Is there a way to execute the following matlab function of a system of 1st order differentail equations from within Simulink?

These are the equaitons of a cart/inverted pendulum (theta=pi is up. y1=poistion, y2=velocity, y3=theta, y4=thetadot) and i wanted to run them in simulink to test my controller which was designed on a linearized version.

function dy = cartpend(y,m,M,L,g,d,u)

m = 1;

M = 5;

L = 2;

g = -10;

d = 1;

Sy = sin(y(3));

Cy = cos(y(3));

D = m*L*L*(M+m*(1-Cy^2));

dy(1,1) = y(2);

dy(2,1) = (1/D)*(-m^2*L^2*g*Cy*Sy + m*L^2*(m*L*y(4)^2*Sy - d*y(2))) + m*L*L*(1/D)*u;

dy(3,1) = y(4);

dy(4,1) = (1/D)*((m+M)*m*g*L*Sy - m*L*Cy*(m*L*y(4)^2*Sy - d*y(2))) - m*L*Cy*(1/D)*u;

[madhan ravi]

why not use a matlab function block?

Answer 1

[Tom Beekhuysen]

I did on the attached but got errors. It said unrecognized variable for dy and a bunch of other errors. I attached my slx file.