MATLAB: S-Function Error flag Error

flag =3 at time 0.0.s-function error

function [sys,x0,str,ts] = PID(t,x,u,flag)
switch flag,
  case 0,
    [sys,x0,str,ts]=mdlInitializeSizes;
  case 3,
    sys=mdlOutputs(t,x,u);
  
    case{1,2,4,9} 
        sys=[];
  otherwise
    error('UnhandledFlag=', num2str(flag));
end
function [sys,x0,str,ts]=mdlInitializeSizes
sizes = simsizes;
sizes.NumContStates  = 0;
sizes.NumDiscStates  = 0;
sizes.NumOutputs     = 3;
sizes.NumInputs      = 7;
sizes.DirFeedthrough = 1;
sizes.NumSampleTimes = 1;   % at least one sample time is needed
sys = simsizes(sizes);
x0  = [];
str = [];
ts  = [0 0];
function sys=mdlOutputs(t,x,u)
global kp ki kd
kp=5;
ki=0,0001;
kd=50;
ex=u(1);
ey=u(2);
tpex=u(3);
tpey=u(4);
dhex=u(5);
dhey=u(6);
pdthe=u(7);
V=kp*[ex;ey]+ki*[tpex;tpey]+kd*[dhex;dhey];
u1=V'*[0;1]+pdthe;
u2=V'*[-sqrt(3)/2;-0,5]+pdthe;
u3=V'*[-sqrt(3)/2;-0,5]+pdthe;
%u4=V'*[-sqrt(3)/2;-0,5]+pdthe;
%u5=V'*[-sqrt(3)/2;-0,5]+pdthe;
sys(1)=u1;
sys(2)=u2;
sys(3)=u3;
I get a error like that: How can I solve?
An error occurred while running the simulation and the simulation was terminated
Caused by:
  • Error in 'omnirobotcontrol/S-Function' while executing MATLAB S-function 'PID', flag = 3 (output), at time 0.0.
  • Dimensions of arrays being concatenated are not consistent.

Best Answer

-0,5 is a vector with two elements, not negative 1/2
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