How to initialize outpt of a matlab function block in simulink to zero

Hello all;

I have designed a control system for a robot manipulator using simulink which includes several matlab function blocks.

My question how is it possible to initialize the input of the controller τ to zero at the start of the simulink simulation

Thank you in advance for your help

Regards

Answer 1

[Gert Kruger]

You can add a persistent variable and check if it is empty. If it is empty, then it means it is the first time the Matlab function block is being executed, in which case you can set the output to be zero.

Example code:

function y = fcn(u)

persistent x
    
if isempty(x)
    x = 1;
end

if (x==1)
    y = 0;    %y is 0 on the first simulation time step
else
    y = 1;    %y is 1 on for the rest
end

[lady bird]

Thank you for your answer , i created this function just after the block that computes the τ, but it didn't initialize it to zero.

[Gert Kruger]

lady bird,

perhaps you can upload your model if you are still having problems.