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  SimParamPage		  Solver
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  InvariantConstants	  off
  WideVectorLines	  off
  ShowLineWidths	  off
  StartTime		  "0.0"
  StopTime		  "999999"
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  AbsTol		  "1e-3"
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  FixedStep		  "auto"
  MaxOrder		  5
  OutputOption		  RefineOutputTimes
  OutputTimes		  "[]"
  LoadExternalInput	  off
  ExternalInput		  "[t, u]"
  SaveTime		  off
  TimeSaveName		  "tout"
  SaveState		  off
  StateSaveName		  "xout"
  SaveOutput		  off
  OutputSaveName	  "yout"
  LoadInitialState	  off
  InitialState		  "xInitial"
  SaveFinalState	  off
  FinalStateName	  "xFinal"
  LimitMaxRows		  off
  MaxRows		  "1000"
  Decimation		  "1"
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  MinStepSizeMsg	  warning
  UnconnectedInputMsg	  warning
  UnconnectedOutputMsg	  warning
  UnconnectedLineMsg	  warning
  ConsistencyChecking	  off
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  RTWInlineParameters	  off
  RTWPlaceOutputsASAP	  off
  RTWRetainRTWFile	  off
  RTWTemplateMakefile	  "grt_default_tmf"
  RTWMakeCommand	  "make_rtw"
  RTWGenerateCodeOnly	  off
  ExtModeMexFile	  "ext_comm"
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  BlockDefaults {
    Orientation		    right
    ForegroundColor	    black
    BackgroundColor	    white
    DropShadow		    off
    NamePlacement	    normal
    FontName		    "Helvetica"
    FontSize		    10
    FontWeight		    normal
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    ShowName		    on
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  AnnotationDefaults {
    HorizontalAlignment	    center
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    Name		    "cblocks"
    Location		    [273, 85, 967, 284]
    Open		    on
    ToolBar		    on
    StatusBar		    on
    ScreenColor		    white
    PaperOrientation	    landscape
    PaperPositionMode	    auto
    PaperType		    usletter
    PaperUnits		    inches
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      BlockType		      SubSystem
      Name		      "AW-PID "
      Ports		      [2, 1, 0, 0, 0]
      Position		      [335, 34, 425, 96]
      ShowPortLabels	      off
      MaskType		      "Anti-windup PID "
      MaskDescription	      "Discrete PID with Anti-windup and with lowpass "
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      MaskIconFrame	      on
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      MaskIconRotate	      none
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	Name			"AW-PID "
	Location		[4, 62, 604, 488]
	Open			off
	ToolBar			off
	StatusBar		off
	ScreenColor		white
	PaperOrientation	landscape
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	  BlockType		  Inport
	  Name			  "Set point"
	  Position		  [30, 40, 50, 60]
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	  PortWidth		  "-1"
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	Block {
	  BlockType		  Inport
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	  Position		  [30, 115, 50, 135]
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	}
	Block {
	  BlockType		  Constant
	  Name			  "Constant"
	  Position		  [375, 301, 415, 329]
	  Value			  "0"
	}
	Block {
	  BlockType		  DiscreteTransferFcn
	  Name			  "Dis. Transfer Fcn1"
	  Position		  [305, 411, 385, 449]
	  Numerator		  "[DT/SAM]"
	  Denominator		  "[1 -1+DT/SAM]"
	  SampleTime		  "DT"
	}
	Block {
	  BlockType		  DiscreteTransferFcn
	  Name			  "Low-pass filter"
	  Position		  [115, 34, 225, 86]
	  Numerator		  "[DT/(TF+DT),  0]"
	  Denominator		  "[1,  -TF/(TF+DT)]"
	  SampleTime		  "DT"
	}
	Block {
	  BlockType		  Sum
	  Name			  "P+I+D"
	  Ports			  [5, 1, 0, 0, 0]
	  Position		  [500, 265, 520, 425]
	  Inputs		  "++++-"
	}
	Block {
	  BlockType		  Gain
	  Name			  "Proportional"
	  Position		  [265, 329, 310, 361]
	  Gain			  "kp"
	}
	Block {
	  BlockType		  Gain
	  Name			  "Proportional3"
	  Position		  [130, 355, 240, 395]
	  Gain			  "kp*kd/SAM"
	}
	Block {
	  BlockType		  Saturate
	  Name			  "Saturation"
	  Position		  [570, 335, 595, 355]
	  UpperLimit		  "umax"
	  LowerLimit		  "umin"
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	Block {
	  BlockType		  Sum
	  Name			  "error"
	  Ports			  [2, 1, 0, 0, 0]
	  Position		  [80, 42, 100, 78]
	  Inputs		  "+-"
	}
	Block {
	  BlockType		  Gain
	  Name			  "gain"
	  Position		  [265, 159, 350, 211]
	  Gain			  "DT*kp/ki"
	}
	Block {
	  BlockType		  SubSystem
	  Name			  "integrator2"
	  Ports			  [1, 1, 0, 0, 0]
	  Position		  [385, 159, 440, 211]
	  ShowPortLabels	  off
	  MaskType		  "Anti windup intgrator"
	  MaskDescription	  "Integral with anti-windup  "
	  MaskPromptString	  "umax|umin|sampling time"
	  MaskStyleString	  "edit,edit,edit"
	  MaskTunableValueString  "on,on,on"
	  MaskInitialization	  "umax=@1 ; umin =@2 ;DT=@3;"
	  MaskDisplay		  "disp('DT-I-AW')"
	  MaskIconFrame		  on
	  MaskIconOpaque	  on
	  MaskIconRotate	  none
	  MaskIconUnits		  autoscale
	  MaskValueString	  "umax|umin|DT"
	  System {
	    Name		    "integrator2"
	    Location		    [4, 42, 646, 496]
	    Open		    off
	    ToolBar		    off
	    StatusBar		    off
	    ScreenColor		    white
	    PaperOrientation	    landscape
	    PaperPositionMode	    auto
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	    PaperUnits		    inches
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	      BlockType		      Inport
	      Name		      "in_1"
	      Position		      [15, 140, 35, 160]
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	    Block {
	      BlockType		      Constant
	      Name		      "Constant"
	      Position		      [45, 180, 115, 220]
	      Value		      "umax"
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	    Block {
	      BlockType		      Constant
	      Name		      "Constant3"
	      Position		      [210, 193, 285, 227]
	      Value		      "umin"
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	    Block {
	      BlockType		      Switch
	      Name		      "Switch"
	      Position		      [220, 109, 245, 161]
	      Threshold		      "0"
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	    Block {
	      BlockType		      Switch
	      Name		      "Switch2"
	      Position		      [390, 114, 415, 166]
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	    Block {
	      BlockType		      DiscreteTransferFcn
	      Name		      "delay"
	      Position		      [180, 39, 225, 81]
	      Orientation	      left
	      Numerator		      "[1]"
	      Denominator	      "[1 0]"
	      SampleTime	      "DT"
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	    Block {
	      BlockType		      Sum
	      Name		      "error1"
	      Ports		      [2, 1, 0, 0, 0]
	      Position		      [65, 122, 85, 158]
	      Inputs		      "++"
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	    Block {
	      BlockType		      Sum
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	      Ports		      [2, 1, 0, 0, 0]
	      Position		      [155, 123, 175, 147]
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	    Block {
	      BlockType		      Sum
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	      Ports		      [2, 1, 0, 0, 0]
	      Position		      [315, 128, 335, 152]
	      Inputs		      "+-"
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	    Block {
	      BlockType		      Outport
	      Name		      "out_1"
	      Position		      [480, 130, 500, 150]
	      Port		      "1"
	      OutputWhenDisabled      held
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	      SrcBlock		      "in_1"
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	    Line {
	      SrcBlock		      "Switch2"
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	      Points		      [0, 0]
	      Branch {
		DstBlock		"out_1"
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	    Line {
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	      Branch {
		DstBlock		"error3"
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	    Line {
	      SrcBlock		      "Constant3"
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	      Points		      [0, 0]
	      Branch {
		Points			[60, 0; 0, -55]
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	      Branch {
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	    Line {
	      SrcBlock		      "error3"
	      SrcPort		      1
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	    Line {
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	      Points		      [0, 0]
	      Branch {
		Points			[10, 0; 0, -20]
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	    Line {
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	      Points		      [0, 0]
	      Branch {
		Points			[60, 0; 0, -50]
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		DstPort			3
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	      Branch {
		Points			[10, 0; 0, -70]
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	    Line {
	      SrcBlock		      "error2"
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	    Line {
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	      Points		      [-135, 0; 0, 70]
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	Block {
	  BlockType		  Outport
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	Line {
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	  DstBlock		  "P+I+D"
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	Line {
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	  DstBlock		  "Input to system"
	  DstPort		  1
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	Line {
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	Line {
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	  DstBlock		  "P+I+D"
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	Line {
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	  Points		  [45, 0; 0, -25]
	  DstBlock		  "P+I+D"
	  DstPort		  5
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	Line {
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	  SrcPort		  1
	  Points		  [0, 0]
	  Branch {
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	    DstBlock		    "gain"
	    DstPort		    1
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	  Branch {
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	    DstPort		    1
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	  Branch {
	    Points		    [10, 0; 0, 285]
	    DstBlock		    "Proportional"
	    DstPort		    1
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	Line {
	  SrcBlock		  "Proportional3"
	  SrcPort		  1
	  Points		  [0, 0]
	  Branch {
	    DstBlock		    "P+I+D"
	    DstPort		    4
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	    DstBlock		    "Dis. Transfer Fcn1"
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	  Points		  [5, 0; 0, -55]
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	Line {
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	  DstBlock		  "error"
	  DstPort		  1
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	Line {
	  SrcBlock		  "error"
	  SrcPort		  1
	  DstBlock		  "Low-pass filter"
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	Line {
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	  Points		  [15, 0; 0, 100]
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    Block {
      BlockType		      SubSystem
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      Ports		      [2, 1, 0, 0, 0]
      Position		      [490, 34, 540, 101]
      ForegroundColor	      cyan
      BackgroundColor	      blue
      ShowPortLabels	      on
      System {
	Name			"MIMO controller\nst-sp+AW"
	Location		[16, 64, 813, 501]
	Open			off
	ToolBar			off
	StatusBar		off
	ScreenColor		blue
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	PaperUnits		inches
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	Block {
	  BlockType		  Inport
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	Block {
	  BlockType		  StateSpace
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	  C			  "[]"
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	  X0			  "0"
	  MaskType		  "Matrix Gain"
	  MaskDescription	  "Matrix Gain."
	  MaskHelp		  "Multiplies input vector by entered matrix t"
"o produce output vector (y=Au)."
	  MaskPromptString	  "Gain matrix:"
	  MaskStyleString	  "edit"
	  MaskTunableValueString  "on"
	  MaskInitialization	  "K = @1;"
	  MaskDisplay		  "disp('K')"
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	  MaskIconRotate	  none
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	  X0			  "0"
	  MaskType		  "Matrix Gain"
	  MaskDescription	  "Matrix Gain."
	  MaskHelp		  "Multiplies input vector by entered matrix t"
"o produce output vector (y=Au)."
	  MaskPromptString	  "Gain matrix:"
	  MaskStyleString	  "edit"
	  MaskTunableValueString  "on"
	  MaskInitialization	  "K = @1;"
	  MaskDisplay		  "disp('K')"
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	  MaskIconRotate	  none
	  MaskIconUnits		  autoscale
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	  MaskType		  "Matrix Gain"
	  MaskDescription	  "Matrix Gain."
	  MaskHelp		  "Multiplies input vector by entered matrix t"
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	  MaskStyleString	  "edit"
	  MaskTunableValueString  "on"
	  MaskInitialization	  "K = @1;"
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	  MaskType		  "Matrix Gain"
	  MaskDescription	  "Matrix Gain."
	  MaskHelp		  "Multiplies input vector by entered matrix t"
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	  MaskStyleString	  "edit"
	  MaskTunableValueString  "on"
	  MaskInitialization	  "K = @1;"
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	  MaskIconFrame		  on
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	  MaskType		  "Matrix Gain"
	  MaskDescription	  "Matrix Gain."
	  MaskHelp		  "Multiplies input vector by entered matrix t"
"o produce output vector (y=Au)."
	  MaskPromptString	  "Gain matrix:"
	  MaskStyleString	  "edit"
	  MaskTunableValueString  "on"
	  MaskInitialization	  "K = @1;"
	  MaskDisplay		  "disp('K')"
	  MaskIconFrame		  on
	  MaskIconOpaque	  on
	  MaskIconRotate	  none
	  MaskIconUnits		  autoscale
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	Block {
	  BlockType		  Sum
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	  Position		  [145, 45, 165, 65]
	  Inputs		  "+-"
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	Block {
	  BlockType		  Sum
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	Block {
	  BlockType		  Sum
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	  Ports			  [3, 1, 0, 0, 0]
	  Position		  [330, 85, 355, 305]
	  Inputs		  "++-"
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	Block {
	  BlockType		  UnitDelay
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	  X0			  "0"
	  SampleTime		  "TSAMPLE"
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	Block {
	  BlockType		  SubSystem
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	  Position		  [75, 125, 110, 155]
	  ForegroundColor	  yellow
	  BackgroundColor	  green
	  ShowPortLabels	  on
	  System {
	    Name		    "feedback filter"
	    Location		    [16, 64, 712, 501]
	    Open		    off
	    ToolBar		    off
	    StatusBar		    off
	    ScreenColor		    green
	    PaperOrientation	    landscape
	    PaperPositionMode	    auto
	    PaperType		    usletter
	    PaperUnits		    inches
	    Block {
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	    Block {
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	      B			      "[]"
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	      X0		      "0"
	      MaskType		      "Matrix Gain"
	      MaskDescription	      "Matrix Gain."
	      MaskHelp		      "Multiplies input vector by entered matr"
"ix to produce output vector (y=Au)."
	      MaskPromptString	      "Gain matrix:"
	      MaskStyleString	      "edit"
	      MaskTunableValueString  "on"
	      MaskInitialization      "K = @1;"
	      MaskDisplay	      "disp('K')"
	      MaskIconFrame	      on
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	      MaskIconRotate	      none
	      MaskIconUnits	      autoscale
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	    Block {
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	      MaskType		      "Matrix Gain"
	      MaskDescription	      "Matrix Gain."
	      MaskHelp		      "Multiplies input vector by entered matr"
"ix to produce output vector (y=Au)."
	      MaskPromptString	      "Gain matrix:"
	      MaskStyleString	      "edit"
	      MaskTunableValueString  "on"
	      MaskInitialization      "K = @1;"
	      MaskDisplay	      "disp('K')"
	      MaskIconFrame	      on
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	      MaskIconRotate	      none
	      MaskIconUnits	      autoscale
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	      MaskStyleString	      "edit"
	      MaskTunableValueString  "on"
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	      MaskIconUnits	      autoscale
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}