% Modeling of various parameters according to paper

M = 1.5;
R = 1;
Jx=1/2*M*R^2
Jy=1/2*M*R^2
Jz=1.2/2*M*R^2

Step input: The Step block provides a step between two definable levels at a specified time. If the
simulation time is less than the Step time parameter value, the block's output is the Initial value
parameter value. For simulation time greater than or equal to the Step time, the output is the Final
value parameter value.

Transfer Function:

The Transfer Fcn block implements a transfer function where the input (u) and output (y) can be
expressed in transfer function form as the following equation

where nn and nd are the number of numerator and denominator coefficients, respectively. num and den
contain the coefficients of the numerator and denominator in descending powers of s. num can be a
vector or matrix, den must be a vector, and both are specified as parameters on the block dialog box.
The order of the denominator must be greater than or equal to the order of the numerator.

A Transfer Fcn block takes a scalar input. If the numerator of the block's transfer function is a vector, the
block's output is also scalar. However, if the numerator is a matrix, the transfer function expands the
input into an output vector equal in width to the number of rows in the numerator. For example, a two-
row numerator results in a block with scalar input and vector output. The width of the output vector is
two.

To Workspace : Save the output in workspace for plotting the variable.

 Time Series Plot:
3

2.5

2
data

1.5

0.5

0
0 0.5 1 1.5 2 2.5 3
Time (seconds)

Time Series Plot:

3

2.5

2
data

1.5

0.5

0
0 0.5 1 1.5 2 2.5 3
Time (seconds)
 Time Series Plot:
3

2.5

2
data

1.5

0.5

0
0 0.5 1 1.5 2 2.5 3
Time (seconds)

The PID Controller block implements a PID controller (PID, PI, PD, P only, or I only). The block is identical
to the Discrete PID Controller block with the Time domain parameter set to Continuous-time.

The block output is a weighted sum of the input signal, the integral of the input signal, and the
derivative of the input signal. The weights are the proportional, integral, and derivative gain parameters.
A first-order pole filters the derivative action.

The block supports several controller types and structures. Configurable options in the block include:

Controller type (PID, PI, PD, P only, or I only) — See the Controller parameter.
 Time Series Plot:
1.4

1.2

0.8
data

0.6

0.4

0.2

0
0 1 2 3 4 5 6 7 8 9 10
Time (seconds)

Time Series Plot:

1.4

1.2

0.8
data

0.6

0.4

0.2

0
0 1 2 3 4 5 6 7 8 9 10
Time (seconds)

Time Series Plot:

1.4

1.2

0.8
data

0.6

0.4

0.2

0
0 1 2 3 4 5 6 7 8 9 10
Time (seconds)