ADDED   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
+++ mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/Cart_abg.fig
@@ -0,0 +1,49 @@
+#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
+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

ADDED   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
+++ mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/Cart_lbl.txt
@@ -0,0 +1,55 @@
+%% 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
+
+
+

ADDED   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
+++ mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/InvertedPendulumOnCart_lbl.txt
@@ -0,0 +1,33 @@
+%% 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
+
+
+

ADDED   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
+++ mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/InvertedPendulum_abg.fig
@@ -0,0 +1,46 @@
+#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

ADDED   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
+++ mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/InvertedPendulum_lbl.txt
@@ -0,0 +1,49 @@
+%% 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
+ 

ADDED   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
+++ mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/idInvertedPendulumOnCart_abg.fig
@@ -0,0 +1,26 @@
+#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

ADDED   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
+++ mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/idInvertedPendulumOnCart_desc.tex
@@ -0,0 +1,27 @@
+% -*-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  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 $r_c$

ADDED   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
+++ mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/idInvertedPendulumOnCart_input.txt
@@ -0,0 +1,10 @@
+## -*-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

ADDED   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
+++ mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/idInvertedPendulumOnCart_ippp.m
@@ -0,0 +1,51 @@
+
+## 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) = 0.0;
+par_0(sym.r_p) = 0.0;
+
+## Identify
+extras.criterion = 1e-5;
+extras.max_iterations = 10;
+extras.v = 1e-5;
+extras.verbose = 1;		# Show what is going on
+[par,Par,Error,Y] = ppp_identify (name,u,y_0,["r_c";"r_p"],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],:)');
+figfig("idInvertedPendulumOnCart_parameters","pdf");
+figfig("idInvertedPendulumOnCart_parameters","ps");
+
+
+
+
+

ADDED   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
+++ mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/idInvertedPendulumOnCart_lbl.txt
@@ -0,0 +1,32 @@
+%% 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
+
+
+
+

ADDED   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
+++ mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/idInvertedPendulumOnCart_numpar.txt
@@ -0,0 +1,30 @@
+# -*-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

ADDED   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
+++ mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/idInvertedPendulumOnCart_rep.txt
@@ -0,0 +1,38 @@
+## -*-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

ADDED   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
+++ mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/idInvertedPendulumOnCart_simpar.txt
@@ -0,0 +1,21 @@
+# -*-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

ADDED   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
+++ mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/idInvertedPendulumOnCart_subs.r
@@ -0,0 +1,27 @@
+% 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;

ADDED   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
+++ mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/idRC_rep.txt
@@ -0,0 +1,39 @@
+## -*-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

ADDED   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
+++ mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/sCart_lbl.txt
@@ -0,0 +1,54 @@
+%% Label file for system sCart (sCart_lbl.txt)
+%SUMMARY sCart
+%DESCRIPTION 
+
+% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% %% Version control history
+% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% %% $Id$
+% %% $Log$
+% %% 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	lin		flow,m_c;m_cs
+
+% Component type R
+	r_c	lin		flow,r_c;r_cs
+	r_p	lin		flow,r_p;r_ps
+
+% Component type Sf
+	zero_velocity	SS		0;0
+
+
+
+

ADDED   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
+++ mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/sInvertedPendulum_lbl.txt
@@ -0,0 +1,46 @@
+%% Label file for system sInvertedPendulum (sInvertedPendulum_lbl.txt)
+%SUMMARY sInvertedPendulum
+%DESCRIPTION 
+
+% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% %% Version control history
+% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% %% $Id$
+% %% $Log$
+% %% 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		m_p*l_p*l_p/12;m_ps*l_p*l_p/12;m_p;m_ps;l_p/2;l_p/2;g			

ADDED   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
+++ mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/sgRODa_abg.fig
@@ -0,0 +1,152 @@
+#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

ADDED   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
+++ mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/sgRODa_lbl.txt
@@ -0,0 +1,63 @@
+%% Label file for system sgRODa (sgRODa_lbl.txt)
+%SUMMARY sgRODa
+%DESCRIPTION 
+
+% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% %% Version control history
+% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% %% $Id$
+% %% $Log$
+% %% 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	lin		flow,J;Js
+	m_x	lin		flow,m;ms
+	m_y	lin		flow,m;ms
+	th			
+
+% Component type Se
+	mg	SS		m*g;0

ADDED   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
+++ mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/sidInvertedPendulumOnCart_desc.tex
@@ -0,0 +1,24 @@
+% -*-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.

ADDED   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
+++ mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/sidInvertedPendulumOnCart_input.txt
@@ -0,0 +1,10 @@
+## -*-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

ADDED   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
+++ mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/sidInvertedPendulumOnCart_lbl.txt
@@ -0,0 +1,32 @@
+%% 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
+
+
+
+

ADDED   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
+++ mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/sidInvertedPendulumOnCart_numpar.txt
@@ -0,0 +1,24 @@
+## -*-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
+
+g = 9.81;			# Gravity
+
+
+## Sensitivity paramenters - all zero
+m_cs	= 0.0;
+m_ps	= 0.0;
+r_cs	= 0.0;
+r_ps	= 0.0;

ADDED   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
+++ mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/sidInvertedPendulumOnCart_rep.txt
@@ -0,0 +1,30 @@
+## -*-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

ADDED   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
+++ mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/sidInvertedPendulumOnCart_simpar.txt
@@ -0,0 +1,21 @@
+# -*-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  2000/12/28 18:00:45  peterg
+## To RCS
+##
+###############################################################
+
+
+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

ADDED   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
+++ mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/sidInvertedPendulumOnCart_subs.r
@@ -0,0 +1,27 @@
+% 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;

ADDED   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
+++ mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/sidInvertedPendulum_lbl.txt
@@ -0,0 +1,25 @@
+%% 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 ----