This enhancement has been incorporated in Release 2009b (R2009b). For previous product releases, read below for any possible workarounds:
There is a limitation in Simulink 6.6 while generating code for a referenced model that handles S-functions with structures as parameters.
Your model has structures as parameters in the fuzzy controller FIS, and an S-function is being created around that during the RTW build process, which is leading to the error.
To work around this issue, use a subsystem instead of a referenced model where you have structures as parameters, as in the fuzzy controller FIS.
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