How do I carry out this trajectory through this data?

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ANDRÉS MAURICIO DÍAZ BELTRÁN
I need to do this route, I have one that runs in a circle but I have no idea of ​​doing it for a square like the one in the image.
In addition, I must do it with these data.
My simulink model for the circle is the following.
I am attaching my two files to generate the model.

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