Derivative of state '1' in block 'PP_poly/Integrator1' at time 0.0 is not finite.

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Dogukan 2023-4-24

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https://ww2.mathworks.cn/matlabcentral/answers/1952303-derivative-of-state-1-in-block-pp_poly-integrator1-at-time-0-0-is-not-finite

回答： Sam Chak 2023-4-25

Hi, I am working on a simulink simulation of an autonomous three wheeled vehicle. My system right now is,

And I am getting not finite error from the integrator block that comes after inverse kinematics block. I know the reasons why simulink gives this error but I can not see why I am getting it. I tried to saturated integrator and memory block to prevent this but it didnt work. The inputs I am giving to integator are,

The signals are important for me, so I can not change their behaviour or anything.

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Dogukan 2023-4-25

@Sam Chak Sure, here you can see they are all nan. I am kinda confused why it is nan at the start.

Dogukan 2023-4-25

编辑：Dogukan 2023-4-25

@Sam Chak Okay I fixed it with MATLAB Function block where I put a if statement that if time is equal to zero then make these two signal zero and it fixed the problem thank you for your helps.

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Sam Chak 2023-4-25

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Hi @Dogukan

It's good to hear that your problem is solved now. I moved my comment to the Answer section because it helped you to figure out what went wrong. If you find the tips helpful, please consider accepting ✔ and voting 👍 on the answer. Thanks!

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Can you right-click to show the value labels on the selected signals? It helps to investigate the issue. Something like shown below: