MATLAB: Problem while tuning PID controller

controlpidsimulink

I try to tune a PID-Controller in Matlab2010b if i use a discrete one i get the error Message "The second input argument of the "d2d" command must be a positive scalar." if i use a continuous one i get "Input to SVD must not contain NaN or Inf." what i have to pay attention that this block works fine? My system can became NaN due to a Sqrt-expression….

Best Answer

What is the purpose of the memory block that you are using at the output of the PID controller? Long story short, that is what creates the problem.
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