Simulink syntax error for inverted pendulum model

Hello, I am modelling an inverted pendulum system in simulink. I am getting a syntax error in my "N" block in the "Inverted Pendulum" submodel in the simulink file attached. I have checked my equations and could not figure out what is wrong.

Any help would be appreciated. Thank you in advance.

Answer 1

[Harish Saranathan]

Hello Alex,

The variables "l", "g" and "b" need to be defined in the workspace. Moreover, there was a syntax error (unbalanced brackets) in the function block "P". The line in it should read:

0.2*(l*(u(2))^2*cos(u(1))+l*u(3)*sin(u(1)))+g

Harish