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

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lady bird
lady bird on 19 Jun 2019
Edited: Gert Kruger on 27 Jun 2019
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

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Answers (1)

Gert Kruger
Gert Kruger on 19 Jun 2019
Edited: Gert Kruger on 27 Jun 2019
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

  2 Comments

lady bird
lady bird on 20 Jun 2019
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
Gert Kruger on 27 Jun 2019
lady bird,
perhaps you can upload your model if you are still having problems.

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