When you are concatenating horizontally, the number of rows must be consistent. According to your comment, all variables are 1x1, but R1 is 2x2. Thus R1 is causing the error. Either change R1 to a single row, or put the variables into a cell array, which will allow for the different variable sizes.
Why are you taking the tranpose of scalers (xold', vold', ...) ?
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Walter Roberson (view profile)
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alexis cordova (view profile)
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