How can I can correct an integrator error under MATLAB /Simulink ?

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Hi. I'm studying the control theory.
As you know, PD control is the simplest control theory ever.
So I advanced my step to TDC(Time-delayed Control) which my prof. proposed.
I configure the block diagram in simulink, then It shows the error again and again as shown abov or stop at some time step.
In my simulink file, D_hat => gain value.
Can you help me...?
Thank you for reading.

Accepted Answer

Sulaymon Eshkabilov
Sulaymon Eshkabilov on 15 May 2021
In your model, try to avoid using the derivatives.
Instead try to linearize all derivatives using transfer function blocks. See this help source: https://www.mathworks.com/help/simulink/slref/improved-linarization-transfer-fcn-blocks.html

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