Feedback Linearization of Maglev

Hello everyone. I have a problem in Matlab Simulink with my nonlinear system of magnetic levitation.

The nonlinear equations are the following :

with :

and I want to control this system using Feedback Linearization. I have done all the mathematical stuff but when i simulate the system , this error occurs :

Derivative of state xxx in block xxxx Integrator at time xxxx is not finite. The simulation will be stopped. There may be a singularity in the solution ....

This is the transformation matrix :

and finally :

Reference : 2013 3rd IEEE International Conference on Computer, Control & Communication (IC4), NUST-PNEC, Karachi

Muhammad Ahsan - Nouman Masood Fawad Wali : Control of magnetic levitation system using nonlinear robust design tools

Those are my m and slx files :

I have been trying to solve the problem for a month but without results . Please help me in this case

Thank you

Answer 1

[ACHKHE]

hi,Try to change the solver

or minimize the duration of simulation

or use a saturator with your input 'u'

those are the possible solutions for your problem

Good luck

Answer 2

[Adam Pilat]

https://home.agh.edu.pl/~ap/publications/PhD/PilatAdam_SterowanieUkladamiMagnetycznejLewitacji.pdf