin(startAngle))  annotation(
      Placement(transformation(origin = {70, -80}, extent = {{-10, -10}, {10, 10}})));
    vis2d vis2d1 annotation(
      Placement(transformation(origin = {118, -64}, extent = {{-10, -10}, {10, 10}})));
  rTF rTF2 annotation(
      Placement(transformation(origin = {-40, 10}, extent = {{-10, -10}, {10, 10}}, rotation = 90)));
  BondGraph._2D.J1 v_P_i(N = 2, s = {1, 1})  annotation(
      Placement(transformation(origin = {-40, -20}, extent = {{-10, -10}, {10, 10}})));
  BondGraph.BondPort rotIn annotation(
      Placement(transformation(origin = {-30, 100}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {0, 198}, extent = {{-10, -10}, {10, 10}})));
  BondGraph._2D.BondPort trans_i annotation(
      Placement(transformation(origin = {-80, -20}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {0, -198}, extent = {{-10, -10}, {10, 10}})));
  Modelica.Blocks.Interfaces.RealOutput phi annotation(
      Placement(transformation(origin = {120, 70}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {202, 80}, extent = {{-10, -10}, {10, 10}})));
  equation
    connect(w_com.f, w2phi.u) annotation(
      Line(points = {{6, 94}, {18, 70}}, color = {0, 0, 127}));
    connect(w2phi.y, rTF1.phi) annotation(
      Line(points = {{41, 70}, {100, 70}, {100, 10}, {48, 10}}, color = {0, 0, 127}));
    connect(w_com.P[1], moi.p) annotation(
      Line(points = {{0, 100}, {40, 100}}, color = {0, 0, 127}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
    connect(w_com.P[2], mTFrot2lin1.pR) annotation(
      Line(points = {{0, 100}, {0, 78}}, color = {0, 0, 127}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
    connect(v_com_bff.P[1], j0.P[1]) annotation(
      Line(points = {{40, 40}, {0, 40}}, color = {0, 85, 0}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
    connect(mTFrot2lin1.pT, j0.P[2]) annotation(
      Line(points = {{0, 62}, {0, 40}}, color = {0, 85, 0}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
    connect(j0.P[3], v_P_bff.P[1]) annotation(
      Line(points = {{0, 40}, {-40, 40}}, color = {0, 85, 0}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
    connect(v_com_bff.P[2], rTF1.p2) annotation(
      Line(points = {{40, 40}, {40, 18}}, color = {0, 85, 0}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
    connect(rTF1.p1, v_com_i.P[1]) annotation(
      Line(points = {{40, 2}, {40, -20}}, color = {0, 85, 0}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
    connect(g.p, v_com_i.P[3]) annotation(
      Line(points = {{8, -20}, {40, -20}}, color = {0, 85, 0}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
    connect(v_com_i.P[2], m.p) annotation(
      Line(points = {{40, -20}, {80, -20}}, color = {0, 85, 0}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
    connect(v_com_i.f[1], vx2x.u) annotation(
      Line(points = {{46, -26}, {50, -50}, {58, -50}}, color = {0, 0, 127}));
    connect(v_com_i.f[2], vy2y.u) annotation(
      Line(points = {{46, -26}, {50, -80}, {58, -80}}, color = {0, 0, 127}));
    connect(vy2y.y, vis2d1.y) annotation(
      Line(points = {{82, -80}, {94, -80}, {94, -70}, {108, -70}}, color = {0, 0, 127}));
    connect(vx2x.y, vis2d1.x) annotation(
      Line(points = {{82, -50}, {94, -50}, {94, -64}, {108, -64}}, color = {0, 0, 127}));
    connect(w2phi.y, vis2d1.phi) annotation(
      Line(points = {{42, 70}, {100, 70}, {100, -58}, {108, -58}}, color = {0, 0, 127}));
    connect(w2phi.y, rTF2.phi) annotation(
      Line(points = {{42, 70}, {100, 70}, {100, 26}, {-20, 26}, {-20, 10}, {-32, 10}}, color = {0, 0, 127}));
    connect(v_P_bff.P[2], rTF2.p2) annotation(
      Line(points = {{-40, 40}, {-40, 18}}, color = {0, 85, 0}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
    connect(rTF2.p1, v_P_i.P[1]) annotation(
      Line(points = {{-40, 2}, {-40, -20}}, color = {0, 85, 0}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
    connect(rotIn, w_com.P[3]) annotation(
      Line(points = {{-30, 100}, {0, 100}}, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
    connect(trans_i, v_P_i.P[2]) annotation(
      Line(points = {{-80, -20}, {-40, -20}}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
    connect(w2phi.y, phi) annotation(
      Line(points = {{42, 70}, {120, 70}}, color = {0, 0, 127}));
    annotation(
      uses(Modelica(version = "4.1.0")),
      Diagram(coordinateSystem(extent = {{-100, 120}, {140, -100}})),
      Icon(coordinateSystem(extent = {{-200, -200}, {200, 200}}), graphics = {Rectangle(lineColor = {204, 204, 204}, fillColor = {255, 255, 255}, fillPattern = FillPattern.Sphere, lineThickness = 2, extent = {{-200, 200}, {200, -200}}, radius = 50), Ellipse(origin = {0, -60},lineColor = {255, 0, 0}, fillColor = {255, 0, 0}, fillPattern = FillPattern.Solid, extent = {{-15, 15}, {15, -15}}), Line(origin = {29, 19}, points = {{-29, -79}, {29, 79}}, color = {255, 0, 0}, thickness = 5), Line(origin = {0, -76}, points = {{-130, 0}, {130, 0}}, thickness = 1.25)}),
      version = "",
  experiment(StartTime = 0, StopTime = 1, Tolerance = 1e-06, Interval = 0.002));
  end pendulum;

  model mTFrot2lin
    BondGraph.BondPort pR annotation(
      Placement(transformation(origin = {-44, 18}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {-80, 0}, extent = {{-10, -10}, {10, 10}})));
    BondGraph._2D.BondPort pT annotation(
      Placement(transformation(origin = {-44, 18}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {80, 0}, extent = {{-10, -10}, {10, 10}})));
    parameter Real r_body[2] = {1, 0};
  protected
    Real B[2];
  equation
    B = {-r_body[2], r_body[1]};
    pT.f = B*pR.f;
    pR.e = B[1]*pT.e[1] + B[2]*pT.e[2];
    annotation(
      Icon(graphics = {Text(extent = {{-70, 100}, {70, -100}}, textString = "rlTF", textStyle = {TextStyle.Bold, TextStyle.UnderLine})}));
  end mTFrot2lin;

  model rTF
    BondGraph._2D.BondPort p1 "Port 1" annotation(
      Placement(transformation(origin = {-44, 18}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {-80, 0}, extent = {{-10, -10}, {10, 10}})));
    BondGraph._2D.BondPort p2 "Port 2" annotation(
      Placement(transformation(origin = {-44, 18}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {80, 0}, extent = {{-10, -10}, {10, 10}})));
    Modelica.Blocks.Interfaces.RealInput phi "angle" annotation(
      Placement(transformation(origin = {-8, -64}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {0, -78}, extent = {{-8, -8}, {8, 8}}, rotation = 90)));
  protected
    Real R[2, 2];
  equation
    R = [cos(phi), -sin(phi); sin(phi), cos(phi)];
    p1.e = R*p2.e;
    transpose(R)*p1.f = p2.f;
    annotation(
      Diagram(graphics),
      Icon(graphics = {Text(extent = {{-60, 100}, {60, -100}}, textString = "rTF", textStyle = {TextStyle.Bold, TextStyle.UnderLine})}));
  end rTF;

  model test
  import Modelica.Constants.pi;
  pendulum pendulum1(mass = 1, length = 1, momentOfInertia = 0.001, startAngle = 1.5707963267948966)  annotation(
      Placement(transformation(origin = {60, 0}, extent = {{-20, -20}, {20, 20}})));
  BondGraph.J0 j1(N = 3, s = {1, -1, 1}) annotation(
      Placement(transformation(origin = {60, 40}, extent = {{-10, -10}, {10, 10}})));
  BondGraph.J1 w_hinge(N = 2, s = {-1, -1}) annotation(
      Placement(transformation(origin = {20, 40}, extent = {{-10, -10}, {10, 10}})));
  BondGraph.R r(R = 0.02) annotation(
      Placement(transformation(origin = {-18, 40}, extent = {{-10, -10}, {10, 10}})));
  //BondGraph._2D.Sf sf(f0 = {0, 0})  annotation(
    //    Placement(transformation(origin = {60, -58}, extent = {{-10, -10}, {10, 10}}, rotation = 90)));
    BondGraph._2D.J1 j2(N = 2, s = {-1, 1})  annotation(
      Placement(transformation(origin = {60, -40}, extent = {{-10, -10}, {10, 10}})));
  BondGraph._2D.MuxDemux muxDemux annotation(
      Placement(transformation(origin = {30, -40}, extent = {{-10, -10}, {10, 10}})));
  BondGraph.J1 j3(N = 2, s = {1, -1})  annotation(
      Placement(transformation(origin = {-20, -60}, extent = {{-10, -10}, {10, 10}})));
  BondGraph.J1 j4(N = 2, s = {-1, 1})  annotation(
      Placement(transformation(origin = {-20, -20}, extent = {{-10, -10}, {10, 10}})));
  BondGraph.Sf sf(f0 = 0)  annotation(
      Placement(transformation(origin = {-58, -60}, extent = {{-10, -10}, {10, 10}})));
  BondGraph.Sf sf1(f0 = 0) annotation(
      Placement(transformation(origin = {-56, -20}, extent = {{-10, -10}, {10, 10}})));
  BondGraph.J1 w_maxle(N = 2, s = {-1, 1})  annotation(
      Placement(transformation(origin = {60, 80}, extent = {{-10, -10}, {10, 10}})));
  BondGraph.mSe T_motor annotation(
      Placement(transformation(origin = {20, 80}, extent = {{-10, -10}, {10, 10}})));
  controller controller1(g_P = 50, g_I = 7.5, g_D = 5, sampleTime(displayUnit = "ms") = 0.01, limit = 20)  annotation(
      Placement(transformation(origin = {16, 110}, extent = {{10, -10}, {-10, 10}})));
  Modelica.Blocks.Sources.TimeTable timeTable(table = [
  	0, 0; 4,0;
  	5, 1.5*pi; 9, 1.5*pi;
  	10, pi; 14, pi;
  	15, 0.5*pi; 19, 0.5*pi;
  	20, 0; 25, 0
  	])  annotation(
      Placement(transformation(origin = {50, 130}, extent = {{-10, -10}, {10, 10}}, rotation = 180)));
  equation
    connect(w_hinge.P[1], j1.P[1]) annotation(
      Line(points = {{20, 40}, {60, 40}}, color = {0, 0, 127}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
    connect(r.p, w_hinge.P[2]) annotation(
      Line(points = {{-18, 40}, {20, 40}}, color = {0, 0, 127}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
    connect(j1.P[2], pendulum1.rotIn) annotation(
      Line(points = {{60, 40}, {60, 20}}, color = {0, 0, 127}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
//connect(sf.p, pendulum1.trans_i) annotation(
//    Line(points = {{60, -50}, {60, -20}}, color = {0, 85, 0}, thickness = 0.75, arrow = //{Arrow.None, Arrow.Half}, arrowSize = 6));
    connect(j2.P[1], pendulum1.trans_i) annotation(
      Line(points = {{60, -40}, {60, -20}}, color = {0, 85, 0}));
    connect(muxDemux.p, j2.P[2]) annotation(
      Line(points = {{40, -40}, {60, -40}}, color = {0, 85, 0}));
    connect(j3.P[2], muxDemux.p2) annotation(
      Line(points = {{-20, -60}, {8, -60}, {8, -44}, {20, -44}}, color = {0, 0, 127}));
    connect(j4.P[1], muxDemux.p1) annotation(
      Line(points = {{-20, -20}, {8, -20}, {8, -36}, {20, -36}}, color = {0, 0, 127}));
    connect(sf.p, j3.P[1]) annotation(
      Line(points = {{-50, -60}, {-20, -60}}, color = {0, 0, 127}));
    connect(sf1.p, j4.P[2]) annotation(
      Line(points = {{-48, -20}, {-20, -20}}, color = {0, 0, 127}));
    connect(w_maxle.P[1], j1.P[3]) annotation(
      Line(points = {{60, 80}, {60, 40}}, color = {0, 0, 127}, thickness = 0.5));
    connect(T_motor.p, w_maxle.P[2]) annotation(
      Line(points = {{28, 80}, {60, 80}}, color = {0, 0, 127}));
    connect(pendulum1.phi, controller1.angle) annotation(
      Line(points = {{80, 8}, {92, 8}, {92, 110}, {26, 110}}, color = {0, 0, 127}));
    connect(controller1.motor, T_motor.e0) annotation(
      Line(points = {{6, 110}, {6, 109}, {0, 109}, {0, 80}, {20, 80}, {20, 72}}, color = {0, 0, 127}));
  connect(timeTable.y, controller1.setpoint) annotation(
      Line(points = {{39, 130}, {39, 117}, {26, 117}}, color = {0, 0, 127}));
    annotation(
      experiment(StartTime = 0, StopTime = 25, Tolerance = 1e-06, Interval = 0.02),
  Diagram(coordinateSystem(extent = {{-80, 140}, {100, -80}})));
end test;

  model controller
  	import Modelica.Blocks.Interfaces.RealInput;
  	import Modelica.Blocks.Interfaces.RealOutput;
  	
  	parameter Real g_P = 1;
  	parameter Real g_I = 1;
  	parameter Real g_D = 1;
  	parameter Modelica.Units.SI.Time sampleTime = 0.0025;
  	parameter Real limit = 100;
  	
  	RealInput setpoint(quantity="Angle") "Setpoint" annotation(  
  		Placement(transformation(origin = {-158, 20}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {-96, 70}, extent = {{-10, -10}, {10, 10}})));
  	RealInput angle(quantity="Angle") "Angle of the pendulum" annotation(  
  		Placement(transformation(origin = {-158, -6}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {-96, 0}, extent = {{-10, -10}, {10, 10}})));
  	RealOutput motor(quantity="Torque") "Motor drive" annotation(  
  		Placement(transformation(origin = {226, 0}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {104, 0}, extent = {{-10, -10}, {10, 10}})));
  Modelica.Blocks.Discrete.Sampler sampler(samplePeriod = sampleTime)  annotation(
      Placement(transformation(origin = {-126, -6}, extent = {{-10, -10}, {10, 10}})));
  Modelica.Blocks.Math.Add add(k1 = 1, k2 = -1)  annotation(
      Placement(transformation(origin = {-86, 0}, extent = {{-10, -10}, {10, 10}})));
  Modelica.Blocks.Math.Gain gain(k = g_P)  annotation(
      Placement(transformation(origin = {-30, 0}, extent = {{-10, -10}, {10, 10}})));
  Modelica.Blocks.Discrete.UnitDelay unitDelay(samplePeriod = sampleTime)  annotation(
      Placement(transformation(origin = {-36, 32}, extent = {{-10, -10}, {10, 10}})));
  Modelica.Blocks.Math.MultiSum multiSum(nu = 3)  annotation(
      Placement(transformation(origin = {122, 0}, extent = {{-10, -10}, {10, 10}})));
  Modelica.Blocks.Math.Gain gain1(k = g_D / sampleTime)  annotation(
      Placement(transformation(origin = {56, 38}, extent = {{-10, -10}, {10, 10}})));
  Modelica.Blocks.Math.Add add1(k1 = +1, k2 = -1)  annotation(
      Placement(transformation(origin = {8, 38}, extent = {{-10, -10}, {10, 10}})));
  Modelica.Blocks.Discrete.Sampler sampler1(samplePeriod = sampleTime) annotation(
      Placement(transformation(origin = {-126, 20}, extent = {{-10, -10}, {10, 10}})));
  Modelica.Blocks.Discrete.ZeroOrderHold zeroOrderHold(samplePeriod = sampleTime)  annotation(
      Placement(transformation(origin = {192, 0}, extent = {{-10, -10}, {10, 10}})));
  Modelica.Blocks.Nonlinear.Limiter limiter(uMax = limit)  annotation(
      Placement(transformation(origin = {158, 0}, extent = {{-10, -10}, {10, 10}})));
  Modelica.Blocks.Discrete.UnitDelay unitDelay1(samplePeriod = sampleTime) annotation(
      Placement(transformation(origin = {50, -50}, extent = {{-10, -10}, {10, 10}})));
  Modelica.Blocks.Math.Gain gain11(k = g_I*sampleTime) annotation(
      Placement(transformation(origin = {-30, -44}, extent = {{10, -10}, {-10, 10}}, rotation = 180)));
  Modelica.Blocks.Math.Add add11(k1 = +1, k2 = +1) annotation(
      Placement(transformation(origin = {14, -50}, extent = {{-10, -10}, {10, 10}}, rotation = -0)));
  equation
    connect(angle, sampler.u) annotation(
      Line(points = {{-158, -6}, {-138, -6}}, color = {0, 0, 127}));
    connect(sampler.y, add.u2) annotation(
      Line(points = {{-115, -6}, {-99, -6}}, color = {0, 0, 127}));
    connect(add.y, gain.u) annotation(
      Line(points = {{-75, 0}, {-42, 0}}, color = {0, 0, 127}));
    connect(gain.y, multiSum.u[1]) annotation(
      Line(points = {{-19, 0}, {112, 0}}, color = {0, 0, 127}));
    connect(gain1.y, multiSum.u[2]) annotation(
      Line(points = {{67, 38}, {95, 38}, {95, 0}, {111, 0}}, color = {0, 0, 127}));
    connect(unitDelay.y, add1.u2) annotation(
      Line(points = {{-25, 32}, {-4, 32}}, color = {0, 0, 127}));
    connect(add.y, add1.u1) annotation(
      Line(points = {{-74, 0}, {-62, 0}, {-62, 54}, {-12, 54}, {-12, 44}, {-4, 44}}, color = {0, 0, 127}));
    connect(add.y, unitDelay.u) annotation(
      Line(points = {{-74, 0}, {-62, 0}, {-62, 32}, {-48, 32}}, color = {0, 0, 127}));
    connect(add1.y, gain1.u) annotation(
      Line(points = {{20, 38}, {44, 38}}, color = {0, 0, 127}));
    connect(setpoint, sampler1.u) annotation(
      Line(points = {{-158, 20}, {-138, 20}}, color = {0, 0, 127}));
    connect(sampler1.y, add.u1) annotation(
      Line(points = {{-114, 20}, {-110, 20}, {-110, 6}, {-98, 6}}, color = {0, 0, 127}));
    connect(multiSum.y, limiter.u) annotation(
      Line(points = {{134, 0}, {146, 0}}, color = {0, 0, 127}));
    connect(limiter.y, zeroOrderHold.u) annotation(
      Line(points = {{170, 0}, {180, 0}}, color = {0, 0, 127}));
    connect(zeroOrderHold.y, motor) annotation(
      Line(points = {{204, 0}, {226, 0}}, color = {0, 0, 127}));
  connect(unitDelay1.y, multiSum.u[3]) annotation(
      Line(points = {{61, -50}, {94, -50}, {94, 0}, {112, 0}}, color = {0, 0, 127}));
  connect(unitDelay1.y, add11.u2) annotation(
      Line(points = {{62, -50}, {80, -50}, {80, -74}, {-10, -74}, {-10, -56}, {2, -56}}, color = {0, 0, 127}));
  connect(gain11.y, add11.u1) annotation(
      Line(points = {{-19, -44}, {2, -44}}, color = {0, 0, 127}));
  connect(add.y, gain11.u) annotation(
      Line(points = {{-74, 0}, {-62, 0}, {-62, -44}, {-42, -44}}, color = {0, 0, 127}));
  connect(add11.y, unitDelay1.u) annotation(
      Line(points = {{26, -50}, {38, -50}}, color = {0, 0, 127}));
    annotation(
      Icon(graphics = {Rectangle(lineColor = {211, 211, 211}, fillColor = {255, 255, 255}, fillPattern = FillPattern.Sphere, lineThickness = 2, extent = {{-100, 100}, {100, -100}}, radius = 25)}),
  experiment(StartTime = 0, StopTime = 1, Tolerance = 1e-06, Interval = 0.002),
  Diagram(coordinateSystem(extent = {{-180, 60}, {240, -20}})));
end controller;
  annotation(
    uses(Modelica(version = "4.1.0")));
end test2d;