In the block 'fcn', correct these lines
R=[1 0 0 0;
0 1 0 0;
0 0 1 0;
0 0 0 1];
%^ this space is missing in your file
u =-inv(R)*B*P*x1;
%^ do not take transpose of P, it is already column vector
Also in this function
function [ddy,ddq] = dynsys(y,ydot,q,qdot,u)
% 4 states (x):
%% parameters
Phils=-0.1104;M=1.1637;K=2.9327;alpha=0.183;
Gamma=0.4537;D=0.6;ws=9.896;F=0.42;G=0.028;
clo=0.28;Lambda=0.0676;
%% Obtain x, u and y
% x
y=x(1);
ydot=x(2);
q=x(3);
qdot=x(4);
%% y
ddy=(1/M)*(-(2*alpha)/(D*ws)*Gamma*x(2)-K*x(1)+Gamma*x(3)+Phils*u);
ddq=ws*G*clo^2*x(4)-ws^2*x(3)-Lambda*x(3)^2*x(4)+((ws*F)/(D))*x(2);
Input variable is 'y', but you are using x(1), x(2) in your code. Correct variable names according to your equations.
If you resolve this issue, hopefully all the errors will get resolved.
