MATLAB: Syntax Error Simulink fcn block

fcn blockfcn block errorSimscapesimulinksimulink syntax errorsyntax error

The expression: (-3*B*L*L*u(4))/J+(a*L*u(1))+(a*L*u(2))+(a*L*u(3)) in 'omnirobotcontrol/Subsystem/theta_2dot' has a syntax error.
WhY I am getting this error. I can't see the wrong 🙁

Best Answer

Try this
function x_2dot = fcn(u)
x_2dot = 0; % initialize to tell simulink about its size
J = 0.01;
B = 0.1;
K = 0.01;
R = 1;
L = 0.5;
a=1;
m=1;
x_2dot=(-3*B*u(4))/(2*m)-((a*sin(u(5))*u(1))/m)-((a*sin((pi/3)-u(5))*u(2))/m)+((a*sin((pi/3)+u(5))*u(3))/m);
end
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