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-- This file has been generated by CoCoSim
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-- System nodes
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node test_discrete_PP_Integrator1 (f_lpar_x_rpar__1_1 : real; f_lpar_x_rpar__1_2 : real; f_lpar_x_rpar__1_3 : real)
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returns (F_lpar_x_rpar__1_1 : real; F_lpar_x_rpar__1_2 : real; F_lpar_x_rpar__1_3 : real);
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var
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Sample_1_1 : real; Sample_1_2 : real; Sample_1_3 : real;
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Sum1_1_1 : real; Sum1_1_2 : real; Sum1_1_3 : real;
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UnitDelay_1_1 : real; UnitDelay_1_2 : real; UnitDelay_1_3 : real;
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let
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Sample_1_1 = 1.00000000 * f_lpar_x_rpar__1_1;
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Sample_1_2 = 1.00000000 * f_lpar_x_rpar__1_2;
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Sample_1_3 = 1.00000000 * f_lpar_x_rpar__1_3;
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Sum1_1_1 = Sample_1_1 + UnitDelay_1_1;
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Sum1_1_2 = Sample_1_2 + UnitDelay_1_2;
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Sum1_1_3 = Sample_1_3 + UnitDelay_1_3;
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UnitDelay_1_1 = 0.00000000 -> pre Sum1_1_1;
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UnitDelay_1_2 = 0.00000000 -> pre Sum1_1_2;
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UnitDelay_1_3 = 0.00000000 -> pre Sum1_1_3;
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F_lpar_x_rpar__1_1 = UnitDelay_1_1;
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F_lpar_x_rpar__1_2 = UnitDelay_1_2;
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F_lpar_x_rpar__1_3 = UnitDelay_1_3;
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tel
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node test_discrete_PP_Integrator (f_lpar_x_rpar__1_1 : real; f_lpar_x_rpar__1_2 : real; f_lpar_x_rpar__1_3 : real)
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returns (F_lpar_x_rpar__1_1 : real; F_lpar_x_rpar__1_2 : real; F_lpar_x_rpar__1_3 : real);
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var
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Sample_1_1 : real; Sample_1_2 : real; Sample_1_3 : real;
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Sum1_1_1 : real; Sum1_1_2 : real; Sum1_1_3 : real;
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UnitDelay_1_1 : real; UnitDelay_1_2 : real; UnitDelay_1_3 : real;
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let
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Sample_1_1 = 1.00000000 * f_lpar_x_rpar__1_1;
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Sample_1_2 = 1.00000000 * f_lpar_x_rpar__1_2;
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Sample_1_3 = 1.00000000 * f_lpar_x_rpar__1_3;
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Sum1_1_1 = Sample_1_1 + UnitDelay_1_1;
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Sum1_1_2 = Sample_1_2 + UnitDelay_1_2;
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Sum1_1_3 = Sample_1_3 + UnitDelay_1_3;
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UnitDelay_1_1 = 0.00000000 -> pre Sum1_1_1;
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UnitDelay_1_2 = -20.00000000 -> pre Sum1_1_2;
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UnitDelay_1_3 = 0.00000000 -> pre Sum1_1_3;
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F_lpar_x_rpar__1_1 = UnitDelay_1_1;
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F_lpar_x_rpar__1_2 = UnitDelay_1_2;
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F_lpar_x_rpar__1_3 = UnitDelay_1_3;
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tel
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node test_discrete_PP (omega_d_1_1 : real; omega_d_1_2 : real; omega_d_1_3 : real)
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returns (a_1_1 : real; a_1_2 : real; a_1_3 : real;
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v_2_1 : real; v_2_2 : real; v_2_3 : real;
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p_3_1 : real; p_3_2 : real; p_3_3 : real);
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var
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CrossProduct_1_1 : real; CrossProduct_1_2 : real; CrossProduct_1_3 : real;
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CrossProduct1_1_1 : real; CrossProduct1_1_2 : real; CrossProduct1_1_3 : real;
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Integrator_1_1 : real; Integrator_1_2 : real; Integrator_1_3 : real;
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Integrator1_1_1 : real; Integrator1_1_2 : real; Integrator1_1_3 : real;
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Sum_1_1 : real; Sum_1_2 : real; Sum_1_3 : real;
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Sum1_1_1 : real; Sum1_1_2 : real; Sum1_1_3 : real;
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Sum2_1_1 : real; Sum2_1_2 : real; Sum2_1_3 : real;
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UnitDelay_1_1 : real; UnitDelay_1_2 : real; UnitDelay_1_3 : real;
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UnitDelay1_1_1 : real; UnitDelay1_1_2 : real; UnitDelay1_1_3 : real;
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UnitDelay2_1_1 : real; UnitDelay2_1_2 : real; UnitDelay2_1_3 : real;
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k_p_1_1 : real; k_p_1_2 : real; k_p_1_3 : real;
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k_v_1_1 : real; k_v_1_2 : real; k_v_1_3 : real;
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i_virtual_local : real;
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let
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CrossProduct_1_1 = omega_d_1_2 * UnitDelay_1_3 - omega_d_1_3 * UnitDelay_1_2;
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CrossProduct_1_2 = -(omega_d_1_1 * UnitDelay_1_3 - omega_d_1_3 * UnitDelay_1_1);
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CrossProduct_1_3 = omega_d_1_1 * UnitDelay_1_2 - omega_d_1_2 * UnitDelay_1_1;
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CrossProduct1_1_1 = omega_d_1_2 * UnitDelay2_1_3 - omega_d_1_3 * UnitDelay2_1_2;
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CrossProduct1_1_2 = -(omega_d_1_1 * UnitDelay2_1_3 - omega_d_1_3 * UnitDelay2_1_1);
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CrossProduct1_1_3 = omega_d_1_1 * UnitDelay2_1_2 - omega_d_1_2 * UnitDelay2_1_1;
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(Integrator_1_1, Integrator_1_2, Integrator_1_3) = test_discrete_PP_Integrator(Sum2_1_1, Sum2_1_2, Sum2_1_3);
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(Integrator1_1_1, Integrator1_1_2, Integrator1_1_3) = test_discrete_PP_Integrator1(Sum1_1_1, Sum1_1_2, Sum1_1_3);
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Sum_1_1 = - k_v_1_1 - k_p_1_1;
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Sum_1_2 = - k_v_1_2 - k_p_1_2;
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Sum_1_3 = - k_v_1_3 - k_p_1_3;
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Sum1_1_1 = Sum_1_1 - CrossProduct1_1_1;
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Sum1_1_2 = Sum_1_2 - CrossProduct1_1_2;
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Sum1_1_3 = Sum_1_3 - CrossProduct1_1_3;
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Sum2_1_1 = UnitDelay2_1_1 - CrossProduct_1_1;
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Sum2_1_2 = UnitDelay2_1_2 - CrossProduct_1_2;
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Sum2_1_3 = UnitDelay2_1_3 - CrossProduct_1_3;
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UnitDelay_1_1 = 0.00000000 -> pre Integrator_1_1;
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UnitDelay_1_2 = -20.00000000 -> pre Integrator_1_2;
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UnitDelay_1_3 = 0.00000000 -> pre Integrator_1_3;
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UnitDelay1_1_1 = 0.00000000 -> pre Integrator1_1_1;
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UnitDelay1_1_2 = 0.00000000 -> pre Integrator1_1_2;
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UnitDelay1_1_3 = 0.00000000 -> pre Integrator1_1_3;
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UnitDelay2_1_1 = 0.00000000 -> pre Integrator1_1_1;
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UnitDelay2_1_2 = 0.00000000 -> pre Integrator1_1_2;
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UnitDelay2_1_3 = 0.00000000 -> pre Integrator1_1_3;
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k_p_1_1 = 1.00000000 * UnitDelay_1_1;
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k_p_1_2 = 1.00000000 * UnitDelay_1_2;
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k_p_1_3 = 1.00000000 * UnitDelay_1_3;
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k_v_1_1 = 1.00000000 * UnitDelay1_1_1;
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k_v_1_2 = 1.00000000 * UnitDelay1_1_2;
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k_v_1_3 = 1.00000000 * UnitDelay1_1_3;
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a_1_1 = Sum_1_1;
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a_1_2 = Sum_1_2;
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a_1_3 = Sum_1_3;
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v_2_1 = Integrator1_1_1;
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v_2_2 = Integrator1_1_2;
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v_2_3 = Integrator1_1_3;
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p_3_1 = Integrator_1_1;
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p_3_2 = Integrator_1_2;
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p_3_3 = Integrator_1_3;
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i_virtual_local= 0.0 -> 1.0;
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tel
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