DELETED mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/Cart_abg.fig
Index: mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/Cart_abg.fig
==================================================================
--- mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/Cart_abg.fig
+++ /dev/null
@@ -1,51 +0,0 @@
-#FIG 3.2
-Portrait
-Center
-Metric
-A4      
-100.00
-Single
--2
-1200 2
-2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
-	 4050 2925 4050 1575 4275 1800
-2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
-	 4275 3150 5625 3150 5400 3375
-2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
-	 4275 4950 5625 4950 5400 5175
-2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2
-	 2475 3825 2475 4275
-2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
-	 2475 3150 3825 3150 3600 3375
-2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
-	 3825 4950 2475 4950 2700 5175
-2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
-	 3825 2925 2870 1970 2870 2289
-2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
-	 4288 2957 5243 2002 5243 2320
-2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
-	 6525 3150 7875 3150 7650 3375
-2 4 0 2 31 7 101 0 -1 0.000 0 0 7 0 0 5
-	 9900 5850 225 5850 225 900 9900 900 9900 5850
-2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
-	 2475 4050 3825 4050 3600 4275
-2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
-	 4275 4050 5625 4050 5400 4275
-2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2
-	 5625 4725 5625 5175
-4 1 1 101 0 3 20 0.0000 4 270 1155 4140 3600 x-velocity\001
-4 1 0 100 0 18 20 0.0000 4 195 150 4050 3240 1\001
-4 1 4 100 0 18 20 0.0000 4 270 1320 1710 3240 SS:[drive]\001
-4 1 1 101 0 3 20 0.0000 4 270 1125 4185 4500 y-velocity\001
-4 1 1 101 0 3 20 0.0000 4 270 1905 4050 5490 angular-velocity\001
-4 1 0 100 0 18 20 0.0000 4 195 150 4050 5040 1\001
-4 1 4 100 0 18 20 0.0000 4 270 825 6165 5040 SS:[a]\001
-4 2 0 100 0 18 20 0.0000 4 270 735 2430 5040 R:r_p\001
-4 1 0 100 0 18 20 0.0000 4 270 720 2835 1845 R:r_c\001
-4 1 4 100 0 18 20 0.0000 4 270 825 4050 1440 SS:[x]\001
-4 1 0 100 0 18 20 0.0000 4 270 735 5355 1845 I:m_c\001
-4 1 0 100 0 18 20 0.0000 4 210 630 6075 3240 INTF\001
-4 0 0 100 0 18 20 0.0000 4 210 1590 8010 3240 De:Position\001
-4 1 0 100 0 18 20 0.0000 4 195 150 4050 4140 1\001
-4 1 4 100 0 18 20 0.0000 4 270 825 6165 4140 SS:[y]\001
-4 2 0 100 0 18 20 0.0000 4 270 2190 2430 4140 Sf:zero_velocity\001

DELETED mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/Cart_lbl.txt
Index: mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/Cart_lbl.txt
==================================================================
--- mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/Cart_lbl.txt
+++ /dev/null
@@ -1,55 +0,0 @@
-%% Label file for system Cart (Cart_lbl.txt)
-%SUMMARY Cart
-%DESCRIPTION Simple cart model
-
-% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-% %% Version control history
-% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-% %% $Id$
-% %% $Log$
-% %% Revision 1.1  2000/12/28 18:00:45  peterg
-% %% To RCS
-% %%
-% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-
-% Port aliases
-%ALIAS	in	drive
-%ALIAS	pendulum|out	x,y,a
-%UNITS  drive     translational N m/s
-b%UNITS  x         translational N m/s
-%UNITS  y         translational N m/s
-%UNITS  a         rotational N*m radian/s
-
-
-% Argument aliases
-%ALIAS	$1	m_c
-
-%% Each line should be of one of the following forms:
-%	     a comment (ie starting with %)
-%	     component-name	cr_name	arg1,arg2,..argn
-%	     blank
-
-% ---- Component labels ----
-
-% Component type I
-	m_c		lin	flow,m_c
-
-% Component type R
-	r_c		lin	flow,r_c
-	r_p		lin	flow,r_p
-
-% Component type SS
-	[a]	SS		external,external
-	[drive]	SS		external,external
-	[x]	SS		external,external
-	[y]	SS		external,external
-
-% Component type De
-	Position			SS	external
-
-% Component type Sf
-	zero_velocity		SS	0
-
-
-

DELETED mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/InvertedPendulumOnCart_lbl.txt
Index: mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/InvertedPendulumOnCart_lbl.txt
==================================================================
--- mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/InvertedPendulumOnCart_lbl.txt
+++ /dev/null
@@ -1,33 +0,0 @@
-%% Label file for system InvertedPendulumOnCart (InvertedPendulumOnCart_lbl.txt)
-%SUMMARY InvertedPendulumOnCart
-%DESCRIPTION An Inverted Pendulum on a Cart
-
-% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-% %% Version control history
-% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-% %% $Id$
-% %% $Log$
-% %% Revision 1.1  2000/12/28 18:00:45  peterg
-% %% To RCS
-% %%
-% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-
-% Port aliases
-%ALIAS in   F
-%UNITS F    translational  N m/s
-
-% Argument aliases
-
-%% Each line should be of one of the following forms:
-%	     a comment (ie starting with %)
-%	     component-name	cr_name	arg1,arg2,..argn
-%	     blank
-
-% ---- Component labels ----
-
-% Component type SS
-	[F]   SS	 external,internal
-
-
-

DELETED mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/InvertedPendulum_abg.fig
Index: mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/InvertedPendulum_abg.fig
==================================================================
--- mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/InvertedPendulum_abg.fig
+++ /dev/null
@@ -1,46 +0,0 @@
-#FIG 3.2
-Portrait
-Center
-Metric
-A4      
-100.00
-Single
--2
-1200 2
-2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
-	 6840 4950 8190 4950 7965 5175
-2 4 0 2 31 7 101 0 -1 0.000 0 0 7 0 0 5
-	 9675 7425 3150 7425 3150 2475 9675 2475 9675 7425
-2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
-	 4950 5400 4950 6750 5175 6525
-2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
-	 6075 5400 6075 6750 6300 6525
-2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
-	 3825 5400 3825 6750 4050 6525
-2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
-	 4950 3150 4950 4500 5175 4275
-2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
-	 6075 3150 6075 4500 6300 4275
-2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
-	 3825 3150 3825 4500 4050 4275
-2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2
-	 4050 6750 3600 6750
-2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2
-	 5175 6750 4725 6750
-2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2
-	 6300 5400 5850 5400
-4 1 4 100 0 18 20 0.0000 4 270 825 3825 7065 SS:[x]\001
-4 1 4 100 0 18 20 0.0000 4 270 825 4950 7065 SS:[y]\001
-4 1 4 100 0 18 20 0.0000 4 270 825 6075 7065 SS:[a]\001
-4 1 0 100 0 18 20 0.0000 4 270 1545 4964 5040 gRODa:rod\001
-4 1 0 100 0 18 20 0.0000 4 270 915 3825 3015 Se:x_0\001
-4 1 0 100 0 18 20 0.0000 4 270 915 4950 3015 Se:y_0\001
-4 1 0 100 0 18 20 0.0000 4 270 915 6030 3015 Se:a_0\001
-4 1 4 100 0 18 14 0.0000 4 210 270 6660 4995 [a]\001
-4 1 0 100 0 18 20 0.0000 4 210 1140 8865 5040 De:theta\001
-4 1 4 100 0 18 14 0.0000 4 210 495 3825 4725 [x_a]\001
-4 1 4 100 0 18 14 0.0000 4 210 510 4950 4725 [y_a]\001
-4 1 4 100 0 18 14 0.0000 4 210 510 6075 4725 [a_a]\001
-4 1 4 100 0 18 14 0.0000 4 210 510 3825 5265 [x_b]\001
-4 1 4 100 0 18 14 0.0000 4 210 525 4950 5265 [y_b]\001
-4 1 4 100 0 18 14 0.0000 4 210 525 6075 5265 [a_b]\001

DELETED mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/InvertedPendulum_lbl.txt
Index: mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/InvertedPendulum_lbl.txt
==================================================================
--- mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/InvertedPendulum_lbl.txt
+++ /dev/null
@@ -1,49 +0,0 @@
-%% Label file for system InvertedPendulum (InvertedPendulum_lbl.txt)
-%SUMMARY InvertedPendulum
-%DESCRIPTION <Detailed description here>
-
-% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-% %% Version control history
-% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-% %% $Id$
-% %% $Log$
-% %% Revision 1.1  2000/12/28 18:00:45  peterg
-% %% To RCS
-% %%
-% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-
-% Port aliases
-%UNITS  x         translational N m/s
-%UNITS  y         translational N m/s
-%UNITS  a         rotational N*m radian/s
-
-
-%ALIAS	in|cart	x,y,a
-
-
-% Argument aliases
-
-%% Each line should be of one of the following forms:
-%	     a comment (ie starting with %)
-%	     component-name	cr_name	arg1,arg2,..argn
-%	     blank
-
-% ---- Component labels ----
-
-% Component type De
-	theta			SS	external
-
-% Component type SS
-	[a]	SS		external,external
-	[x]	SS		external,external
-	[y]	SS		external,external
-
-% Component type Se
-	a_0	 SS	0
-	x_0      SS     0
-	y_0      SS     0
-
-% Component type gRod
-	rod	 none		l;l;j_r;m_r;g
- 

DELETED mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/idInvertedPendulumOnCart_abg.fig
Index: mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/idInvertedPendulumOnCart_abg.fig
==================================================================
--- mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/idInvertedPendulumOnCart_abg.fig
+++ /dev/null
@@ -1,26 +0,0 @@
-#FIG 3.2
-Portrait
-Center
-Metric
-A4      
-100.00
-Single
--2
-1200 2
-1 4 0 2 1 7 51 0 -1 0.000 1 0.0000 3700 4909 203 203 3497 4909 3903 4909
-1 4 0 2 1 7 51 0 -1 0.000 1 0.0000 4817 4902 203 203 4614 4902 5020 4902
-2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
-	 2475 4275 3825 4275 3600 4500
-2 4 0 2 1 7 101 0 -1 0.000 0 0 7 0 0 5
-	 5175 4725 3375 4725 3375 3825 5175 3825 5175 4725
-2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
-	 4275 4050 5230 3095 5230 3414
-2 1 0 2 1 7 101 0 -1 0.000 0 0 -1 0 0 5
-	 4477 3712 5872 2317 6052 2497 4702 3847 4522 3667
-2 4 0 2 31 7 101 0 -1 0.000 0 0 7 0 0 5
-	 6750 5400 1125 5400 1125 2025 6750 2025 6750 5400
-2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2
-	 3825 4050 3825 4500
-4 1 0 100 0 18 20 0.0000 4 210 570 4275 4365 Cart\001
-4 1 0 100 0 18 20 0.0000 4 210 630 2070 4365 Se:F\001
-4 1 0 100 0 18 20 0.0000 4 210 2445 5355 3060 InvertedPendulum\001

DELETED mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/idInvertedPendulumOnCart_desc.tex
Index: mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/idInvertedPendulumOnCart_desc.tex
==================================================================
--- mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/idInvertedPendulumOnCart_desc.tex
+++ /dev/null
@@ -1,30 +0,0 @@
-% -*-latex-*- Put EMACS into LaTeX-mode
-% Verbal description for system idInvertedPendulumOnCart (InvertedPendulumOnCart_desc.tex)
-% Generated by MTT on Thu Aug 5 10:38:16 BST 1999.
-
-% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-% %% Version control history
-% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-% %% $Id$
-% %% $Log$
-% %% Revision 1.1  2001/04/11 15:41:45  gawthrop
-% %% New identification example - friction components only
-% %%
-% %% Revision 1.1  2000/12/28 18:00:45  peterg
-% %% To RCS
-% %%
-% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-   The acausal bond graph of system \textbf{idInvertedPendulumOnCart} is
-   displayed in Figure \Ref{fig:InvertedPendulumOnCart_abg.ps} and its label
-   file is listed in Section \Ref{sec:InvertedPendulumOnCart_lbl}.
-   The subsystems are listed in Section \Ref{sec:InvertedPendulumOnCart_sub}.
-
-This is a one input, two output nonlinear system comprising an
-inverted pendulum attached by a hinge to a cart constrained to move in
-the horizontal direction. The input is the horizontal force acting on
-the cart, and the two outputs are the horizontal position and the
-pendulum angle respectively.
-
-The identification procedure estimates the two friction parameters
-$r_c$ and $r_c$ together with the cart mass $m_c$.

DELETED mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/idInvertedPendulumOnCart_input.txt
Index: mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/idInvertedPendulumOnCart_input.txt
==================================================================
--- mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/idInvertedPendulumOnCart_input.txt
+++ /dev/null
@@ -1,10 +0,0 @@
-## -*-octave-*- Put Emacs into octave-mode ##
- 
-## 
-## System idInvertedPendulumOnCart, representation input, language txt; 
-## File idInvertedPendulumOnCart_input.txt; 
-## Generated by MTT on Thu Apr  5 15:27:30 BST 2001; 
-
-
-
-idInvertedPendulumOnCart_f	= 1.0*(t<1); # Force for 1 sec

DELETED mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/idInvertedPendulumOnCart_ippp.m
Index: mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/idInvertedPendulumOnCart_ippp.m
==================================================================
--- mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/idInvertedPendulumOnCart_ippp.m
+++ /dev/null
@@ -1,51 +0,0 @@
-
-## Set up parameters
-name = "idInvertedPendulumOnCart";
-sim = sidInvertedPendulumOnCart_simpar;		# Simulation parameter
-sym = sidInvertedPendulumOnCart_sympar;		# Parameter names
-par = sidInvertedPendulumOnCart_numpar;		# Parameter values
-x0  = sidInvertedPendulumOnCart_state(par);         # Initial state
-
-## Simulation of "actual" system
-t = [0:sim.dt:sim.last]';
-one = ones(size(t));
-u = 1.0*(t<one);
-y_0 = sidInvertedPendulumOnCart_ssim(x0,par,sim,u);
-
-## Initial parameter
-par_0 = par;
-par_0(sym.r_c) = 0.1;
-par_0(sym.r_p) = 0.1;
-par_0(sym.m_c) = 1.0;
-## Identify
-extras.criterion = 1e-5;
-extras.max_iterations = 10;
-extras.v = 1e-1;		#Cautious initial step
-extras.verbose = 1;		# Show what is going on
-[par,Par,Error,Y] = ppp_identify (name,u,y_0,["r_c";"r_p";"m_c"],par_0,extras);
-
-par = par
-
-grid;
-xlabel("Time")
-title("Estimated output");
-plot(t,y_0,t,Y);
-figfig("idInvertedPendulumOnCart_outputs","pdf");
-figfig("idInvertedPendulumOnCart_outputs","ps");
-
-xlabel("Iteration")
-title("Estimation error");
-plot(Error);
-figfig("idInvertedPendulumOnCart_error","pdf");
-figfig("idInvertedPendulumOnCart_error","ps");
-
-xlabel("Iteration")
-title("Estimated Parameters");
-plot(Par([sym.r_c,sym.r_p,sym.m_c],:)');
-figfig("idInvertedPendulumOnCart_parameters","pdf");
-figfig("idInvertedPendulumOnCart_parameters","ps");
-
-
-
-
-

DELETED mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/idInvertedPendulumOnCart_lbl.txt
Index: mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/idInvertedPendulumOnCart_lbl.txt
==================================================================
--- mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/idInvertedPendulumOnCart_lbl.txt
+++ /dev/null
@@ -1,32 +0,0 @@
-%% Label file for system idInvertedPendulumOnCart (InvertedPendulumOnCart_lbl.txt)
-%SUMMARY InvertedPendulumOnCart
-%DESCRIPTION An Inverted Pendulum on a Cart
-
-% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-% %% Version control history
-% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-% %% $Id$
-% %% $Log$
-% %% Revision 1.1  2000/12/28 18:00:45  peterg
-% %% To RCS
-% %%
-% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-
-% Port aliases
-
-% Argument aliases
-
-%% Each line should be of one of the following forms:
-%	     a comment (ie starting with %)
-%	     component-name	cr_name	arg1,arg2,..argn
-%	     blank
-
-% ---- Component labels ----
-
-% Component type Se
-	F   SS	 external
-
-
-
-

DELETED mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/idInvertedPendulumOnCart_numpar.txt
Index: mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/idInvertedPendulumOnCart_numpar.txt
==================================================================
--- mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/idInvertedPendulumOnCart_numpar.txt
+++ /dev/null
@@ -1,30 +0,0 @@
-# -*-octave-*- Put Emacs into octave-mode
-# Numerical parameter file (InvertedPendulumOnCart_numpar.txt)
-# Generated by MTT at Thu Aug  5 10:07:08 BST 1999
-
-# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-# %% Version control history
-# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-# %% $Id$
-# %% $Log$
-# %% Revision 1.1  2000/12/28 18:00:45  peterg
-# %% To RCS
-# %%
-# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-# Parameters
-## Removed by MTT on Thu Nov  9 17:21:31 GMT 2000: ## Removed by MTT on Thu Nov  9 17:21:31 GMT 2000: e_s = 	1.0;			# Se
-## Removed by MTT on Thu Nov  9 17:21:31 GMT 2000: ## Removed by MTT on Thu Nov  9 17:21:31 GMT 2000: f_s = 	1.0;			# Sf
-g = 	1.0;			# Pendulum,gRODa
-## Removed by MTT on Thu Nov  9 17:21:31 GMT 2000: ## Removed by MTT on Thu Nov  9 17:21:31 GMT 2000: j_m = 	1.0;			# gRODa
-j_r = 	1.0;			# Pendulum
-l = 	1.0;			# Pendulum
-## Removed by MTT on Thu Nov  9 17:21:31 GMT 2000: ## Removed by MTT on Thu Nov  9 17:21:31 GMT 2000: l_a = 	1.0;			# gRODa
-## Removed by MTT on Thu Nov  9 17:21:31 GMT 2000: ## Removed by MTT on Thu Nov  9 17:21:31 GMT 2000: l_b = 	1.0;			# gRODa
-## Removed by MTT on Thu Nov  9 17:21:31 GMT 2000: m = 	1.0;			# gRODa
-## Removed by MTT on Thu Nov  9 17:21:31 GMT 2000: m_c = 	1.0;			# Cart
-## Removed by MTT on Thu Nov  9 17:21:31 GMT 2000: m_r = 	1.0;			# Pendulum
-r_c = 	0.1;			# Cart
-r_p = 	0.1;			# Cart
-m_c	= 1.0; # Added by MTT on Thu Nov 09 17:22:55 GMT 2000
-m_r	= 1.0; # Added by MTT on Thu Nov 09 17:22:55 GMT 2000

DELETED mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/idInvertedPendulumOnCart_rep.txt
Index: mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/idInvertedPendulumOnCart_rep.txt
==================================================================
--- mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/idInvertedPendulumOnCart_rep.txt
+++ /dev/null
@@ -1,38 +0,0 @@
-## -*-octave-*- Put Emacs into octave-mode
-## Outline report file for system idInvertedPendulumOnCart (idRC_rep.txt)
-## Generated by MTT on" Thu Apr  5 11:17:27 BST 2001.
-
-###############################################################
-## Version control history
-###############################################################
-## $Id$
-## $Log$
-## Revision 1.1  2001/04/05 11:57:29  gawthrop
-## Identification example
-##
-## Revision 1.1  2000/12/28 11:58:07  peterg
-## Put under RCS
-##
-###############################################################
-
-mtt idInvertedPendulumOnCart abg tex			# The system description
-mtt idInvertedPendulumOnCart cbg ps 		        # The causal bond graph
-mtt idInvertedPendulumOnCart struc tex	        # The system structure
-mtt idInvertedPendulumOnCart sympar tex	        # The system parameters
-## Uncomment the following lines or add others
-## mtt idInvertedPendulumOnCart dae tex	        # The system dae
-## mtt idInvertedPendulumOnCart ode tex	        # The system ode 
-## mtt idInvertedPendulumOnCart sspar tex		# Steady-state parameters
-## mtt idInvertedPendulumOnCart ss tex 		# Steady state
-## mtt idInvertedPendulumOnCart dm tex		# Descriptor matrices (of linearised system)
-## mtt idInvertedPendulumOnCart sm tex		# State matrices (of linearised system)
-## mtt idInvertedPendulumOnCart tf tex		# Transfer function (of linearised system)
-## mtt idInvertedPendulumOnCart lmfr ps		# log modulus of frequency response (of linearised system)
-## mtt idInvertedPendulumOnCart simpar tex		# Simulation parameters
-## mtt idInvertedPendulumOnCart numpar tex		# Numerical simulation parameters
-## mtt idInvertedPendulumOnCart state tex		# Simulation initial state
-## mtt idInvertedPendulumOnCart input tex		# Simulation input
-## mtt idInvertedPendulumOnCart logic tex		# Logic control
- mtt -oct idInvertedPendulumOnCart ippp ps
-
-mtt idInvertedPendulumOnCart rep txt		# This file

DELETED mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/idInvertedPendulumOnCart_simpar.txt
Index: mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/idInvertedPendulumOnCart_simpar.txt
==================================================================
--- mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/idInvertedPendulumOnCart_simpar.txt
+++ /dev/null
@@ -1,21 +0,0 @@
-# -*-octave-*- Put Emacs into octave-mode
-# Simulation parameters for system idInvertedPendulumOnCart (InvertedPendulumOnCart_simpar.txt)
-# Generated by MTT on Thu Aug 5 09:17:05 BST 1999.
-###############################################################
-## Version control history
-###############################################################
-## $Id$
-## $Log$
-## Revision 1.1  2000/12/28 18:00:45  peterg
-## To RCS
-##
-###############################################################
-
-
-LAST        = 100.0;      # Last time in simulation
-DT          = 0.1;        # Print interval
-STEPFACTOR  = 1;          # Integration steps per print interval
-WMIN        = -1;         # Minimum frequency = 10^WMIN
-WMAX        = 2;          # Maximum frequency = 10^WMAX
-WSTEPS      = 100;        # Number of frequency steps
-INPUT       = 1;          # Index of the input

DELETED mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/idInvertedPendulumOnCart_subs.r
Index: mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/idInvertedPendulumOnCart_subs.r
==================================================================
--- mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/idInvertedPendulumOnCart_subs.r
+++ /dev/null
@@ -1,27 +0,0 @@
-% Default SUBS file
-% File InvertedPendulumOnCart_subs.r
-% Generated by MTT on Thu Nov  9 18:55:44 GMT 2000.
-
-
-% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-% %% Version control history
-% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-% %% $Id$
-% %% $Log$
-% %% Revision 1.2  2001/04/02 10:57:57  gawthrop
-% %% Added missing ;
-% %%
-% %% Revision 1.1  2000/12/28 18:00:45  peterg
-% %% To RCS
-% %%
-% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-% Put algebraic substitution commands here
-
-for all x let cos(x)^2+sin(x)^2 = 1;
-
-FOR ALL x,y LET x^y = pow(x,y); % Use the pow function
-
-ON ROUNDED; % No integer output
-
-END;

DELETED mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/idRC_rep.txt
Index: mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/idRC_rep.txt
==================================================================
--- mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/idRC_rep.txt
+++ /dev/null
@@ -1,39 +0,0 @@
-## -*-octave-*- Put Emacs into octave-mode
-## Outline report file for system idRC (idRC_rep.txt)
-## Generated by MTT on" Thu Apr  5 11:17:27 BST 2001.
-
-###############################################################
-## Version control history
-###############################################################
-## $Id$
-## $Log$
-## Revision 1.1  2001/04/05 11:57:29  gawthrop
-## Identification example
-##
-## Revision 1.1  2000/12/28 11:58:07  peterg
-## Put under RCS
-##
-###############################################################
-
-mtt idRC abg tex			# The system description
-mtt idRC cbg ps 		        # The causal bond graph
-mtt idRC struc tex	        # The system structure
-mtt idRC sympar tex	        # The system parameters
-## Uncomment the following lines or add others
-## mtt idRC dae tex	        # The system dae
-## mtt idRC ode tex	        # The system ode 
-## mtt idRC sspar tex		# Steady-state parameters
-## mtt idRC ss tex 		# Steady state
-## mtt idRC dm tex		# Descriptor matrices (of linearised system)
-## mtt idRC sm tex		# State matrices (of linearised system)
-## mtt idRC tf tex		# Transfer function (of linearised system)
-## mtt idRC lmfr ps		# log modulus of frequency response (of linearised system)
-## mtt idRC simpar tex		# Simulation parameters
-## mtt idRC numpar tex		# Numerical simulation parameters
-## mtt idRC state tex		# Simulation initial state
-## mtt idRC input tex		# Simulation input
-## mtt idRC logic tex		# Logic control
- mtt -oct idRC odeso ps		# Simulation output
- mtt -oct -i euler idRC ippp ps
-
-mtt idRC rep txt		# This file

DELETED mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/sCart_lbl.txt
Index: mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/sCart_lbl.txt
==================================================================
--- mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/sCart_lbl.txt
+++ /dev/null
@@ -1,57 +0,0 @@
-%% Label file for system sCart (sCart_lbl.txt)
-%SUMMARY sCart
-%DESCRIPTION 
-
-% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-% %% Version control history
-% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-% %% $Id$
-% %% $Log$
-% %% Revision 1.1  2001/04/11 15:41:45  gawthrop
-% %% New identification example - friction components only
-% %%
-% %% Revision 1.1  2000/12/28 09:13:38  peterg
-% %% Initial revision
-% %%
-% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-
-% Port aliases
-%ALIAS	in|drive	drive_1,drive_2
-%ALIAS	pendulum|out	x_1,x_2,y_1,y_2,a_1,a_2
-
-%ALIAS	x		x_1,x_2
-%ALIAS	y		y_1,y_2
-%ALIAS	a		a_1,a_2
-
-% Argument aliases
-
-%% Each line should be of one of the following forms:
-%	     a comment (ie starting with %)
-%	     component-name	cr_name	arg1,arg2,..argn
-%	     blank
-
-% ---- Component labels ----
-
-% Component type SS
-	[a]	SS		external,external
-	[drive]	SS		external,external
-	[x]	SS		external,external
-	[y]	SS		external,external
-
-% Component type De
-	Position	SS		external
-
-% Component type I
-	m_c	slin		flow,m_c;m_cs
-
-% Component type R
-	r_c	slin		flow,r_c;r_cs
-	r_p	slin		flow,r_p;r_ps
-
-% Component type Sf
-	zero_velocity	SS		0;0
-
-
-
-

DELETED mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/sInvertedPendulum_lbl.txt
Index: mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/sInvertedPendulum_lbl.txt
==================================================================
--- mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/sInvertedPendulum_lbl.txt
+++ /dev/null
@@ -1,49 +0,0 @@
-%% Label file for system sInvertedPendulum (sInvertedPendulum_lbl.txt)
-%SUMMARY sInvertedPendulum
-%DESCRIPTION 
-
-% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-% %% Version control history
-% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-% %% $Id$
-% %% $Log$
-% %% Revision 1.1  2001/04/11 15:41:45  gawthrop
-% %% New identification example - friction components only
-% %%
-% %% Revision 1.1  2000/12/28 09:13:38  peterg
-% %% Initial revision
-% %%
-% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-
-% Port aliases
-%ALIAS  in|cart x_1,x_2,y_1,y_2,a_1,a_2
-
-%ALIAS	x	x_1,x_2
-%ALIAS	y	y_1,y_2
-%ALIAS	a	a_1,a_2
-
-% Argument aliases
-
-%% Each line should be of one of the following forms:
-%	     a comment (ie starting with %)
-%	     component-name	cr_name	arg1,arg2,..argn
-%	     blank
-
-% ---- Component labels ----
-
-% Component type SS
-	[a]	SS		external,external
-	[x]	SS		external,external
-	[y]	SS		external,external
-
-% Component type De
-	theta	SS		external
-
-% Component type Se
-	a_0	SS		0;0
-	x_0	SS		0;0
-	y_0	SS		0;0
-
-% Component type gRODa
-	rod     none		j_p;j_ps;m_p;m_ps;l_p/2;l_p/2;g			

DELETED mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/sgRODa_abg.fig
Index: mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/sgRODa_abg.fig
==================================================================
--- mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/sgRODa_abg.fig
+++ /dev/null
@@ -1,152 +0,0 @@
-#FIG 3.2
-Portrait
-Center
-Metric
-A4      
-100.00
-Single
--2
-1200 2
-2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
-	 4728 4278 5403 4953 5178 4953
-2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
-	 5854 5404 6529 6079 6304 6079
-2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
-	 4728 6078 5403 5403 5403 5628
-2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
-	 5853 4953 6528 4278 6528 4503
-2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 1
-	 4277 3827
-2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
-	 3152 2702 4277 3827 4052 3827
-2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
-	 6977 6527 8102 7652 7877 7652
-2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
-	 3152 7652 4277 6527 4277 6752
-2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
-	 6977 3827 8102 2702 8102 2927
-2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
-	 5852 5177 6527 5177 6392 5312
-2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
-	 2927 2927 2927 4952 3152 4727
-2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
-	 2927 5402 2927 7427 3152 7202
-2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
-	 2701 5176 2026 5176 2161 5311
-2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
-	 2926 1351 2926 2476 3196 2206
-2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
-	 2926 7876 2926 9001 3196 8731
-2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
-	 8328 2928 8328 4953 8553 4728
-2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
-	 8328 5403 8328 7428 8553 7203
-2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
-	 8327 1352 8327 2477 8597 2207
-2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
-	 8327 7877 8327 9002 8597 8732
-2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
-	 5626 1351 5626 4951 5851 4726
-2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
-	 5626 5401 5626 9001 5851 8776
-2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 1
-	 6526 5401
-2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
-	 6526 4951 6526 5401
-2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
-	 8551 5176 9226 5176 9091 5311
-2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 3
-	 3826 4951 6526 4051 6436 4231
-2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 2
-	 3826 4996 3826 5356
-2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 3
-	 4276 5176 3826 5176 3961 5311
-2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 3
-	 3826 5401 6301 6301 6121 6301
-2 1 0 1 5 -1 0 0 -1 0.000 0 0 -1 0 0 3
-	 3601 5401 4051 6301 3826 6301
-2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 3
-	 3601 4951 4051 4051 4051 4276
-2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 3
-	 5536 5176 5086 5176 5221 5311
-2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5
-	 6300 9675 6300 675 4950 675 4950 9675 6300 9675
-2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5
-	 9000 9675 9000 675 7650 675 7650 9675 9000 9675
-2 4 0 1 31 7 1 0 -1 0.000 0 0 7 0 0 5
-	 11025 10305 11025 225 225 225 225 10305 11025 10305
-2 4 0 1 1 7 0 0 -1 0.000 0 0 7 0 0 5
-	 3600 9675 2250 9675 2250 675 3600 675 3600 9675
-2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5
-	 10125 2250 990 2250 990 900 10125 900 10125 2250
-2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5
-	 10125 5850 990 5850 990 4500 10125 4500 10125 5850
-2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5
-	 10125 9450 990 9450 990 8100 10125 8100 10125 9450
-2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
-	 8550 5400 9225 6075 8955 6075
-2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
-	 8685 5265 8415 5535
-2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
-	 3375 5175 2025 3825 2250 3825
-2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2
-	 2700 4950 2700 5400
-2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2
-	 8550 4950 8550 5400
-4 1 6 0 0 0 20 0.0000 4 240 510 5629 5269 [1,2]\001
-4 1 -1 0 0 0 20 0.0000 4 195 135 5629 5268 1\001
-4 1 -1 0 0 0 20 0.0000 4 195 375 6933 5268 sI:J\001
-4 1 6 0 0 0 20 0.0000 4 240 510 2928 5313 [1,2]\001
-4 1 -1 0 0 0 20 0.0000 4 195 135 2928 5312 1\001
-4 1 6 0 0 0 20 0.0000 4 240 510 2973 2793 [1,2]\001
-4 1 -1 0 0 0 20 0.0000 4 195 135 2973 2792 0\001
-4 1 6 0 0 0 20 0.0000 4 240 510 2928 7743 [1,2]\001
-4 1 -1 0 0 0 20 0.0000 4 195 135 2928 7742 0\001
-4 1 6 0 0 0 20 0.0000 4 240 510 8329 5314 [1,2]\001
-4 1 -1 0 0 0 20 0.0000 4 195 135 8329 5313 1\001
-4 1 6 0 0 0 20 0.0000 4 240 510 8374 2794 [1,2]\001
-4 1 -1 0 0 0 20 0.0000 4 195 135 8374 2793 0\001
-4 1 6 0 0 0 20 0.0000 4 240 510 8329 7744 [1,2]\001
-4 1 -1 0 0 0 20 0.0000 4 195 135 8329 7743 0\001
-4 1 -1 0 0 0 20 0.0000 4 255 765 9676 5266 sI:m_y\001
-4 1 -1 0 0 0 20 0.0000 4 255 765 1531 5221 sI:m_x\001
-4 1 -1 0 0 0 20 0.0000 4 195 1215 4636 4141 sEMTF:c1\001
-4 1 -1 0 0 0 20 0.0000 4 195 1215 4681 6391 sEMTF:c2\001
-4 1 -1 0 0 0 20 0.0000 4 195 1200 7156 4141 sEMTF:s1\001
-4 1 -1 0 0 0 20 0.0000 4 195 1200 7156 6391 sEMTF:s2\001
-4 1 6 0 0 0 20 0.0000 4 240 510 3604 5314 [1,2]\001
-4 1 5 0 0 0 20 0.0000 4 195 135 3604 5313 0\001
-4 1 26 0 0 0 16 0.0000 4 210 345 6751 4456 [in]\001
-4 1 26 0 0 0 16 0.0000 4 210 465 6751 3781 [out]\001
-4 1 26 0 0 0 16 0.0000 4 210 345 6751 6076 [in]\001
-4 1 26 0 0 0 16 0.0000 4 210 465 6751 6706 [out]\001
-4 1 26 0 0 0 16 0.0000 4 210 585 6211 6526 [mod]\001
-4 1 5 0 0 0 20 0.0000 4 195 1065 4681 5266 sINTF:th\001
-4 1 1 1 0 0 20 0.0000 4 195 210 2925 10035 X\001
-4 1 1 1 0 32 20 0.0000 4 135 180 5580 9990 a\001
-4 1 1 1 0 0 20 0.0000 4 195 210 8280 9990 Y\001
-4 2 26 0 0 0 16 0.0000 4 210 585 3960 4140 [mod]\001
-4 2 26 0 0 0 16 0.0000 4 210 585 6345 4095 [mod]\001
-4 2 26 0 0 0 16 0.0000 4 210 585 3960 6210 [mod]\001
-4 1 26 0 0 0 16 0.0000 4 210 345 4590 4455 [in]\001
-4 1 26 0 0 0 16 0.0000 4 210 465 4545 3780 [out]\001
-4 1 26 0 0 0 16 0.0000 4 210 465 4590 6660 [out]\001
-4 0 26 0 0 0 16 0.0000 4 210 345 4365 6030 [in]\001
-4 1 6 0 0 0 20 0.0000 4 240 510 2972 1217 [1,2]\001
-4 1 4 0 0 0 20 0.0000 4 255 1380 2972 1216 SS:[xTip_a]\001
-4 1 6 0 0 0 20 0.0000 4 240 510 2972 9362 [1,2]\001
-4 1 4 0 0 0 20 0.0000 4 255 1380 2972 9361 SS:[xTip_b]\001
-4 1 6 0 0 0 20 0.0000 4 240 510 8373 1218 [1,2]\001
-4 1 4 0 0 0 20 0.0000 4 255 1380 8373 1217 SS:[yTip_a]\001
-4 1 6 0 0 0 20 0.0000 4 240 510 8418 9363 [1,2]\001
-4 1 4 0 0 0 20 0.0000 4 255 1380 8418 9362 SS:[yTip_b]\001
-4 1 6 0 0 0 20 0.0000 4 240 510 5672 1217 [1,2]\001
-4 1 4 0 0 0 20 0.0000 4 255 2130 5672 1216 SS:[angularTip_a]\001
-4 1 6 0 0 0 20 0.0000 4 240 510 5672 9362 [1,2]\001
-4 1 4 0 0 0 20 0.0000 4 255 2130 5672 9361 SS:[angularTip_b]\001
-4 1 1 1 0 0 20 0.0000 4 255 600 1350 2700 Tip a\001
-4 1 1 1 0 0 20 0.0000 4 195 1380 1260 6300 Mass centre\001
-4 1 1 1 0 0 20 0.0000 4 255 600 1350 9855 Tip b\001
-4 2 6 0 0 0 20 0.0000 4 240 510 1936 3736 [1,2]\001
-4 2 4 0 0 0 20 0.0000 4 255 1200 1936 3735 SS:[angle]\001
-4 1 -1 0 0 0 20 0.0000 4 255 825 9405 6390 sSe:mg\001

DELETED mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/sgRODa_lbl.txt
Index: mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/sgRODa_lbl.txt
==================================================================
--- mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/sgRODa_lbl.txt
+++ /dev/null
@@ -1,68 +0,0 @@
-%% Label file for system sgRODa (sgRODa_lbl.txt)
-%SUMMARY sgRODa
-%DESCRIPTION 
-
-% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-% %% Version control history
-% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-% %% $Id$
-% %% $Log$
-% %% Revision 1.1  2001/04/11 15:41:45  gawthrop
-% %% New identification example - friction components only
-% %%
-% %% Revision 1.1  2000/12/28 09:13:38  peterg
-% %% Initial revision
-% %%
-% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-
-% Port aliases
-%ALIAS	a	angle_1,angle_2
-%ALIAS	a_a	angularTip_a_1,angularTip_a_2
-%ALIAS	a_b	angularTip_b_1,angularTip_b_2
-%ALIAS	x_a	xTip_a_1,xTip_a_2
-%ALIAS	x_b	xTip_b_1,xTip_b_2
-%ALIAS	y_a	yTip_a_1,yTip_a_2
-%ALIAS	y_b	yTip_b_1,yTip_b_2
-
-% Argument aliases
-%ALIAS $1 J
-%ALIAS $2 Js
-%ALIAS $3 m
-%ALIAS $4 ms
-%ALIAS $5 l_a
-%ALIAS $6 l_b
-%ALIAS $7 g
- 
-%% Each line should be of one of the following forms:
-%	     a comment (ie starting with %)
-%	     component-name	cr_name	arg1,arg2,..argn
-%	     blank
-
-% ---- Component labels ----
-
-% Component type SS
-	[angle]	SS		external,external
-	[angularTip_a]	SS		external,external
-	[angularTip_b]	SS		external,external
-	[xTip_a]	SS		external,external
-	[xTip_b]	SS		external,external
-	[yTip_a]	SS		external,external
-	[yTip_b]	SS		external,external
-
-% Component type EMTF
-s1	lsin;slsin	l_a
-s2	lsin;slsin	l_b
-c1	lcos;slcos	l_a
-c2	lcos;slcos	l_b
-
-% Component type I
-	J	slin		flow,J;Js
-	m_x	slin		flow,m;ms
-	m_y	slin		flow,m;ms
-	th			
-
-% Component type Se
-	mg	SS		m*g;0
-
-

DELETED mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/sidInvertedPendulumOnCart_desc.tex
Index: mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/sidInvertedPendulumOnCart_desc.tex
==================================================================
--- mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/sidInvertedPendulumOnCart_desc.tex
+++ /dev/null
@@ -1,24 +0,0 @@
-% -*-latex-*- Put EMACS into LaTeX-mode
-% Verbal description for system sidInvertedPendulumOnCart (InvertedPendulumOnCart_desc.tex)
-% Generated by MTT on Thu Aug 5 10:38:16 BST 1999.
-
-% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-% %% Version control history
-% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-% %% $Id$
-% %% $Log$
-% %% Revision 1.1  2000/12/28 18:00:45  peterg
-% %% To RCS
-% %%
-% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-   The acausal bond graph of system \textbf{sidInvertedPendulumOnCart} is
-   displayed in Figure \Ref{fig:InvertedPendulumOnCart_abg.ps} and its label
-   file is listed in Section \Ref{sec:InvertedPendulumOnCart_lbl}.
-   The subsystems are listed in Section \Ref{sec:InvertedPendulumOnCart_sub}.
-
-This is a one input, two output nonlinear system comprising an
-inverted pendulum attached by a hinge to a cart constrained to move in
-the horizontal direction. The input is the horizontal force acting on
-the cart, and the two outputs are the horizontal position and the
-pendulum angle respectively.

DELETED mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/sidInvertedPendulumOnCart_input.txt
Index: mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/sidInvertedPendulumOnCart_input.txt
==================================================================
--- mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/sidInvertedPendulumOnCart_input.txt
+++ /dev/null
@@ -1,10 +0,0 @@
-## -*-octave-*- Put Emacs into octave-mode ##
- 
-## 
-## System sidInvertedPendulumOnCart, representation input, language txt; 
-## File sidInvertedPendulumOnCart_input.txt; 
-## Generated by MTT on Wed Apr 11 12:03:25 BST 2001; 
-
-
-
-sidInvertedPendulumOnCart_F_1_se_1_1_u	= 1.0; # Default

DELETED mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/sidInvertedPendulumOnCart_lbl.txt
Index: mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/sidInvertedPendulumOnCart_lbl.txt
==================================================================
--- mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/sidInvertedPendulumOnCart_lbl.txt
+++ /dev/null
@@ -1,32 +0,0 @@
-%% Label file for system idInvertedPendulumOnCart (InvertedPendulumOnCart_lbl.txt)
-%SUMMARY InvertedPendulumOnCart
-%DESCRIPTION An Inverted Pendulum on a Cart
-
-% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-% %% Version control history
-% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-% %% $Id$
-% %% $Log$
-% %% Revision 1.1  2000/12/28 18:00:45  peterg
-% %% To RCS
-% %%
-% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-
-% Port aliases
-
-% Argument aliases
-
-%% Each line should be of one of the following forms:
-%	     a comment (ie starting with %)
-%	     component-name	cr_name	arg1,arg2,..argn
-%	     blank
-
-% ---- Component labels ----
-
-% Component type Se
-	F   SS	 external;0
-
-
-
-

DELETED mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/sidInvertedPendulumOnCart_numpar.txt
Index: mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/sidInvertedPendulumOnCart_numpar.txt
==================================================================
--- mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/sidInvertedPendulumOnCart_numpar.txt
+++ /dev/null
@@ -1,25 +0,0 @@
-## -*-octave-*- Put Emacs into octave-mode ##
- 
-## 
-## System sidInvertedPendulumOnCart, representation numpar, language txt; 
-## File sidInvertedPendulumOnCart_numpar.txt; 
-## Generated by MTT on Wed Apr 11 14:07:41 BST 2001; 
-
-
-## Physical parameters
-m_c = 	0.455;			# Cart mass
-r_c = 	1.5;			# Cart friction
-
-l_p =   0.61;			# Pendulum length
-m_p =   0.210;			# Pendulum mass
-r_p = 	0.5;			# Pendulum friction
-
-j_p = l_p*l_p*m_p/12;
-g = 9.81;			# Gravity
-
-
-## Sensitivity paramenters - all zero
-m_cs	= 0.0;
-m_ps	= 0.0;
-r_cs	= 0.0;
-r_ps	= 0.0;

DELETED mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/sidInvertedPendulumOnCart_rep.txt
Index: mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/sidInvertedPendulumOnCart_rep.txt
==================================================================
--- mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/sidInvertedPendulumOnCart_rep.txt
+++ /dev/null
@@ -1,30 +0,0 @@
-## -*-octave-*- Put Emacs into octave-mode
-## Outline report file for system sidInvertedPendulumOnCart (InvertedPendulumOnCart_rep.txt)
-## Generated by MTT on" Fri Oct 22 09:03:14 EST 1999.
-
-###############################################################
-## Version control history
-###############################################################
-## $Id$
-## $Log$
-## Revision 1.1  2000/12/28 18:00:45  peterg
-## To RCS
-##
-###############################################################
-
-mtt sidInvertedPendulumOnCart abg tex			# The system description
-mtt sidInvertedPendulumOnCart cbg ps 		        # The causal bond graph
-## Uncomment the following lines or add others
-mtt sidInvertedPendulumOnCart struc tex	        # The system structure
-mtt sidInvertedPendulumOnCart dae tex	        # The system dae
-## mtt sidInvertedPendulumOnCart ode tex	        # The system ode 
-## mtt sidInvertedPendulumOnCart sspar tex		# Steady-state parameters
-## mtt sidInvertedPendulumOnCart ss tex 		# Steady state
-## mtt sidInvertedPendulumOnCart dm tex		# Descriptor matrices (of linearised system)
-mtt sidInvertedPendulumOnCart sm tex		# State matrices (of linearised system)
-## mtt sidInvertedPendulumOnCart tf tex		# Transfer function (of linearised system)
-## mtt sidInvertedPendulumOnCart lmfr ps		# log modulus of frequency response (of linearised system)
-mtt sidInvertedPendulumOnCart simpar tex		# Simulation parameters
-mtt sidInvertedPendulumOnCart numpar tex		# Numerical simulation parameters
-mtt sidInvertedPendulumOnCart input tex		# Simulation input
-mtt -c sidInvertedPendulumOnCart odeso ps		# Simulation output

DELETED mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/sidInvertedPendulumOnCart_simpar.txt
Index: mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/sidInvertedPendulumOnCart_simpar.txt
==================================================================
--- mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/sidInvertedPendulumOnCart_simpar.txt
+++ /dev/null
@@ -1,25 +0,0 @@
-# -*-octave-*- Put Emacs into octave-mode
-# Simulation parameters for system sidInvertedPendulumOnCart (InvertedPendulumOnCart_simpar.txt)
-# Generated by MTT on Thu Aug 5 09:17:05 BST 1999.
-###############################################################
-## Version control history
-###############################################################
-## $Id$
-## $Log$
-## Revision 1.1  2001/04/11 15:41:45  gawthrop
-## New identification example - friction components only
-##
-## Revision 1.1  2000/12/28 18:00:45  peterg
-## To RCS
-##
-###############################################################
-
-
-FIRST        = 0.0;      # Last time in simulation
-LAST        = 10.0;      # Last time in simulation
-DT          = 0.1;        # Print interval
-STEPFACTOR  = 1;          # Integration steps per print interval
-WMIN        = -1;         # Minimum frequency = 10^WMIN
-WMAX        = 2;          # Maximum frequency = 10^WMAX
-WSTEPS      = 100;        # Number of frequency steps
-INPUT       = 1;          # Index of the input

DELETED mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/sidInvertedPendulumOnCart_subs.r
Index: mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/sidInvertedPendulumOnCart_subs.r
==================================================================
--- mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/sidInvertedPendulumOnCart_subs.r
+++ /dev/null
@@ -1,27 +0,0 @@
-% Default SUBS file
-% File InvertedPendulumOnCart_subs.r
-% Generated by MTT on Thu Nov  9 18:55:44 GMT 2000.
-
-
-% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-% %% Version control history
-% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-% %% $Id$
-% %% $Log$
-% %% Revision 1.2  2001/04/02 10:57:57  gawthrop
-% %% Added missing ;
-% %%
-% %% Revision 1.1  2000/12/28 18:00:45  peterg
-% %% To RCS
-% %%
-% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-% Put algebraic substitution commands here
-
-for all x let cos(x)^2+sin(x)^2 = 1;
-
-FOR ALL x,y LET x^y = pow(x,y); % Use the pow function
-
-ON ROUNDED; % No integer output
-
-END;

DELETED mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/sidInvertedPendulum_lbl.txt
Index: mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/sidInvertedPendulum_lbl.txt
==================================================================
--- mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/sidInvertedPendulum_lbl.txt
+++ /dev/null
@@ -1,25 +0,0 @@
-%% Label file for system sidInvertedPendulum (sidInvertedPendulum_lbl.txt)
-%SUMMARY sidInvertedPendulum
-%DESCRIPTION 
-
-% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-% %% Version control history
-% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-% %% $Id$
-% %% $Log$
-% %% Revision 1.1  2000/12/28 09:13:38  peterg
-% %% Initial revision
-% %%
-% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-
-% Port aliases
-
-% Argument aliases
-
-%% Each line should be of one of the following forms:
-%	     a comment (ie starting with %)
-%	     component-name	cr_name	arg1,arg2,..argn
-%	     blank
-
-% ---- Component labels ----