MATLAB: Results showing up as NaN

controlMATLABmatlab functionnanscript

I have been working on a launch control simulation and something happened recently because the matrix z is returning only NaN values now… I do not remember changing anything in the script or the function. I have also attached below the main function used with the code… maybe you spot a mistake there…
global m g I h lR lF r LCREV_MAX LCSPEED_MAX 
LCREV_MAX = 12000;
LCSPEED_MAX = 35;
m = 295;                % mass of vehicle including driver
g = 9.81;               % gravitational acceleration
r = 0.23;               % wheel radius
I = 0.2645;             % tyre moment of inertia
h = 0.28;               % CoG height
lR = 0.765;             % Distance of CoG to rear axle
lF = 0.765;             % Distance of CoG to front axel
z10 = 0;                % initial x position
z20 = 0;                % initial linear velocity
z30 = 0;                % initial angle of rear wheel
z40 = 0;                % intial angular velocity of rear wheel
z0 = [z10 z20 z30 z40]; % initial conditions vector
t0 = 0;                 % intial time
tf = 6;                 % final time 
[t,z] = ode45('LC_eom',(t0:0.1:tf),z0);
x = z(:,1);             % position as first column of z matrix
v = z(:,2);             % linear velocity as second column of z matrix
theta = z(:,3);         % angle as third column of z matrix
omega = z(:,4);         % angular velocity as fourth column of z matrix

Best Answer

Here is one source of NaN's: In slipratio_fun with the initial value of t=0 and v=0, you have omega=v=0. The line
sx (abs(omega)*r>=abs(v)) = -1 + v./(omega.*r); % acceleration
sets sz equal to NaN because it's dividing by zero.
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