TD uses constructs that are invalid when the block specifies or inherits a continuous sample time. Invalid constructs include the use of persistent or global variables...

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Joe Jones 2022-9-23

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https://ww2.mathworks.cn/matlabcentral/answers/1810510-td-uses-constructs-that-are-invalid-when-the-block-specifies-or-inherits-a-continuous-sample-time-i

评论： Walter Roberson 2022-9-23

Dear all,

I am studying dynamic positioning based an Active Disturbance Rejection Control (ADRC). However, when I run the mdl, there is an error in the Tracking Differentiator (TD) as follows:

"TD uses constructs that are invalid when the block specifies or inherits a continuous sample time. Invalid constructs include the use of persistent or global variables, calls to exported functions or using coder.extrinsic."

I want to know why this error take place and how to solve it?

Thank you very much.

*TD is the component of ADRC and the structure of TD is as follows.