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how can i generate a rectangular trajectory for sliding mode control of robot manipulator

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i found an sliding mode controller simulink design of PUMA 560 robot at https://www.mathworks.com/matlabcentral/fileexchange/22077-nonlinear-control-of-3-dof-puma-robot and implemented succesfully but i want to change the reference trajectory to rectangle. how can i model a rectangle trajectory?

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