"Derivative of state '1' in block 'PD_Control/Integrator2' at time 0.34 in not finite. There are may be a singularity in the solution..."

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Hi, now i configures SIMULINK about robot arm.
But in every time, the error is showed as above.
I wonder the reason why error appears and how to solve it.
I upload my SIMULINK file as zip file.
I use MATLAB 2022a version.
Also I attached dynamic equation what I used.
Thank you.

Accepted Answer

Sam Chak
Sam Chak on 4 Jun 2022
Most likely caused by the division-by-zero from this block. Could be triggered when the robot arm rotates to a certain angular position. Can you check the equations?
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