Since the control mechanism is to produce a force for a certain time and roll angle these inputs should be included in our block diagram.   

1. Click on the down arrow next to the inputs icon. A small menu will appear. Select "T" (for time). See the diagram below.
2. Now move the mouse over the Block Diagram window and click in the third row in the second column.
3. Now repeat only this time placing PHI in row 6.

Your screen should now look like this.

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