You can see the error in the signal right above that error message
[NaN; 3; 0]
You have a signal that is not finite (NaN) that you are trying to integrate. This is not allowed in Simuink. All signals being integrated must be finite, as the error implies.
Its hard to say exactly what the fix is, but look at the signal and try to see why you have a NaN. Usually in simulink this comes from a division by 0 somewhere.
