<?xml version="1.0" encoding="UTF-8" standalone="no"?><Modellus><Main AutoPlay="0" DecimalPlaces="2" Degrees="0" Independent="t" Max="50.0" Min="0.0" Password="" Protected="0" ShowCases="1" Step="0.01"/><Editor Height="299" LocationX="12" LocationY="3" Minimized="0" Width="299"><Line Text="R=1"/><Line Text="w0=7*2*pi"/><Line Text="K0=2000"/><Line Text="I=2*K0/w0^2"/><Line Text="torque=F*d"/><Line Text="alpha=torque/I"/><Line Text="w!0=0"/><Line Text="w=last(w)+last(alpha)*%t"/><Line Text="theta!0=0"/><Line Text="theta=last(theta)+w*%t"/><Line Text="x=R*cos(theta)"/><Line Text="y=R*sin(theta)"/></Editor><Animator ShowGrid="0"><Grid Spacing="1"><Color Alpha="255" Blue="192" Green="192" Red="192"/></Grid><variable AttachedTo="" Auto-Scale="0" BoundsHeight="32" BoundsWidth="118" BoundsX="-59" BoundsY="-16" Case="0" IsNameVisible="0" LeaveAMarkEvery="10" LocationX="368.0" LocationY="468.0" Name="Variável 1" PositionXValue="39.0" PositionYValue="24.0" ShowAxes="0" ShowName="1" ShowProjectionLines="0" ShowStroboscopy="0" ShowTrajectory="0" ShowValue="1" XScale="1.0" YScale="1.0"><Foreground Alpha="255" Blue="64" Green="64" Red="64"/><PositionX IsFixed="0" IsNumber="1" Name="" Situation="0" Value="39.0"/><PositionY IsFixed="0" IsNumber="1" Name="" Situation="0" Value="24.0"/><Value IsFixed="0" IsNumber="0" Name="I" Situation="0" Value="2.0677792580068934"/></variable><variable AttachedTo="" Auto-Scale="0" BoundsHeight="30" BoundsWidth="92" BoundsX="-46" BoundsY="-15" Case="0" IsNameVisible="0" LeaveAMarkEvery="10" LocationX="356.0" LocationY="419.0" Name="Variável 2" PositionXValue="42.0" PositionYValue="21.0" ShowAxes="0" ShowName="1" ShowProjectionLines="0" ShowStroboscopy="0" ShowTrajectory="0" ShowValue="1" XScale="1.0" YScale="1.0"><Foreground Alpha="255" Blue="64" Green="64" Red="64"/><PositionX IsFixed="0" IsNumber="1" Name="" Situation="0" Value="42.0"/><PositionY IsFixed="0" IsNumber="1" Name="" Situation="0" Value="21.0"/><Value IsFixed="0" IsNumber="0" Name="w" Situation="0" Value="-0.1305748662264085"/></variable><variable AttachedTo="" Auto-Scale="0" BoundsHeight="31" BoundsWidth="98" BoundsX="-49" BoundsY="-15" Case="0" IsNameVisible="0" LeaveAMarkEvery="10" LocationX="342.0" LocationY="407.0" Name="Variável 3" PositionXValue="55.0" PositionYValue="-25.0" ShowAxes="0" ShowName="1" ShowProjectionLines="0" ShowStroboscopy="0" ShowTrajectory="0" ShowValue="1" XScale="1.0" YScale="1.0"><Foreground Alpha="255" Blue="64" Green="64" Red="64"/><PositionX IsFixed="0" IsNumber="1" Name="" Situation="0" Value="55.0"/><PositionY IsFixed="0" IsNumber="1" Name="" Situation="0" Value="-25.0"/><Value IsFixed="0" IsNumber="0" Name="alpha" Situation="0" Value="-0.48361061565337854"/></variable><variable AttachedTo="" Auto-Scale="0" BoundsHeight="28" BoundsWidth="92" BoundsX="-46" BoundsY="-14" Case="0" IsNameVisible="0" LeaveAMarkEvery="10" LocationX="355.0" LocationY="316.0" Name="Variável 4" PositionXValue="46.0" PositionYValue="17.0" ShowAxes="0" ShowName="1" ShowProjectionLines="0" ShowStroboscopy="0" ShowTrajectory="0" ShowValue="1" XScale="1.0" YScale="1.0"><Foreground Alpha="255" Blue="64" Green="64" Red="64"/><PositionX IsFixed="0" IsNumber="1" Name="" Situation="0" Value="46.0"/><PositionY IsFixed="0" IsNumber="1" Name="" Situation="0" Value="17.0"/><Value IsFixed="0" IsNumber="0" Name="torque" Situation="0" Value="-1.0"/></variable><geometricObject AttachedTo="" Auto-Scale="0" BoundsHeight="10" BoundsWidth="10" BoundsX="-5" BoundsY="-5" Case="0" IsNameVisible="0" LeaveAMarkEvery="10" LocationX="316.0" LocationY="169.0" Name="Objecto Geométrico 1" PositionXValue="-66.48931988420817" PositionYValue="-74.69384406586288" ShowAxes="1" ShowName="1" ShowProjectionLines="1" ShowStroboscopy="0" ShowTrajectory="0" ShowValue="1" Thickness="3.0" XScale="100.0" YScale="100.0"><Foreground Alpha="255" Blue="64" Green="64" Red="64"/><PositionX IsFixed="0" IsNumber="0" Name="x" Situation="0" Value="-0.6648931988420818"/><PositionY IsFixed="0" IsNumber="0" Name="y" Situation="0" Value="-0.7469384406586288"/><Type FirstX="316.0" FirstY="418.0" Name="Line Segment" SecondX="249.0" SecondY="493.0"/></geometricObject><bar AttachedTo="" BoundsHeight="80" BoundsWidth="20" BoundsX="-10" BoundsY="-40" Case="0" IsNameVisible="0" LocationX="0.0" LocationY="0.0" Maximum="1.0" Minimum="-1.0" Name="Indicador de Nível 1" Orientation="Vertical" PositionX="545.0" PositionXValue="545.0" PositionY="180.0" PositionYValue="180.0" ShowLimits="1" ShowName="1" ShowValue="1" Step="1.0" XScale="1.0" YScale="1.0"><Background Alpha="255" Blue="255" Green="255" Red="255"/><Foreground Alpha="255" Blue="64" Green="64" Red="64"/><Value IsFixed="0" IsNumber="0" Name="F" Situation="0" Value="-1.0"/><FullColor Alpha="255" Blue="232" Green="194" Red="83"/></bar><bar AttachedTo="" BoundsHeight="80" BoundsWidth="20" BoundsX="-10" BoundsY="-40" Case="0" IsNameVisible="0" LocationX="0.0" LocationY="0.0" Maximum="1.0" Minimum="0.0" Name="Indicador de Nível 2" Orientation="Vertical" PositionX="662.0" PositionXValue="662.0" PositionY="183.0" PositionYValue="183.0" ShowLimits="1" ShowName="1" ShowValue="1" Step="0.0" XScale="1.0" YScale="1.0"><Background Alpha="255" Blue="255" Green="255" Red="255"/><Foreground Alpha="255" Blue="64" Green="64" Red="64"/><Value IsFixed="0" IsNumber="0" Name="d" Situation="0" Value="1.0"/><FullColor Alpha="255" Blue="232" Green="194" Red="83"/></bar></Animator><Notes Height="150" LocationX="0" LocationY="320" Minimized="1" Text="{\rtf1\ansi&#10;{\fonttbl\f0\fnil Monospaced;\f1\fnil Tahoma;}&#10;{\colortbl\red0\green0\blue0;\red21\green25\blue30;}&#10;&#10;\li0\ri0\fi0\f1\fs24\i0\b0\cf1\par&#10;}&#10;" Width="300"/><Chart AutoScale="1" AxisValues="1" EqualScales="0" Height="300" LocationX="614" LocationY="4" MaximumX="20.226666666666667" MaximumY="3.3768561411785987" Minimized="0" MinimumX="-5.056666666666667" MinimumY="-2.09421403529465" Points="0" ProjectionLines="1" TangentLines="0" Thickness="2" Values="1" Width="300"><Horizontal IsFixed="0" IsNumber="0" Name="t" Situation="0" Value="20.07"/><Terms><Vertical1 IsFixed="0" IsNumber="0" Name="w" Situation="0" Value="-0.1305748662264085"/><Color1 Alpha="255" Blue="232" Green="194" Red="83"/><Vertical2 IsFixed="0" IsNumber="1" Name="" Situation="0" Value="NaN"/><Color2 Alpha="255" Blue="232" Green="194" Red="83"/><Vertical3 IsFixed="0" IsNumber="1" Name="" Situation="0" Value="NaN"/><Color3 Alpha="255" Blue="232" Green="194" Red="83"/><Vertical4 IsFixed="0" IsNumber="1" Name="" Situation="0" Value="NaN"/><Color4 Alpha="255" Blue="232" Green="194" Red="83"/><Vertical5 IsFixed="0" IsNumber="1" Name="" Situation="0" Value="NaN"/><Color5 Alpha="255" Blue="232" Green="194" Red="83"/></Terms></Chart><Table Height="300" LocationX="932" LocationY="11" Minimized="0" ShowBars="0" Steps="1" Width="200"><Terms><Variable1 IsFixed="0" IsNumber="0" Name="t" Situation="0" Value="20.07"/><Color1 Alpha="255" Blue="232" Green="194" Red="83"/><Variable2 IsFixed="0" IsNumber="0" Name="alpha" Situation="0" Value="-0.48361061565337854"/><Color2 Alpha="255" Blue="232" Green="194" Red="83"/><Variable3 IsFixed="0" IsNumber="0" Name="torque" Situation="0" Value="-1.0"/><Color3 Alpha="255" Blue="232" Green="194" Red="83"/><Variable4 IsFixed="0" IsNumber="0" Name="F" Situation="0" Value="-1.0"/><Color4 Alpha="255" Blue="232" Green="194" Red="83"/><Variable5 IsFixed="0" IsNumber="1" Name="" Situation="0" Value="NaN"/><Color5 Alpha="255" Blue="232" Green="194" Red="83"/><Variable6 IsFixed="0" IsNumber="1" Name="" Situation="0" Value="NaN"/><Color6 Alpha="255" Blue="232" Green="194" Red="83"/><Variable7 IsFixed="0" IsNumber="1" Name="" Situation="0" Value="NaN"/><Color7 Alpha="255" Blue="232" Green="194" Red="83"/><Variable8 IsFixed="0" IsNumber="1" Name="" Situation="0" Value="NaN"/><Color8 Alpha="255" Blue="232" Green="194" Red="83"/><Variable9 IsFixed="0" IsNumber="1" Name="" Situation="0" Value="NaN"/><Color9 Alpha="255" Blue="232" Green="194" Red="83"/><Variable10 IsFixed="0" IsNumber="1" Name="" Situation="0" Value="NaN"/><Color10 Alpha="255" Blue="232" Green="194" Red="83"/></Terms></Table><Data><Parameters><Term EqualAllCases="0" Name="F"><Situation Value="0.0"/><Situation Value="1.0"/><Situation Value="1.0"/><Situation Value="1.0"/><Situation Value="1.0"/><Situation Value="1.0"/><Situation Value="1.0"/><Situation Value="1.0"/><Situation Value="1.0"/><Situation Value="1.0"/></Term><Term EqualAllCases="0" Name="d"><Situation Value="1.0"/><Situation Value="1.0"/><Situation Value="1.0"/><Situation Value="1.0"/><Situation Value="1.0"/><Situation Value="1.0"/><Situation Value="1.0"/><Situation Value="1.0"/><Situation Value="1.0"/><Situation Value="1.0"/></Term></Parameters><InitialConditions/></Data></Modellus>