Derivative of state '1' in block 'sunho/Inverse Dynamic/Integrator' at time is not finite.

Derivative of state '1' in block 'sunho/Inverse Dynamic/Integrator' at time 0.00014907010752590144 is not finite. The simulation will be stopped. There may be a singularity in the solution. If not, try reducing the step size (either by reducing the fixed step size or by tightening the error tolerances)

I am using coding to make RR robotics arm SMC controller.

Please help me to solve this error.

Answer 1

[Urmila Rajpurohith]

Hi

You can try changing the solver to Variable-step ode15s (stiff/NDF).

Or refer the following link to resolve the issue :

https://in.mathworks.com/matlabcentral/answers/99084-why-am-i-receiving-error-messages-about-singularities-in-my-simulink-model?s_tid=answers_rc1-2_p2_MLT

Hope this helps!