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}})));
        Modelica.Blocks.Sources.TimeTable timeTable(table = [
        0, 0.5*pi; 1,0; 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, 62}, extent = {{10, -10}, {-10, 10}}, rotation = -180)));
        controller2 controller(g_P = 400, g_I = 15, g_D = 20, sampleTime(displayUnit = "ms") = 0.01, limit = 20, quantizerDelta = 0.01, dacDelta = 0.01, quantizerScale = 1, dacScale = 1)  annotation(
        Placement(transformation(origin = {-8, 80}, extent = {{-10, 10}, {10, -10}}, rotation = -0)));
    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(controller.motor, T_motor.e0) annotation(
        Line(points = {{2, 80}, {20, 80}, {20, 72}}, color = {0, 0, 127}));
        connect(timeTable.y, controller.setpoint) annotation(
        Line(points = {{-39, 62}, {-24, 62}, {-24, 73}, {-18, 73}}, color = {0, 0, 127}));
        connect(pendulum1.phi, controller.angle) annotation(
        Line(points = {{80, 8}, {86, 8}, {86, 104}, {-32, 104}, {-32, 80}, {-18, 80}}, color = {0, 0, 127}));
        annotation(
        experiment(StartTime = 0, StopTime = 25, Tolerance = 1e-06, Interval = 0.02),
        Diagram(coordinateSystem(extent = {{-80, 100}, {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 Real g_G = 1;
        parameter Modelica.Units.SI.Time sampleTime = 0.0025;
        parameter Real limit = 100;

        parameter Modelica.Units.SI.Mass mass = 1;
        parameter Modelica.Units.SI.Length lCOM = 0.5;

        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 = 4)  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)));
        Modelica.Blocks.Math.Sin sin annotation(
        Placement(transformation(origin = {-36, 110}, extent = {{-10, -10}, {10, 10}})));
        Modelica.Blocks.Math.Gain gain12(k = -9.81*mass*lCOM*g_G) annotation(
        Placement(transformation(origin = {10, 110}, extent = {{-10, -10}, {10, 10}})));
    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}));
        connect(sampler.y, sin.u) annotation(
        Line(points = {{-114, -6}, {-104, -6}, {-104, 110}, {-48, 110}}, color = {0, 0, 127}));
        connect(sin.y, gain12.u) annotation(
        Line(points = {{-24, 110}, {-2, 110}}, color = {0, 0, 127}));
        connect(gain12.y, multiSum.u[4]) annotation(
        Line(points = {{22, 110}, {94, 110}, {94, 0}, {112, 0}}, 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, 120}, {240, -80}})));
    end controller;

    model Dcontroller

        parameter Integer g_P = 1;
        parameter Integer g_I = 1;
        parameter Integer g_D = 1;
        parameter Integer limit = 100;

        parameter Modelica.Units.SI.Time sampleTime = 0.0025;

        Modelica.Blocks.Interfaces.IntegerOutput motor annotation(
        Placement(transformation(origin = {100, 0}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {100, 0}, extent = {{-10, -10}, {10, 10}})));
        Modelica.Blocks.Interfaces.IntegerInput setpoint annotation(
        Placement(transformation(origin = {-100, 20}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {-92, 60}, extent = {{-20, -20}, {20, 20}})));
        Modelica.Blocks.Interfaces.IntegerInput angle annotation(
        Placement(transformation(origin = {-100, -20}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {-90, -60}, extent = {{-20, -20}, {20, 20}})));

        Integer error;
        Integer pOutput;
        Integer iOutput;
        Integer dOutput;
        Integer drive;
        Integer iInternal;
        Integer motorInt;

    protected

        parameter Integer D = integer(g_D/sampleTime);
        parameter Integer I = integer(g_I*sampleTime);

    equation
        when sample(0, sampleTime) then
            error = setpoint - angle;

            pOutput = error * g_P;
            iInternal = (error * I) + pre(iOutput);
            iOutput = iInternal;
            dOutput = (error - pre(error)) * D;

            drive = pOutput + iOutput + dOutput;
            motorInt = min(limit, max(-1*limit, drive));
        end when;

        motor = motorInt;

        annotation(
        Icon(graphics = {Rectangle(lineColor = {189, 189, 189}, fillColor = {255, 255, 255}, fillPattern = FillPattern.Sphere, lineThickness = 1.5, extent = {{-100, 100}, {100, -100}}, radius = 5)}));
    end Dcontroller;

    model Quantizer
        parameter Real Delta = 1;
        parameter Real Scale = 1;
        parameter Modelica.Units.SI.Time sampleTime = 0.01;
        Modelica.Blocks.Interfaces.RealInput u annotation(
        Placement(transformation(origin = {-122, 2}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {-90, 0}, extent = {{-20, -20}, {20, 20}})));
        Modelica.Blocks.Interfaces.IntegerOutput y annotation(
        Placement(transformation(origin = {86, -34}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {100, 0}, extent = {{-10, -10}, {10, 10}})));
    protected
        discrete Integer yInt(start=0, fixed=true);
    equation
        when sample(0, sampleTime) then
            yInt = integer(floor((Scale*u)/Delta + 0.5));
        end when;
        y = yInt;
        annotation(
        Icon(graphics = {Rectangle(lineColor = {202, 202, 202}, fillColor = {255, 255, 255}, fillPattern = FillPattern.Sphere, lineThickness = 1.25, extent = {{-100, 100}, {100, -100}}, radius = 25), Line(origin = {5, 10}, points = {{-61, -68}, {-35, -68}, {-35, -22}, {-21, -22}, {-21, 38}, {7, 38}, {7, 68}, {41, 68}, {41, 24}, {61, 24}, {61, 24}}, color = {170, 0, 0}, thickness = 1.25), Text(origin = {49, -50}, extent = {{-51, 50}, {51, -50}}, textString = "Q")}));

    end Quantizer;

    model controller2
        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 Real g_G = 1;
        parameter Modelica.Units.SI.Time sampleTime = 0.0025;
        parameter Real limit = 100;

        parameter Real quantizerDelta = 0.1;
        parameter Real dacDelta = 0.1;
        parameter Real quantizerScale = 1;
        parameter Real dacScale = 1;

        parameter Real quantizerQ = quantizerScale/quantizerDelta;
        parameter Real dacQ = dacScale/dacDelta;

        parameter Modelica.Units.SI.Mass mass = 1;
        parameter Modelica.Units.SI.Length lCOM = 0.5;

        RealInput setpoint(quantity="Angle") "Setpoint" annotation(
        Placement(transformation(origin = {-124, 16}, 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 = {-124, -10}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {-96, 0}, extent = {{-10, -10}, {10, 10}})));
        RealOutput motor(quantity="Torque") "Motor drive" annotation(
        Placement(transformation(origin = {124, 0}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {104, 0}, extent = {{-10, -10}, {10, 10}})));
        Modelica.Blocks.Discrete.Sampler sampler1(samplePeriod = sampleTime)  annotation(
        Placement(transformation(origin = {-90, -10}, extent = {{-10, -10}, {10, 10}})));
        Modelica.Blocks.Discrete.Sampler sampler2(samplePeriod = sampleTime) annotation(
        Placement(transformation(origin = {-90, 16}, extent = {{-10, -10}, {10, 10}})));
        Modelica.Blocks.Discrete.ZeroOrderHold zeroOrderHold(samplePeriod = sampleTime)  annotation(
        Placement(transformation(origin = {90, 0}, extent = {{-10, -10}, {10, 10}})));
        Dcontroller dcontroller(
        g_P = integer(g_P*quantizerQ/dacQ),
        g_I = integer(g_I*quantizerQ/dacQ),
        g_D = integer(g_D*quantizerQ/dacQ),
        limit = integer(limit*dacQ), sampleTime = sampleTime)  annotation(
        Placement(transformation(extent = {{-10, -10}, {10, 10}})));
        Quantizer quantizer1(sampleTime = sampleTime, Delta = quantizerDelta, Scale = quantizerScale)  annotation(
        Placement(transformation(origin = {-50, 16}, extent = {{-10, -10}, {10, 10}})));
        Quantizer quantizer2(sampleTime = sampleTime, Delta = quantizerDelta, Scale = quantizerScale)  annotation(
        Placement(transformation(origin = {-50, -10}, extent = {{-10, -10}, {10, 10}})));
        DAC dac(sampleTime = sampleTime, Delta = dacDelta, Scale = dacScale)  annotation(
        Placement(transformation(origin = {50, 0}, extent = {{-10, -10}, {10, 10}})));
    equation
        connect(zeroOrderHold.y, motor) annotation(
        Line(points = {{101, 0}, {123, 0}}, color = {0, 0, 127}));
        connect(setpoint, sampler2.u) annotation(
        Line(points = {{-124, 16}, {-102, 16}}, color = {0, 0, 127}));
        connect(sampler2.y, quantizer1.u) annotation(
        Line(points = {{-79, 16}, {-58, 16}}, color = {0, 0, 127}));
        connect(quantizer1.y, dcontroller.setpoint) annotation(
        Line(points = {{-40, 16}, {-20, 16}, {-20, 6}, {-10, 6}}, color = {255, 127, 0}));
        connect(angle, sampler1.u) annotation(
        Line(points = {{-124, -10}, {-102, -10}}, color = {0, 0, 127}));
        connect(sampler1.y, quantizer2.u) annotation(
        Line(points = {{-79, -10}, {-58, -10}}, color = {0, 0, 127}));
        connect(quantizer2.y, dcontroller.angle) annotation(
        Line(points = {{-40, -10}, {-20, -10}, {-20, -6}, {-8, -6}}, color = {255, 127, 0}));
        connect(dcontroller.motor, dac.u) annotation(
        Line(points = {{10, 0}, {41, 0}}, color = {255, 127, 0}));
        connect(dac.y, zeroOrderHold.u) annotation(
        Line(points = {{60, 0}, {78, 0}}, 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), Text(extent = {{-80, 80}, {80, -80}}, textString = "QDc")}),
        experiment(StartTime = 0, StopTime = 1, Tolerance = 1e-06, Interval = 0.002),
        Diagram(coordinateSystem(extent = {{-140, 40}, {140, -20}})));
    end controller2;

    model DAC
        parameter Real Delta = 1;
        parameter Real Scale = 1;
        parameter Modelica.Units.SI.Time sampleTime = 0.01;
        Modelica.Blocks.Interfaces.IntegerInput u annotation(
        Placement(transformation(origin = {-136, -2}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {-90, 0}, extent = {{-20, -20}, {20, 20}})));
        Modelica.Blocks.Interfaces.RealOutput y annotation(
        Placement(transformation(origin = {126, 10}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {100, 0}, extent = {{-10, -10}, {10, 10}})));
    equation
        // Convert integer DAC code back to physical Real value.
        y = (Delta / Scale) * u;

        annotation(
        Diagram(graphics),
        Icon(graphics = {Rectangle(lineColor = {202, 202, 202}, fillColor = {255, 255, 255}, fillPattern = FillPattern.Sphere, lineThickness = 1.25, extent = {{-100, 100}, {100, -100}}, radius = 25), Line(origin = {5, 10}, points = {{-61, -68}, {-35, -68}, {-35, -22}, {-21, -22}, {-21, 38}, {7, 38}, {7, 68}, {41, 68}, {41, 24}, {61, 24}, {61, 24}}, color = {170, 0, 0}, thickness = 1.25, smooth = Smooth.Bezier), Text(origin = {49, -50}, extent = {{-51, 50}, {51, -50}}, textString = "DA")}));
    end DAC;
    annotation(
    uses(Modelica(version = "4.1.0")));
end test2d;