<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE exportData>
<exportData ApplicationVersion="1.1.136-b4" ApplicationName="ZWorkbench">
  <LibraryRefs/>
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    <zp n="schema.formatorientation" v="0"/>
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      <zp n="fbd.datatype" v="Float32"/>
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    <Chld InstanceFactoryInfo="VARIABLE_FBD" ID="15" Name="t" fbdvar.default="0" fbdvar.const="0" fbdvar.eeprom="0" fbdvar.global="0">
      <zp n="fbd.datatype" v="Bool"/>
      <zp n="fbdvar.access" v="0"/>
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      <zp n="fbd.datatype" v="Float32"/>
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    <Chld InstanceFactoryInfo="VARIABLE_FBD" ID="22" Name="t-1" fbdvar.default="0" fbdvar.const="0" fbdvar.eeprom="0" fbdvar.global="0">
      <zp n="fbd.datatype" v="Bool"/>
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    <Chld InstanceFactoryInfo="VARIABLE_FBD" ID="36" Name="e(t)" fbdvar.default="0" fbdvar.const="0" fbdvar.eeprom="0" fbdvar.global="0">
      <zp n="fbd.datatype" v="Float32"/>
      <zp n="fbdvar.access" v="0"/>
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    <Chld InstanceFactoryInfo="VARIABLE_FBD" ID="38" Name="e(t-1)" fbdvar.default="0" fbdvar.const="0" fbdvar.eeprom="0" fbdvar.global="0">
      <zp n="fbd.datatype" v="Float32"/>
      <zp n="fbdvar.access" v="0"/>
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    <Chld InstanceFactoryInfo="VARIABLE_FBD" ID="65" Name="P(t)" fbdvar.default="0" fbdvar.const="0" fbdvar.eeprom="0" fbdvar.global="0">
      <zp n="fbd.datatype" v="Float32"/>
      <zp n="fbdvar.access" v="0"/>
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    <Chld InstanceFactoryInfo="VARIABLE_FBD" ID="80" Name="I(t)" fbdvar.default="0" fbdvar.const="0" fbdvar.eeprom="0" fbdvar.global="0">
      <zp n="fbd.datatype" v="Float32"/>
      <zp n="fbdvar.access" v="0"/>
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    <Chld InstanceFactoryInfo="VARIABLE_FBD" ID="81" Name="I(t-1)" fbdvar.default="0" fbdvar.const="0" fbdvar.eeprom="0" fbdvar.global="0">
      <zp n="fbd.datatype" v="Float32"/>
      <zp n="fbdvar.access" v="0"/>
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    <Chld InstanceFactoryInfo="MacrosIn" ID="1" Name="En" fbd.pos="70;150" fbd.description="Вкл/Выкл" fbd.zorder="1" fbd.blocking="1" block.macro_in_default="1">
      <zp n="fbd.datatype" v="Bool"/>
      <Chld InstanceFactoryInfo="OUTPUT_BLOCK" ID="out" pin.debugpoint="0" pin.inversion="0"/>
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    <Chld InstanceFactoryInfo="MacrosIn" ID="10" Name="Sens" fbd.pos="80;400" fbd.description="датчик" fbd.zorder="10" fbd.blocking="0" block.macro_in_default="0">
      <zp n="fbd.datatype" v="Float32"/>
      <Chld InstanceFactoryInfo="OUTPUT_BLOCK" ID="out" pin.debugpoint="0" pin.inversion="0"/>
    </Chld>
    <Chld InstanceFactoryInfo="MAX" ID="100" Name="Блок_5" fbd.pos="840;990" fbd.description="" fbd.zorder="100" fbd.blocking="0" fbd.isCaption="0" block.input_count="2">
      <zp n="fbd.datatype" v="Float32"/>
      <Chld InstanceFactoryInfo="INPUT_BLOCK" ID="in0" fbd.isCaption="1" pin.inputconst="0" pin.valueconst="0">
        <zp n="pin.inputmode" v="0"/>
        <zp n="fbd.formatnumber" v="10"/>
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      <Chld InstanceFactoryInfo="INPUT_BLOCK" ID="in1" fbd.isCaption="1" pin.inputconst="1" pin.valueconst="0">
        <zp n="pin.inputmode" v="0"/>
        <zp n="fbd.formatnumber" v="10"/>
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      <Chld InstanceFactoryInfo="OUTPUT_BLOCK" ID="max" fbd.isCaption="1" pin.debugpoint="0" pin.inversion="0"/>
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    <Chld InstanceFactoryInfo="TEXT" ID="107" Name="Текст29111" primitive.localId="0" fbd.size="100;190" fbd.zorder="107" fbd.blocking="0" fbd.pos="670;1040" fbd.backcolor="16777215" fbd.forecolor="4278190080" primitive.text="А ещё ограничиваем интегральную составляющую" fbd.font="MS Shell Dlg 2,14,-1,5,50,0,0,0,0,0">
      <zp n="fbd.pentype" v="1"/>
      <zp n="fbd.align" v="1"/>
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    <Chld InstanceFactoryInfo="MacrosIn" ID="11" Name="Kp" fbd.pos="80;670" fbd.description="Коэффициент П" fbd.zorder="11" fbd.blocking="1" block.macro_in_default="1">
      <zp n="fbd.datatype" v="Float32"/>
      <Chld InstanceFactoryInfo="OUTPUT_BLOCK" ID="out" pin.debugpoint="0" pin.inversion="0"/>
    </Chld>
    <Chld InstanceFactoryInfo="RECT" ID="113" Name="Прямоугольник281111" primitive.localId="0" fbd.size="370;1110" fbd.zorder="-1.6000001192092896" fbd.blocking="0" fbd.pos="60;1300" fbd.backcolor="4294967295" fbd.forecolor="4278190080" fbd.penwidth="1" fbd.penradius="0">
      <zp n="fbd.pentype" v="1"/>
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    <Chld InstanceFactoryInfo="TEXT" ID="114" Name="Текст29112" primitive.localId="0" fbd.size="80;1090" fbd.zorder="114" fbd.blocking="0" fbd.pos="70;1320" fbd.backcolor="16777215" fbd.forecolor="4278190080" primitive.text="Получаем дифференциальную составляющую D(t) = Kd * ( e(t) - e(t-1) );&#10;Работает так: вычисляем разность между текущей и предыдущей ошибкой (получили их ранее) и умножаем на коэф-т Kd" fbd.font="MS Shell Dlg 2,14,-1,5,50,0,0,0,0,0">
      <zp n="fbd.pentype" v="1"/>
      <zp n="fbd.align" v="1"/>
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    <Chld InstanceFactoryInfo="INVAR" ID="115" Name="e(t)_4" fbd.pos="260;1470" fbd.description="" fbd.zorder="115" fbd.blocking="0" fbd.isCaption="0" block.readOption="0" block.var_prior="0" VarLocal="36" block.var_device="">
      <zp n="block.var_type" v="0"/>
      <Chld InstanceFactoryInfo="OUTPUT_BLOCK" ID="out" fbd.isCaption="0" pin.debugpoint="0" pin.inversion="0"/>
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    <Chld InstanceFactoryInfo="INVAR" ID="116" Name="e(t-1)_2" fbd.pos="260;1490" fbd.description="" fbd.zorder="116" fbd.blocking="0" fbd.isCaption="0" block.readOption="0" block.var_prior="0" VarLocal="38" block.var_device="">
      <zp n="block.var_type" v="0"/>
      <Chld InstanceFactoryInfo="OUTPUT_BLOCK" ID="out" fbd.isCaption="0" pin.debugpoint="0" pin.inversion="0"/>
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    <Chld InstanceFactoryInfo="SUM" ID="117" Name="Блок_6" fbd.pos="410;1460" fbd.description="" fbd.zorder="117" fbd.blocking="0" fbd.isCaption="0" block.is_overflow="0" block.input_count="2">
      <zp n="fbd.datatype" v="Float32"/>
      <zp n="block.type_overflow" v="3"/>
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        <zp n="pin.inputmode" v="0"/>
        <zp n="fbd.formatnumber" v="10"/>
      </Chld>
      <Chld InstanceFactoryInfo="INPUT_SUM" ID="in1" fbd.isCaption="1" pin.inputconst="0" pin.valueconst="0" pin.inversion="1">
        <zp n="pin.inputmode" v="0"/>
        <zp n="fbd.formatnumber" v="10"/>
      </Chld>
      <Chld InstanceFactoryInfo="OUTPUT_BLOCK" ID="out" fbd.isCaption="0" pin.debugpoint="0" pin.inversion="0"/>
    </Chld>
    <Chld InstanceFactoryInfo="MUL" ID="122" Name="Блок_7" fbd.pos="570;1470" fbd.description="" fbd.zorder="122" fbd.blocking="0" fbd.isCaption="0" block.is_overflow="0" block.input_count="2">
      <zp n="fbd.datatype" v="Float32"/>
      <zp n="block.type_overflow" v="3"/>
      <Chld InstanceFactoryInfo="INPUT_MUI" ID="in0" fbd.isCaption="1" pin.inputconst="0" pin.valueconst="0" pin.inversion="0">
        <zp n="pin.inputmode" v="0"/>
        <zp n="fbd.formatnumber" v="10"/>
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      <Chld InstanceFactoryInfo="INPUT_MUI" ID="in1" fbd.isCaption="1" pin.inputconst="0" pin.valueconst="0" pin.inversion="0">
        <zp n="pin.inputmode" v="0"/>
        <zp n="fbd.formatnumber" v="10"/>
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      <Chld InstanceFactoryInfo="OUTPUT_BLOCK" ID="out" fbd.isCaption="0" pin.debugpoint="0" pin.inversion="0"/>
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    <Chld InstanceFactoryInfo="INVAR" ID="127" Name="D(t)" fbd.pos="730;1490" fbd.description="" fbd.zorder="127" fbd.blocking="0" fbd.isCaption="0" block.readOption="0" block.var_prior="0" VarLocal="126" block.var_device="">
      <zp n="block.var_type" v="1"/>
      <Chld InstanceFactoryInfo="INPUT_BLOCK" ID="in" fbd.isCaption="0" pin.inputconst="0" pin.valueconst="0">
        <zp n="pin.inputmode" v="0"/>
        <zp n="fbd.formatnumber" v="10"/>
      </Chld>
    </Chld>
    <Chld InstanceFactoryInfo="MacrosIn" ID="13" Name="Ki" fbd.pos="80;970" fbd.description="Коэффициент И" fbd.zorder="13" fbd.blocking="1" block.macro_in_default="1">
      <zp n="fbd.datatype" v="Float32"/>
      <Chld InstanceFactoryInfo="OUTPUT_BLOCK" ID="out" pin.debugpoint="0" pin.inversion="0"/>
    </Chld>
    <Chld InstanceFactoryInfo="TEXT" ID="135" Name="Текст291121" primitive.localId="0" fbd.size="80;730" fbd.zorder="135" fbd.blocking="0" fbd.pos="60;1730" fbd.backcolor="16777215" fbd.forecolor="4278190080" primitive.text="Ну и наконец-то получаем значение ПИД-регулятора       u(t) = P(t) + I(t) + D(t)&#10;тут всё просто - суммируем (П+И+Д), добавляем смещение выхода и ограничиваем выход минимальным и максимальным значением" fbd.font="MS Shell Dlg 2,14,-1,5,50,0,0,0,0,0">
      <zp n="fbd.pentype" v="1"/>
      <zp n="fbd.align" v="1"/>
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    <Chld InstanceFactoryInfo="INVAR" ID="136" Name="e(t)_41" fbd.pos="150;1840" fbd.description="" fbd.zorder="136" fbd.blocking="0" fbd.isCaption="0" block.readOption="0" block.var_prior="0" VarLocal="65" block.var_device="">
      <zp n="block.var_type" v="0"/>
      <Chld InstanceFactoryInfo="OUTPUT_BLOCK" ID="out" fbd.isCaption="0" pin.debugpoint="0" pin.inversion="0"/>
    </Chld>
    <Chld InstanceFactoryInfo="INVAR" ID="137" Name="e(t-1)_21" fbd.pos="150;1860" fbd.description="" fbd.zorder="137" fbd.blocking="0" fbd.isCaption="0" block.readOption="0" block.var_prior="0" VarLocal="80" block.var_device="">
      <zp n="block.var_type" v="0"/>
      <Chld InstanceFactoryInfo="OUTPUT_BLOCK" ID="out" fbd.isCaption="0" pin.debugpoint="0" pin.inversion="0"/>
    </Chld>
    <Chld InstanceFactoryInfo="MacrosIn" ID="139" Name="Ymax" fbd.pos="100;1970" fbd.description="Макс. ограничение выхода" fbd.zorder="139" fbd.blocking="1" block.macro_in_default="100">
      <zp n="fbd.datatype" v="Float32"/>
      <Chld InstanceFactoryInfo="OUTPUT_BLOCK" ID="out" pin.debugpoint="0" pin.inversion="0"/>
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    <Chld InstanceFactoryInfo="MacrosIn" ID="14" Name="Kd" fbd.pos="110;1560" fbd.description="Коэффициент Д" fbd.zorder="14" fbd.blocking="1" block.macro_in_default="1">
      <zp n="fbd.datatype" v="Float32"/>
      <Chld InstanceFactoryInfo="OUTPUT_BLOCK" ID="out" pin.debugpoint="0" pin.inversion="0"/>
    </Chld>
    <Chld InstanceFactoryInfo="RECT" ID="140" Name="Прямоугольник2811111" primitive.localId="0" fbd.size="370;1110" fbd.zorder="-1.7000001430511475" fbd.blocking="0" fbd.pos="50;1710" fbd.backcolor="4294967295" fbd.forecolor="4278190080" fbd.penwidth="1" fbd.penradius="0">
      <zp n="fbd.pentype" v="1"/>
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    <Chld InstanceFactoryInfo="SUM" ID="141" Name="Блок_61" fbd.pos="300;1830" fbd.description="" fbd.zorder="141" fbd.blocking="0" fbd.isCaption="0" block.is_overflow="0" block.input_count="3">
      <zp n="fbd.datatype" v="Float32"/>
      <zp n="block.type_overflow" v="3"/>
      <Chld InstanceFactoryInfo="INPUT_SUM" ID="in0" fbd.isCaption="1" pin.inputconst="0" pin.valueconst="0" pin.inversion="0">
        <zp n="pin.inputmode" v="0"/>
        <zp n="fbd.formatnumber" v="10"/>
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      <Chld InstanceFactoryInfo="INPUT_SUM" ID="in1" fbd.isCaption="1" pin.inputconst="0" pin.valueconst="0" pin.inversion="0">
        <zp n="pin.inputmode" v="0"/>
        <zp n="fbd.formatnumber" v="10"/>
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      <Chld InstanceFactoryInfo="INPUT_SUM" ID="in2" fbd.isCaption="1" pin.inputconst="0" pin.valueconst="0" pin.inversion="0">
        <zp n="pin.inputmode" v="0"/>
        <zp n="fbd.formatnumber" v="10"/>
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      <Chld InstanceFactoryInfo="OUTPUT_BLOCK" ID="out" fbd.isCaption="0" pin.debugpoint="0" pin.inversion="0"/>
    </Chld>
    <Chld InstanceFactoryInfo="INVAR" ID="142" Name="D(t)1" fbd.pos="560;1860" fbd.description="" fbd.zorder="142" fbd.blocking="0" fbd.isCaption="0" block.readOption="0" block.var_prior="0" VarLocal="151" block.var_device="">
      <zp n="block.var_type" v="1"/>
      <Chld InstanceFactoryInfo="INPUT_BLOCK" ID="in" fbd.isCaption="0" pin.inputconst="0" pin.valueconst="0">
        <zp n="pin.inputmode" v="0"/>
        <zp n="fbd.formatnumber" v="10"/>
      </Chld>
    </Chld>
    <Chld InstanceFactoryInfo="INVAR" ID="148" Name="D(t)_2" fbd.pos="150;1880" fbd.description="" fbd.zorder="148" fbd.blocking="0" fbd.isCaption="0" block.readOption="0" block.var_prior="0" VarLocal="126" block.var_device="">
      <zp n="block.var_type" v="0"/>
      <Chld InstanceFactoryInfo="OUTPUT_BLOCK" ID="out" fbd.isCaption="0" pin.debugpoint="0" pin.inversion="0"/>
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    <Chld InstanceFactoryInfo="INTERVAL" ID="152" Name="Блок_8" fbd.pos="910;1920" fbd.description="" fbd.zorder="152" fbd.blocking="0" fbd.isCaption="0">
      <zp n="fbd.datatype" v="Float32"/>
      <Chld InstanceFactoryInfo="OUTPUT_BLOCK" ID="hi" fbd.isCaption="1" pin.debugpoint="0" pin.inversion="0"/>
      <Chld InstanceFactoryInfo="OUTPUT_BLOCK" ID="lo" fbd.isCaption="1" pin.debugpoint="0" pin.inversion="0"/>
      <Chld InstanceFactoryInfo="INPUT_BLOCK" ID="max" fbd.isCaption="1" pin.inputconst="0" pin.valueconst="0">
        <zp n="pin.inputmode" v="0"/>
        <zp n="fbd.formatnumber" v="10"/>
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      <Chld InstanceFactoryInfo="INPUT_BLOCK" ID="min" fbd.isCaption="1" pin.inputconst="0" pin.valueconst="0">
        <zp n="pin.inputmode" v="0"/>
        <zp n="fbd.formatnumber" v="10"/>
      </Chld>
      <Chld InstanceFactoryInfo="OUTPUT_BLOCK" ID="ok" fbd.isCaption="1" pin.debugpoint="0" pin.inversion="0"/>
      <Chld InstanceFactoryInfo="OUTPUT_BLOCK" ID="out" fbd.isCaption="1" pin.debugpoint="0" pin.inversion="0"/>
      <Chld InstanceFactoryInfo="INPUT_BLOCK" ID="val" fbd.isCaption="1" pin.inputconst="0" pin.valueconst="0">
        <zp n="pin.inputmode" v="0"/>
        <zp n="fbd.formatnumber" v="10"/>
      </Chld>
    </Chld>
    <Chld InstanceFactoryInfo="INVAR" ID="153" Name="u(t)" fbd.pos="540;1950" fbd.description="" fbd.zorder="153" fbd.blocking="0" fbd.isCaption="0" block.readOption="0" block.var_prior="0" VarLocal="151" block.var_device="">
      <zp n="block.var_type" v="0"/>
      <Chld InstanceFactoryInfo="OUTPUT_BLOCK" ID="out" fbd.isCaption="0" pin.debugpoint="0" pin.inversion="0"/>
    </Chld>
    <Chld InstanceFactoryInfo="MacrosIn" ID="156" Name="Ymin" fbd.pos="100;2000" fbd.description="Мин. ограничение выхода" fbd.zorder="156" fbd.blocking="1" block.macro_in_default="0">
      <zp n="fbd.datatype" v="Float32"/>
      <Chld InstanceFactoryInfo="OUTPUT_BLOCK" ID="out" pin.debugpoint="0" pin.inversion="0"/>
    </Chld>
    <Chld InstanceFactoryInfo="INVAR" ID="16" Name="t" fbd.pos="290;130" fbd.description="" fbd.zorder="16" fbd.blocking="0" fbd.isCaption="0" block.readOption="0" block.var_prior="0" VarLocal="15" block.var_device="">
      <zp n="block.var_type" v="0"/>
      <Chld InstanceFactoryInfo="OUTPUT_BLOCK" ID="out" fbd.isCaption="0" pin.debugpoint="0" pin.inversion="0"/>
    </Chld>
    <Chld InstanceFactoryInfo="SUM" ID="161" Name="Блок_9" fbd.pos="720;1940" fbd.description="" fbd.zorder="161" fbd.blocking="0" fbd.isCaption="0" block.is_overflow="0" block.input_count="2">
      <zp n="fbd.datatype" v="Float32"/>
      <zp n="block.type_overflow" v="3"/>
      <Chld InstanceFactoryInfo="INPUT_SUM" ID="in0" fbd.isCaption="1" pin.inputconst="0" pin.valueconst="0" pin.inversion="0">
        <zp n="pin.inputmode" v="0"/>
        <zp n="fbd.formatnumber" v="10"/>
      </Chld>
      <Chld InstanceFactoryInfo="INPUT_SUM" ID="in1" fbd.isCaption="1" pin.inputconst="0" pin.valueconst="0" pin.inversion="0">
        <zp n="pin.inputmode" v="0"/>
        <zp n="fbd.formatnumber" v="10"/>
      </Chld>
      <Chld InstanceFactoryInfo="OUTPUT_BLOCK" ID="out" fbd.isCaption="0" pin.debugpoint="0" pin.inversion="0"/>
    </Chld>
    <Chld InstanceFactoryInfo="MacrosIn" ID="168" Name="Yofset" fbd.pos="100;2030" fbd.description="Смещение  выхода" fbd.zorder="168" fbd.blocking="1" block.macro_in_default="0">
      <zp n="fbd.datatype" v="Float32"/>
      <Chld InstanceFactoryInfo="OUTPUT_BLOCK" ID="out" pin.debugpoint="0" pin.inversion="0"/>
    </Chld>
    <Chld InstanceFactoryInfo="INVAR" ID="17" Name="t_2" fbd.pos="530;130" fbd.description="" fbd.zorder="17" fbd.blocking="0" fbd.isCaption="0" block.readOption="0" block.var_prior="0" VarLocal="15" block.var_device="">
      <zp n="block.var_type" v="2"/>
      <Chld InstanceFactoryInfo="INPUT_BLOCK" ID="en" fbd.isCaption="1" pin.inputconst="0" pin.valueconst="1">
        <zp n="pin.inputmode" v="0"/>
        <zp n="fbd.formatnumber" v="10"/>
      </Chld>
      <Chld InstanceFactoryInfo="INPUT_BLOCK" ID="in" fbd.isCaption="0" pin.inputconst="0" pin.valueconst="1">
        <zp n="pin.inputmode" v="1"/>
        <zp n="fbd.formatnumber" v="10"/>
      </Chld>
    </Chld>
    <Chld InstanceFactoryInfo="MacrosIn" ID="2" Name="Set" fbd.pos="80;360" fbd.description="Уставка" fbd.zorder="2" fbd.blocking="0" block.macro_in_default="0">
      <zp n="fbd.datatype" v="Float32"/>
      <Chld InstanceFactoryInfo="OUTPUT_BLOCK" ID="out" pin.debugpoint="0" pin.inversion="0"/>
    </Chld>
    <Chld InstanceFactoryInfo="INVAR" ID="23" Name="t-1" fbd.pos="530;100" fbd.description="" fbd.zorder="23" fbd.blocking="0" fbd.isCaption="0" block.readOption="0" block.var_prior="0" VarLocal="22" block.var_device="">
      <zp n="block.var_type" v="1"/>
      <Chld InstanceFactoryInfo="INPUT_BLOCK" ID="in" fbd.isCaption="0" pin.inputconst="0" pin.valueconst="1">
        <zp n="pin.inputmode" v="0"/>
        <zp n="fbd.formatnumber" v="10"/>
      </Chld>
    </Chld>
    <Chld InstanceFactoryInfo="TEXT" ID="27" Name="Текст27" primitive.localId="0" fbd.size="100;310" fbd.zorder="27" fbd.blocking="0" fbd.pos="130;30" fbd.backcolor="16777215" fbd.forecolor="4278190080" primitive.text="Создаем  отсчеты  времени t и t-1&#10;Ну и управляем Пуск/Стоп" fbd.font="MS Shell Dlg 2,14,-1,5,50,0,0,0,0,0">
      <zp n="fbd.pentype" v="1"/>
      <zp n="fbd.align" v="1"/>
    </Chld>
    <Chld InstanceFactoryInfo="RECT" ID="28" Name="Прямоугольник28" primitive.localId="0" fbd.size="200;640" fbd.zorder="-1.3000000476837159" fbd.blocking="0" fbd.pos="60;20" fbd.backcolor="4294967295" fbd.forecolor="4278190080" fbd.penwidth="1" fbd.penradius="0">
      <zp n="fbd.pentype" v="1"/>
    </Chld>
    <Chld InstanceFactoryInfo="TEXT" ID="29" Name="Текст29" primitive.localId="0" fbd.size="70;890" fbd.zorder="29" fbd.blocking="0" fbd.pos="90;240" fbd.backcolor="16777215" fbd.forecolor="4278190080" primitive.text="Вычисляем ошибку и стробируем по отсчетам времени, текущую e(t) и предыдущую e(t-1) ошибку" fbd.font="MS Shell Dlg 2,14,-1,5,50,0,0,0,0,0">
      <zp n="fbd.pentype" v="1"/>
      <zp n="fbd.align" v="1"/>
    </Chld>
    <Chld InstanceFactoryInfo="MacrosOut" ID="3" Name="Y" fbd.pos="1050;1930" fbd.description="" fbd.zorder="3" fbd.blocking="0">
      <zp n="fbd.datatype" v="Float32"/>
      <Chld InstanceFactoryInfo="INPUT_BLOCK" ID="in" pin.inputconst="0" pin.valueconst="0">
        <zp n="pin.inputmode" v="0"/>
        <zp n="fbd.formatnumber" v="10"/>
      </Chld>
    </Chld>
    <Chld InstanceFactoryInfo="RECT" ID="30" Name="Прямоугольник281" primitive.localId="0" fbd.size="280;950" fbd.zorder="-1.200000023841858" fbd.blocking="0" fbd.pos="60;240" fbd.backcolor="4294967295" fbd.forecolor="4278190080" fbd.penwidth="1" fbd.penradius="0">
      <zp n="fbd.pentype" v="1"/>
    </Chld>
    <Chld InstanceFactoryInfo="SUM" ID="31" Name="Блок" fbd.pos="240;360" fbd.description="" fbd.zorder="31" fbd.blocking="0" fbd.isCaption="0" block.is_overflow="0" block.input_count="2">
      <zp n="fbd.datatype" v="Float32"/>
      <zp n="block.type_overflow" v="3"/>
      <Chld InstanceFactoryInfo="INPUT_SUM" ID="in0" fbd.isCaption="1" pin.inputconst="0" pin.valueconst="0" pin.inversion="0">
        <zp n="pin.inputmode" v="0"/>
        <zp n="fbd.formatnumber" v="10"/>
      </Chld>
      <Chld InstanceFactoryInfo="INPUT_SUM" ID="in1" fbd.isCaption="1" pin.inputconst="0" pin.valueconst="0" pin.inversion="1">
        <zp n="pin.inputmode" v="0"/>
        <zp n="fbd.formatnumber" v="10"/>
      </Chld>
      <Chld InstanceFactoryInfo="OUTPUT_BLOCK" ID="out" fbd.isCaption="0" pin.debugpoint="0" pin.inversion="0"/>
    </Chld>
    <Chld InstanceFactoryInfo="INVAR" ID="37" Name="e(t)" fbd.pos="510;380" fbd.description="" fbd.zorder="37" fbd.blocking="0" fbd.isCaption="0" block.readOption="0" block.var_prior="0" VarLocal="36" block.var_device="">
      <zp n="block.var_type" v="2"/>
      <Chld InstanceFactoryInfo="INPUT_BLOCK" ID="en" fbd.isCaption="1" pin.inputconst="0" pin.valueconst="1">
        <zp n="pin.inputmode" v="0"/>
        <zp n="fbd.formatnumber" v="10"/>
      </Chld>
      <Chld InstanceFactoryInfo="INPUT_BLOCK" ID="in" fbd.isCaption="0" pin.inputconst="0" pin.valueconst="0">
        <zp n="pin.inputmode" v="0"/>
        <zp n="fbd.formatnumber" v="10"/>
      </Chld>
    </Chld>
    <Chld InstanceFactoryInfo="INVAR" ID="39" Name="e(t-1)" fbd.pos="860;380" fbd.description="" fbd.zorder="39" fbd.blocking="0" fbd.isCaption="0" block.readOption="0" block.var_prior="0" VarLocal="38" block.var_device="">
      <zp n="block.var_type" v="2"/>
      <Chld InstanceFactoryInfo="INPUT_BLOCK" ID="en" fbd.isCaption="1" pin.inputconst="0" pin.valueconst="1">
        <zp n="pin.inputmode" v="0"/>
        <zp n="fbd.formatnumber" v="10"/>
      </Chld>
      <Chld InstanceFactoryInfo="INPUT_BLOCK" ID="in" fbd.isCaption="0" pin.inputconst="0" pin.valueconst="0">
        <zp n="pin.inputmode" v="0"/>
        <zp n="fbd.formatnumber" v="10"/>
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    </Chld>
    <Chld InstanceFactoryInfo="INVAR" ID="44" Name="t_3" fbd.pos="340;420" fbd.description="" fbd.zorder="44" fbd.blocking="0" fbd.isCaption="0" block.readOption="0" block.var_prior="0" VarLocal="15" block.var_device="">
      <zp n="block.var_type" v="0"/>
      <Chld InstanceFactoryInfo="OUTPUT_BLOCK" ID="out" fbd.isCaption="0" pin.debugpoint="0" pin.inversion="0"/>
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    <Chld InstanceFactoryInfo="INVAR" ID="47" Name="t-1_2" fbd.pos="690;420" fbd.description="" fbd.zorder="47" fbd.blocking="0" fbd.isCaption="0" block.readOption="0" block.var_prior="0" VarLocal="22" block.var_device="">
      <zp n="block.var_type" v="0"/>
      <Chld InstanceFactoryInfo="OUTPUT_BLOCK" ID="out" fbd.isCaption="0" pin.debugpoint="0" pin.inversion="0"/>
    </Chld>
    <Chld InstanceFactoryInfo="INVAR" ID="50" Name="e(t)_2" fbd.pos="640;380" fbd.description="" fbd.zorder="50" fbd.blocking="0" fbd.isCaption="0" block.readOption="0" block.var_prior="0" VarLocal="36" block.var_device="">
      <zp n="block.var_type" v="0"/>
      <Chld InstanceFactoryInfo="OUTPUT_BLOCK" ID="out" fbd.isCaption="0" pin.debugpoint="0" pin.inversion="0"/>
    </Chld>
    <Chld InstanceFactoryInfo="TEXT" ID="55" Name="Текст291" primitive.localId="0" fbd.size="70;620" fbd.zorder="55" fbd.blocking="0" fbd.pos="90;540" fbd.backcolor="16777215" fbd.forecolor="4278190080" primitive.text="Получаем пропорциональную составляющую P(t) = Kp * e (t)" fbd.font="MS Shell Dlg 2,14,-1,5,50,0,0,0,0,0">
      <zp n="fbd.pentype" v="1"/>
      <zp n="fbd.align" v="1"/>
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    <Chld InstanceFactoryInfo="RECT" ID="56" Name="Прямоугольник2811" primitive.localId="0" fbd.size="280;680" fbd.zorder="-1.4000000715255738" fbd.blocking="0" fbd.pos="60;540" fbd.backcolor="4294967295" fbd.forecolor="4278190080" fbd.penwidth="1" fbd.penradius="0">
      <zp n="fbd.pentype" v="1"/>
    </Chld>
    <Chld InstanceFactoryInfo="MUL" ID="57" Name="Блок_2" fbd.pos="390;660" fbd.description="" fbd.zorder="57" fbd.blocking="0" fbd.isCaption="0" block.is_overflow="0" block.input_count="2">
      <zp n="fbd.datatype" v="Float32"/>
      <zp n="block.type_overflow" v="3"/>
      <Chld InstanceFactoryInfo="INPUT_MUI" ID="in0" fbd.isCaption="1" pin.inputconst="0" pin.valueconst="0" pin.inversion="0">
        <zp n="pin.inputmode" v="0"/>
        <zp n="fbd.formatnumber" v="10"/>
      </Chld>
      <Chld InstanceFactoryInfo="INPUT_MUI" ID="in1" fbd.isCaption="1" pin.inputconst="0" pin.valueconst="0" pin.inversion="0">
        <zp n="pin.inputmode" v="0"/>
        <zp n="fbd.formatnumber" v="10"/>
      </Chld>
      <Chld InstanceFactoryInfo="OUTPUT_BLOCK" ID="out" fbd.isCaption="0" pin.debugpoint="0" pin.inversion="0"/>
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    <Chld InstanceFactoryInfo="INVAR" ID="62" Name="e(t)_3" fbd.pos="180;700" fbd.description="" fbd.zorder="62" fbd.blocking="0" fbd.isCaption="0" block.readOption="0" block.var_prior="0" VarLocal="36" block.var_device="">
      <zp n="block.var_type" v="0"/>
      <Chld InstanceFactoryInfo="OUTPUT_BLOCK" ID="out" fbd.isCaption="0" pin.debugpoint="0" pin.inversion="0"/>
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    <Chld InstanceFactoryInfo="INVAR" ID="66" Name="P(t)" fbd.pos="560;680" fbd.description="" fbd.zorder="66" fbd.blocking="0" fbd.isCaption="0" block.readOption="0" block.var_prior="0" VarLocal="65" block.var_device="">
      <zp n="block.var_type" v="1"/>
      <Chld InstanceFactoryInfo="INPUT_BLOCK" ID="in" fbd.isCaption="0" pin.inputconst="0" pin.valueconst="0">
        <zp n="pin.inputmode" v="0"/>
        <zp n="fbd.formatnumber" v="10"/>
      </Chld>
    </Chld>
    <Chld InstanceFactoryInfo="RECT" ID="70" Name="Прямоугольник28111" primitive.localId="0" fbd.size="450;1110" fbd.zorder="-1.5000000953674317" fbd.blocking="0" fbd.pos="60;840" fbd.backcolor="4294967295" fbd.forecolor="4278190080" fbd.penwidth="1" fbd.penradius="0">
      <zp n="fbd.pentype" v="1"/>
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    <Chld InstanceFactoryInfo="TEXT" ID="71" Name="Текст2911" primitive.localId="0" fbd.size="100;950" fbd.zorder="71" fbd.blocking="0" fbd.pos="80;860" fbd.backcolor="16777215" fbd.forecolor="4278190080" primitive.text="Получаем интегральную составляющую I(t) = I(t-1) + Ki * e (t)&#10;Работает так: вычисляем I(t), запоминаем (защелкиваем по t), соответственно через такт  защелкиваем значение  I(t-1) и прибавляем для получения нового текущего  I(t)&#10;" fbd.font="MS Shell Dlg 2,14,-1,5,50,0,0,0,0,0">
      <zp n="fbd.pentype" v="1"/>
      <zp n="fbd.align" v="1"/>
    </Chld>
    <Chld InstanceFactoryInfo="MUL" ID="72" Name="Блок_21" fbd.pos="400;960" fbd.description="" fbd.zorder="72" fbd.blocking="0" fbd.isCaption="0" block.is_overflow="0" block.input_count="2">
      <zp n="fbd.datatype" v="Float32"/>
      <zp n="block.type_overflow" v="3"/>
      <Chld InstanceFactoryInfo="INPUT_MUI" ID="in0" fbd.isCaption="1" pin.inputconst="0" pin.valueconst="0" pin.inversion="0">
        <zp n="pin.inputmode" v="0"/>
        <zp n="fbd.formatnumber" v="10"/>
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      <Chld InstanceFactoryInfo="INPUT_MUI" ID="in1" fbd.isCaption="1" pin.inputconst="0" pin.valueconst="0" pin.inversion="0">
        <zp n="pin.inputmode" v="0"/>
        <zp n="fbd.formatnumber" v="10"/>
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      <Chld InstanceFactoryInfo="OUTPUT_BLOCK" ID="out" fbd.isCaption="0" pin.debugpoint="0" pin.inversion="0"/>
    </Chld>
    <Chld InstanceFactoryInfo="INVAR" ID="73" Name="e(t)_31" fbd.pos="190;1000" fbd.description="" fbd.zorder="73" fbd.blocking="0" fbd.isCaption="0" block.readOption="0" block.var_prior="0" VarLocal="36" block.var_device="">
      <zp n="block.var_type" v="0"/>
      <Chld InstanceFactoryInfo="OUTPUT_BLOCK" ID="out" fbd.isCaption="0" pin.debugpoint="0" pin.inversion="0"/>
    </Chld>
    <Chld InstanceFactoryInfo="SUM" ID="77" Name="Блок_3" fbd.pos="560;970" fbd.description="" fbd.zorder="77" fbd.blocking="0" fbd.isCaption="0" block.is_overflow="0" block.input_count="2">
      <zp n="fbd.datatype" v="Float32"/>
      <zp n="block.type_overflow" v="3"/>
      <Chld InstanceFactoryInfo="INPUT_SUM" ID="in0" fbd.isCaption="1" pin.inputconst="0" pin.valueconst="0" pin.inversion="0">
        <zp n="pin.inputmode" v="0"/>
        <zp n="fbd.formatnumber" v="10"/>
      </Chld>
      <Chld InstanceFactoryInfo="INPUT_SUM" ID="in1" fbd.isCaption="1" pin.inputconst="0" pin.valueconst="0" pin.inversion="0">
        <zp n="pin.inputmode" v="0"/>
        <zp n="fbd.formatnumber" v="10"/>
      </Chld>
      <Chld InstanceFactoryInfo="OUTPUT_BLOCK" ID="out" fbd.isCaption="0" pin.debugpoint="0" pin.inversion="0"/>
    </Chld>
    <Chld InstanceFactoryInfo="INVAR" ID="83" Name="I(t)" fbd.pos="1070;1010" fbd.description="" fbd.zorder="83" fbd.blocking="0" fbd.isCaption="0" block.readOption="0" block.var_prior="0" VarLocal="80" block.var_device="">
      <zp n="block.var_type" v="2"/>
      <Chld InstanceFactoryInfo="INPUT_BLOCK" ID="en" fbd.isCaption="1" pin.inputconst="0" pin.valueconst="1">
        <zp n="pin.inputmode" v="0"/>
        <zp n="fbd.formatnumber" v="10"/>
      </Chld>
      <Chld InstanceFactoryInfo="INPUT_BLOCK" ID="in" fbd.isCaption="0" pin.inputconst="0" pin.valueconst="0">
        <zp n="pin.inputmode" v="0"/>
        <zp n="fbd.formatnumber" v="10"/>
      </Chld>
    </Chld>
    <Chld InstanceFactoryInfo="INVAR" ID="84" Name="I(t-1)" fbd.pos="400;1050" fbd.description="" fbd.zorder="84" fbd.blocking="0" fbd.isCaption="0" block.readOption="0" block.var_prior="0" VarLocal="81" block.var_device="">
      <zp n="block.var_type" v="0"/>
      <Chld InstanceFactoryInfo="OUTPUT_BLOCK" ID="out" fbd.isCaption="0" pin.debugpoint="0" pin.inversion="0"/>
    </Chld>
    <Chld InstanceFactoryInfo="INVAR" ID="89" Name="t_4" fbd.pos="910;1090" fbd.description="" fbd.zorder="89" fbd.blocking="0" fbd.isCaption="0" block.readOption="0" block.var_prior="0" VarLocal="15" block.var_device="">
      <zp n="block.var_type" v="0"/>
      <Chld InstanceFactoryInfo="OUTPUT_BLOCK" ID="out" fbd.isCaption="0" pin.debugpoint="0" pin.inversion="0"/>
    </Chld>
    <Chld InstanceFactoryInfo="INVAR" ID="92" Name="I(t)_2" fbd.pos="210;1140" fbd.description="" fbd.zorder="92" fbd.blocking="0" fbd.isCaption="0" block.readOption="0" block.var_prior="0" VarLocal="80" block.var_device="">
      <zp n="block.var_type" v="0"/>
      <Chld InstanceFactoryInfo="OUTPUT_BLOCK" ID="out" fbd.isCaption="0" pin.debugpoint="0" pin.inversion="0"/>
    </Chld>
    <Chld InstanceFactoryInfo="INVAR" ID="93" Name="I(t-1)_2" fbd.pos="450;1140" fbd.description="" fbd.zorder="93" fbd.blocking="0" fbd.isCaption="0" block.readOption="0" block.var_prior="0" VarLocal="81" block.var_device="">
      <zp n="block.var_type" v="2"/>
      <Chld InstanceFactoryInfo="INPUT_BLOCK" ID="en" fbd.isCaption="1" pin.inputconst="0" pin.valueconst="1">
        <zp n="pin.inputmode" v="0"/>
        <zp n="fbd.formatnumber" v="10"/>
      </Chld>
      <Chld InstanceFactoryInfo="INPUT_BLOCK" ID="in" fbd.isCaption="0" pin.inputconst="0" pin.valueconst="0">
        <zp n="pin.inputmode" v="0"/>
        <zp n="fbd.formatnumber" v="10"/>
      </Chld>
    </Chld>
    <Chld InstanceFactoryInfo="INVAR" ID="96" Name="t-1_3" fbd.pos="270;1180" fbd.description="" fbd.zorder="96" fbd.blocking="0" fbd.isCaption="0" block.readOption="0" block.var_prior="0" VarLocal="22" block.var_device="">
      <zp n="block.var_type" v="0"/>
      <Chld InstanceFactoryInfo="OUTPUT_BLOCK" ID="out" fbd.isCaption="0" pin.debugpoint="0" pin.inversion="0"/>
    </Chld>
    <Chld InstanceFactoryInfo="MIN" ID="99" Name="Блок_4" fbd.pos="700;980" fbd.description="" fbd.zorder="99" fbd.blocking="0" fbd.isCaption="0" block.input_count="2">
      <zp n="fbd.datatype" v="Float32"/>
      <Chld InstanceFactoryInfo="INPUT_BLOCK" ID="in0" fbd.isCaption="1" pin.inputconst="0" pin.valueconst="0">
        <zp n="pin.inputmode" v="0"/>
        <zp n="fbd.formatnumber" v="10"/>
      </Chld>
      <Chld InstanceFactoryInfo="INPUT_BLOCK" ID="in1" fbd.isCaption="1" pin.inputconst="1" pin.valueconst="100">
        <zp n="pin.inputmode" v="0"/>
        <zp n="fbd.formatnumber" v="10"/>
      </Chld>
      <Chld InstanceFactoryInfo="OUTPUT_BLOCK" ID="min" fbd.isCaption="1" pin.debugpoint="0" pin.inversion="0"/>
    </Chld>
    <Chld InstanceFactoryInfo="CONNECTION" ID="102" Name="out3" connect.localId="102" fbd.zorder="-1" fbd.blocking="0" fbd.conn.in="99/in0" fbd.conn.out="77/out" connect.type="0">
      <Point x="640" y="1000"/>
      <Point x="660" y="1000"/>
      <Point x="660" y="1000"/>
      <Point x="680" y="1000"/>
    </Chld>
    <Chld InstanceFactoryInfo="CONNECTION" ID="104" Name="min" connect.localId="104" fbd.zorder="-1" fbd.blocking="0" fbd.conn.in="100/in0" fbd.conn.out="99/min" connect.type="0">
      <Point x="780" y="1010"/>
      <Point x="795" y="1010"/>
      <Point x="795" y="1010"/>
      <Point x="820" y="1010"/>
    </Chld>
    <Chld InstanceFactoryInfo="CONNECTION" ID="106" Name="max" connect.localId="106" fbd.zorder="-1" fbd.blocking="0" fbd.conn.in="83/in" fbd.conn.out="100/max" connect.type="0">
      <Point x="920" y="1020"/>
      <Point x="960" y="1020"/>
      <Point x="960" y="1020"/>
      <Point x="1050" y="1020"/>
    </Chld>
    <Chld InstanceFactoryInfo="CONNECTION" ID="119" Name="e(t)2" connect.localId="119" fbd.zorder="-1" fbd.blocking="0" fbd.conn.in="117/in0" fbd.conn.out="115/out" connect.type="0">
      <Point x="360" y="1480"/>
      <Point x="380" y="1480"/>
      <Point x="380" y="1480"/>
      <Point x="390" y="1480"/>
    </Chld>
    <Chld InstanceFactoryInfo="CONNECTION" ID="121" Name="e(t-1)" connect.localId="121" fbd.zorder="-1" fbd.blocking="0" fbd.conn.in="117/in1" fbd.conn.out="116/out" connect.type="0">
      <Point x="360" y="1500"/>
      <Point x="380" y="1500"/>
      <Point x="380" y="1500"/>
      <Point x="390" y="1500"/>
    </Chld>
    <Chld InstanceFactoryInfo="CONNECTION" ID="124" Name="out4" connect.localId="124" fbd.zorder="-1" fbd.blocking="0" fbd.conn.in="122/in0" fbd.conn.out="117/out" connect.type="0">
      <Point x="490" y="1490"/>
      <Point x="520" y="1490"/>
      <Point x="520" y="1490"/>
      <Point x="550" y="1490"/>
    </Chld>
    <Chld InstanceFactoryInfo="CONNECTION" ID="125" Name="Kd" connect.localId="125" fbd.zorder="-1" fbd.blocking="0" fbd.conn.in="122/in1" fbd.conn.out="14/out" connect.type="0">
      <Point x="210" y="1570"/>
      <Point x="530" y="1570"/>
      <Point x="530" y="1510"/>
      <Point x="550" y="1510"/>
    </Chld>
    <Chld InstanceFactoryInfo="CONNECTION" ID="129" Name="out5" connect.localId="129" fbd.zorder="-1" fbd.blocking="0" fbd.conn.in="127/in" fbd.conn.out="122/out" connect.type="0">
      <Point x="650" y="1500"/>
      <Point x="680" y="1500"/>
      <Point x="680" y="1500"/>
      <Point x="710" y="1500"/>
    </Chld>
    <Chld InstanceFactoryInfo="CONNECTION" ID="143" Name="e(t)21" connect.localId="119" fbd.zorder="143" fbd.blocking="0" fbd.conn.in="141/in0" fbd.conn.out="136/out" connect.type="0">
      <Point x="250" y="1850"/>
      <Point x="275" y="1850"/>
      <Point x="275" y="1850"/>
      <Point x="280" y="1850"/>
    </Chld>
    <Chld InstanceFactoryInfo="CONNECTION" ID="144" Name="e(t-1)1" connect.localId="121" fbd.zorder="144" fbd.blocking="0" fbd.conn.in="141/in1" fbd.conn.out="137/out" connect.type="0">
      <Point x="250" y="1870"/>
      <Point x="275" y="1870"/>
      <Point x="275" y="1870"/>
      <Point x="280" y="1870"/>
    </Chld>
    <Chld InstanceFactoryInfo="CONNECTION" ID="150" Name="D(t)" connect.localId="150" fbd.zorder="-1" fbd.blocking="0" fbd.conn.in="141/in2" fbd.conn.out="148/out" connect.type="0">
      <Point x="250" y="1890"/>
      <Point x="270" y="1890"/>
      <Point x="270" y="1890"/>
      <Point x="280" y="1890"/>
    </Chld>
    <Chld InstanceFactoryInfo="CONNECTION" ID="159" Name="Ymin" connect.localId="159" fbd.zorder="-1" fbd.blocking="0" fbd.conn.in="152/min" fbd.conn.out="156/out" connect.type="1">
      <Point x="200" y="2010"/>
      <Point x="205" y="2010"/>
      <Point x="205" y="1990"/>
      <Point x="890" y="1990"/>
    </Chld>
    <Chld InstanceFactoryInfo="CONNECTION" ID="160" Name="Ymax" connect.localId="160" fbd.zorder="-1" fbd.blocking="0" fbd.conn.in="152/max" fbd.conn.out="139/out" connect.type="1">
      <Point x="200" y="1980"/>
      <Point x="205" y="1980"/>
      <Point x="205" y="1950"/>
      <Point x="890" y="1950"/>
    </Chld>
    <Chld InstanceFactoryInfo="CONNECTION" ID="163" Name="out6" connect.localId="163" fbd.zorder="-1" fbd.blocking="0" fbd.conn.in="152/val" fbd.conn.out="161/out" connect.type="0">
      <Point x="800" y="1970"/>
      <Point x="850" y="1970"/>
      <Point x="850" y="1970"/>
      <Point x="890" y="1970"/>
    </Chld>
    <Chld InstanceFactoryInfo="CONNECTION" ID="165" Name="u(t)" connect.localId="165" fbd.zorder="-1" fbd.blocking="0" fbd.conn.in="161/in0" fbd.conn.out="153/out" connect.type="0">
      <Point x="640" y="1960"/>
      <Point x="670" y="1960"/>
      <Point x="670" y="1960"/>
      <Point x="700" y="1960"/>
    </Chld>
    <Chld InstanceFactoryInfo="CONNECTION" ID="167" Name="out7" connect.localId="167" fbd.zorder="-1" fbd.blocking="0" fbd.conn.in="3/in" fbd.conn.out="152/out" connect.type="0">
      <Point x="990" y="1940"/>
      <Point x="1010" y="1940"/>
      <Point x="1010" y="1940"/>
      <Point x="1030" y="1940"/>
    </Chld>
    <Chld InstanceFactoryInfo="CONNECTION" ID="170" Name="Yofset" connect.localId="170" fbd.zorder="-1" fbd.blocking="0" fbd.conn.in="161/in1" fbd.conn.out="168/out" connect.type="0">
      <Point x="200" y="2040"/>
      <Point x="450" y="2040"/>
      <Point x="450" y="1980"/>
      <Point x="700" y="1980"/>
    </Chld>
    <Chld InstanceFactoryInfo="CONNECTION" ID="172" Name="out8" connect.localId="172" fbd.zorder="-1" fbd.blocking="0" fbd.conn.in="142/in" fbd.conn.out="141/out" connect.type="0">
      <Point x="380" y="1870"/>
      <Point x="470" y="1870"/>
      <Point x="470" y="1870"/>
      <Point x="540" y="1870"/>
    </Chld>
    <Chld InstanceFactoryInfo="CONNECTION" ID="19" Name="En" connect.localId="19" fbd.zorder="-1" fbd.blocking="0" fbd.conn.in="17/en" fbd.conn.out="1/out" connect.type="0">
      <Point x="170" y="160"/>
      <Point x="280" y="160"/>
      <Point x="280" y="160"/>
      <Point x="510" y="160"/>
    </Chld>
    <Chld InstanceFactoryInfo="CONNECTION" ID="21" Name="t" connect.localId="21" fbd.zorder="-1" fbd.blocking="0" fbd.conn.in="17/in" fbd.conn.out="16/out" connect.type="0">
      <Point x="390" y="140"/>
      <Point x="490" y="140"/>
      <Point x="490" y="140"/>
      <Point x="510" y="140"/>
    </Chld>
    <Chld InstanceFactoryInfo="CONNECTION" ID="25" Name="t" connect.localId="25" fbd.zorder="-1" fbd.blocking="0" fbd.conn.in="23/in" fbd.conn.out="16/out" connect.type="0">
      <Point x="390" y="140"/>
      <Point x="450" y="140"/>
      <Point x="450" y="110"/>
      <Point x="510" y="110"/>
    </Chld>
    <Chld InstanceFactoryInfo="CONNECTION" ID="33" Name="Set" connect.localId="33" fbd.zorder="-1" fbd.blocking="0" fbd.conn.in="31/in0" fbd.conn.out="2/out" connect.type="0">
      <Point x="180" y="370"/>
      <Point x="200" y="370"/>
      <Point x="200" y="380"/>
      <Point x="220" y="380"/>
    </Chld>
    <Chld InstanceFactoryInfo="CONNECTION" ID="35" Name="Sens" connect.localId="35" fbd.zorder="-1" fbd.blocking="0" fbd.conn.in="31/in1" fbd.conn.out="10/out" connect.type="0">
      <Point x="180" y="410"/>
      <Point x="200" y="410"/>
      <Point x="200" y="400"/>
      <Point x="220" y="400"/>
    </Chld>
    <Chld InstanceFactoryInfo="CONNECTION" ID="41" Name="out" connect.localId="41" fbd.zorder="-1" fbd.blocking="0" fbd.conn.in="37/in" fbd.conn.out="31/out" connect.type="0">
      <Point x="320" y="390"/>
      <Point x="405" y="390"/>
      <Point x="405" y="390"/>
      <Point x="490" y="390"/>
    </Chld>
    <Chld InstanceFactoryInfo="CONNECTION" ID="46" Name="t1" connect.localId="46" fbd.zorder="-1" fbd.blocking="0" fbd.conn.in="37/en" fbd.conn.out="44/out" connect.type="0">
      <Point x="440" y="430"/>
      <Point x="470" y="430"/>
      <Point x="470" y="410"/>
      <Point x="490" y="410"/>
    </Chld>
    <Chld InstanceFactoryInfo="CONNECTION" ID="49" Name="t-1" connect.localId="49" fbd.zorder="-1" fbd.blocking="0" fbd.conn.in="39/en" fbd.conn.out="47/out" connect.type="0">
      <Point x="790" y="430"/>
      <Point x="825" y="430"/>
      <Point x="825" y="410"/>
      <Point x="840" y="410"/>
    </Chld>
    <Chld InstanceFactoryInfo="CONNECTION" ID="52" Name="e(t)" connect.localId="52" fbd.zorder="-1" fbd.blocking="0" fbd.conn.in="39/in" fbd.conn.out="50/out" connect.type="0">
      <Point x="740" y="390"/>
      <Point x="790" y="390"/>
      <Point x="790" y="390"/>
      <Point x="840" y="390"/>
    </Chld>
    <Chld InstanceFactoryInfo="CONNECTION" ID="61" Name="Kp" connect.localId="61" fbd.zorder="-1" fbd.blocking="0" fbd.conn.in="57/in0" fbd.conn.out="11/out" connect.type="0">
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      <Point x="280" y="680"/>
      <Point x="280" y="680"/>
      <Point x="370" y="680"/>
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    <Chld InstanceFactoryInfo="CONNECTION" ID="64" Name="e(t)1" connect.localId="64" fbd.zorder="-1" fbd.blocking="0" fbd.conn.in="57/in1" fbd.conn.out="62/out" connect.type="0">
      <Point x="280" y="710"/>
      <Point x="330" y="710"/>
      <Point x="330" y="700"/>
      <Point x="370" y="700"/>
    </Chld>
    <Chld InstanceFactoryInfo="CONNECTION" ID="69" Name="out1" connect.localId="69" fbd.zorder="-1" fbd.blocking="0" fbd.conn.in="66/in" fbd.conn.out="57/out" connect.type="0">
      <Point x="470" y="690"/>
      <Point x="510" y="690"/>
      <Point x="510" y="690"/>
      <Point x="540" y="690"/>
    </Chld>
    <Chld InstanceFactoryInfo="CONNECTION" ID="74" Name="e(t)11" connect.localId="64" fbd.zorder="74" fbd.blocking="0" fbd.conn.in="72/in1" fbd.conn.out="73/out" connect.type="0">
      <Point x="290" y="1010"/>
      <Point x="340" y="1010"/>
      <Point x="340" y="1000"/>
      <Point x="380" y="1000"/>
    </Chld>
    <Chld InstanceFactoryInfo="CONNECTION" ID="76" Name="Ki" connect.localId="76" fbd.zorder="-1" fbd.blocking="0" fbd.conn.in="72/in0" fbd.conn.out="13/out" connect.type="0">
      <Point x="180" y="980"/>
      <Point x="280" y="980"/>
      <Point x="280" y="980"/>
      <Point x="380" y="980"/>
    </Chld>
    <Chld InstanceFactoryInfo="CONNECTION" ID="79" Name="out2" connect.localId="79" fbd.zorder="-1" fbd.blocking="0" fbd.conn.in="77/in0" fbd.conn.out="72/out" connect.type="0">
      <Point x="480" y="990"/>
      <Point x="510" y="990"/>
      <Point x="510" y="990"/>
      <Point x="540" y="990"/>
    </Chld>
    <Chld InstanceFactoryInfo="CONNECTION" ID="86" Name="I(t-1)" connect.localId="86" fbd.zorder="-1" fbd.blocking="0" fbd.conn.in="77/in1" fbd.conn.out="84/out" connect.type="0">
      <Point x="500" y="1060"/>
      <Point x="520" y="1060"/>
      <Point x="520" y="1010"/>
      <Point x="540" y="1010"/>
    </Chld>
    <Chld InstanceFactoryInfo="CONNECTION" ID="91" Name="t2" connect.localId="91" fbd.zorder="-1" fbd.blocking="0" fbd.conn.in="83/en" fbd.conn.out="89/out" connect.type="0">
      <Point x="1010" y="1100"/>
      <Point x="1030" y="1100"/>
      <Point x="1030" y="1040"/>
      <Point x="1050" y="1040"/>
    </Chld>
    <Chld InstanceFactoryInfo="CONNECTION" ID="95" Name="I(t)" connect.localId="95" fbd.zorder="-1" fbd.blocking="0" fbd.conn.in="93/in" fbd.conn.out="92/out" connect.type="0">
      <Point x="310" y="1150"/>
      <Point x="370" y="1150"/>
      <Point x="370" y="1150"/>
      <Point x="430" y="1150"/>
    </Chld>
    <Chld InstanceFactoryInfo="CONNECTION" ID="98" Name="t-11" connect.localId="98" fbd.zorder="-1" fbd.blocking="0" fbd.conn.in="93/en" fbd.conn.out="96/out" connect.type="0">
      <Point x="370" y="1190"/>
      <Point x="395" y="1190"/>
      <Point x="395" y="1170"/>
      <Point x="430" y="1170"/>
    </Chld>
  </PrjItem>
</exportData>
