%SUMMARY TwoLinkGPC - GPC control of two-link manipulator with delay
%DESCRIPTION This composite system provides an illustration
%DESCRIPTION of nonlinear GPC (Generalised Predictive Control) control
%DESCRIPTION (continuous-time) operating on a twolink manipulator.
%% Label file for system TwoLinkGPC (TwoLinkGPC_lbl.txt)
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.1 1998/04/29 09:01:43 peterg
% %% Initial revision
% %%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%% Each line should be of one of the following forms:
% a comment (ie starting with %)
% Component-name CR_name arg1,arg2,..argn
% blank
% Component type SS
Ref_1 SS external,internal
Ref_2 SS external,internal
Tau_1 SS external,internal
Tau_2 SS external,internal
Theta_1 SS external,0
Theta_2 SS external,0
Theta_1_m SS external,0
Theta_2_m SS external,0
Theta_1_r SS external,0
Theta_2_r SS external,0
% Component type msdP
spec_1
spec_2
% Component type TwoLinkP
system
% Component type TwoLinkPX
model