// CP: 65001
// SimulationX Version: 3.8.2.45319 x64
within AIDAModelica;
model ZAngularSpeedErrorModel "Z angular speed error calculation model"
	Modelica.Blocks.Interfaces.RealInput YawCosign(
		quantity="Mechanics.Rotation.Angle",
		displayUnit="rad") "'input Real' as connector" annotation(Placement(
		transformation(extent={{-20,-20},{20,20}}),
		iconTransformation(extent={{-120,30},{-80,70}})));
	Modelica.Blocks.Interfaces.RealInput Yaw(
		quantity="Mechanics.Rotation.Angle",
		displayUnit="rad") "'input Real' as connector" annotation(Placement(
		transformation(extent={{-20,-20},{20,20}}),
		iconTransformation(extent={{-120,-20},{-80,20}})));
	Modelica.Blocks.Interfaces.RealInput AngularSpeedZ(
		quantity="Mechanics.Rotation.RotVelocity",
		displayUnit="rad/s") "'input Real' as connector" annotation(Placement(
		transformation(extent={{-20,-20},{20,20}}),
		iconTransformation(extent={{-120,-70},{-80,-30}})));
	Modelica.Blocks.Interfaces.RealOutput AngularSpeedZError(
		quantity="Mechanics.Rotation.RotVelocity",
		displayUnit="rad/s") "'output Real' as connector" annotation(Placement(
		transformation(extent={{-10,-10},{10,10}}),
		iconTransformation(extent={{86.7,-10},{106.7,10}})));
	parameter Real Kwyaw=1.5 "Proportional gain Kwyaw";
	Real eyaw(
		quantity="Mechanics.Rotation.Angle",
		displayUnit="rad") "Yaw error";
	Real wzd(
		quantity="Mechanics.Rotation.RotVelocity",
		displayUnit="rad/s") "Desired angular speed Z";
	equation
		// enter your equations here
		eyaw = YawCosign-Yaw;
		wzd = Kwyaw*eyaw;
		AngularSpeedZError = wzd-AngularSpeedZ;
	annotation(Icon(graphics={
		Rectangle(
			fillColor={255,255,255},
			fillPattern=FillPattern.Solid,
			extent={{-100,96.7},{-100,93.3}}),
		Rectangle(
			fillColor={255,255,255},
			fillPattern=FillPattern.Solid,
			extent={{-100,100},{100,-100}})}));
end ZAngularSpeedErrorModel;