How can I can correct an integrator error under MATLAB /Simulink ?

Hi. I'm studying the control theory.

As you know, PD control is the simplest control theory ever.

So I advanced my step to TDC(Time-delayed Control) which my prof. proposed.

I configure the block diagram in simulink, then It shows the error again and again as shown abov or stop at some time step.

In my simulink file, D_hat => gain value.

Can you help me...?

Thank you for reading.

Answer 1

[Sulaymon Eshkabilov]

In your model, try to avoid using the derivatives.

Instead try to linearize all derivatives using transfer function blocks. See this help source: https://www.mathworks.com/help/simulink/slref/improved-linarization-transfer-fcn-blocks.html