I'm getting the following error how can I fix it

[Walter Roberson]

The yellow bar is a mux that is merging at least four values into a signal. You then use the entire composite signal as input to + of noise. You cannot do that: you have to + individual signals, not composite signals.

[Paul]

Adding the output of the mux with scalar output of the Random Number block is perfectly acceptable in and of itself (though perhaps not the right thing to do for this model).

Can't say for sure what the problem is here without more information, like the dimensions of the A,B,C,D matrices in the Kalman block and the dimensions of the gain in the -K*u block.

Having said that, I'm going to hazard a guess that only one of x, xdot, theta, or thetadot should added with the Random Number to form the noisy measurement.

Answer 1

[Rishabh Mishra]

Hi,

Based on my understanding of the model, the error occurs when execution of the model starts. At first time step, t = 0, the sum block requires 2 inputs. The input coming from the Mux block is calculated from output given by the sum block itself, this creates a kind of loop where output of sum block depends upon input given to it and that causes the error to be reported.

To rectify this issue, Use an Initial condition block after the Mux & before the Sum block.

Hope this helps.