<?xml version="1.0" encoding="iso-8859-1"?>
<sspaceex xmlns="http://www-verimag.imag.fr/xml-namespaces/sspaceex" version="0.2" math="SpaceEx">
  <component id="two_tanks">
    <param name="x1" type="real" local="false" d1="1" d2="1" dynamics="any" />
    <param name="x2" type="real" local="false" d1="1" d2="1" dynamics="any" />
    <param name="u" type="real" local="false" d1="1" d2="1" dynamics="any" />
    <location id="1" name="off_off" x="437.0" y="131.0" width="136.0" height="66.0">
      <invariant>
        x1 &gt;= -1 &amp;
        x2 &lt;= 1 &amp;
        -0.1 &lt;= u &lt;= 0.1
      </invariant>
      <flow>x1' == -x1 - 2 + u &amp; 
x2' == x1 + u</flow>
    </location>
    <location id="2" name="on_off" x="756.0" y="131.0" width="122.0" height="64.0">
      <invariant>
        x2 &lt;= 1 &amp;
        -0.1 &lt;= u &lt;= 0.1
      </invariant>
      <flow>x1' == -x1 + 3 + u &amp;
x2' == x1 + u </flow>
    </location>
    <location id="3" name="off_on" x="441.0" y="311.0" width="120.0" height="64.0">
      <invariant>
        x1 &gt;= -1 &amp;
        x2 &gt;= 0 &amp;
        -0.1 &lt;= u &lt;= 0.1
      </invariant>
      <flow>x1' == -x1 - 2 + u &amp;
x2' == x1 -x2 -5 +u </flow>
    </location>
    <location id="4" name="on_on" x="755.0" y="312.0" width="128.0" height="64.0">
      <invariant>
        x1 &lt;= 1 &amp;
        x2 &gt;= 0 &amp;
        -0.1 &lt;= u &lt;= 0.1
      </invariant>
      <flow>x1' == -x1 + 3 + u &amp;
x2' == x1-x2-5 + u </flow>
    </location>
    <transition source="3" target="1">
      <guard>x2 == 0</guard>
      <labelposition x="-76.0" y="-29.0" width="74.0" height="50.0" />
      <middlepoint x="416.0" y="221.0" />
    </transition>
    <transition source="1" target="3">
      <guard>x2 == 1</guard>
      <labelposition x="-5.0" y="-59.0" width="66.0" height="50.0" />
      <middlepoint x="456.0" y="224.0" />
    </transition>
    <transition source="1" target="2">
      <guard>x1 == -1</guard>
      <labelposition x="-39.0" y="-54.0" width="84.0" height="50.0" />
    </transition>
    <transition source="2" target="3">
      <guard>x2 == 1</guard>
      <labelposition x="8.0" y="-24.0" width="76.0" height="50.0" />
      <middlepoint x="555.5" y="200.0" />
    </transition>
    <transition source="4" target="2">
      <guard>x2 == 0</guard>
      <labelposition x="-3.0" y="-19.0" width="84.0" height="50.0" />
    </transition>
    <transition source="3" target="4">
      <guard>x1 == -1</guard>
      <labelposition x="8.0" y="-42.0" width="66.0" height="50.0" />
      <middlepoint x="598.0" y="287.5" />
    </transition>
    <transition source="4" target="3">
      <guard>x1 == 1</guard>
      <labelposition x="-16.0" y="-6.0" width="80.0" height="52.0" />
      <middlepoint x="598.0" y="336.5" />
    </transition>
  </component>
  <component id="system">
    <param name="x1" type="real" local="false" d1="1" d2="1" dynamics="any" controlled="true" />
    <param name="x2" type="real" local="false" d1="1" d2="1" dynamics="any" controlled="true" />
    <param name="u" type="real" local="false" d1="1" d2="1" dynamics="any" controlled="true" />
    <bind component="two_tanks" as="two_tanks_1" x="321.0" y="182.0">
      <map key="x1">x1</map>
      <map key="x2">x2</map>
      <map key="u">u</map>
    </bind>
  </component>
</sspaceex>

