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

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Jung-Kyun Lim
Jung-Kyun Lim 2019-11-30
回答： Urmila Rajpurohith 2021-2-25
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.

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回答（1 个）

Urmila Rajpurohith
Urmila Rajpurohith 2021-2-25
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!

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