写了个滑膜控制的仿真，一直显示不兼容
function [sys,x0,str,ts]=ctrl(t,x,u,flag)
switch flag,
case 0,
[sys,x0,str,ts]=mdlInitializeSizes;
case 3,
sys=mdlOutputs(t,x,u);
case {2, 4, 9 }
sys = [];
otherwise
error(['Unhandled flag = ',num2str(flag)]);
end
function [sys,x0,str,ts]=mdlInitializeSizes
sizes = simsizes;
sizes.NumContStates = 0;
sizes.NumDiscStates = 0;
sizes.NumOutputs = 1;
sizes.NumInputs = 4;
sizes.DirFeedthrough = 1;
sizes.NumSampleTimes = 0;
sys=simsizes(sizes);
x0=[];
str=[];
ts=[];
function sys=mdlOutputs(t,x,u)
l=6.64;k=1.84;np=4;f=0.32;j=0.0027;tl=0.5;b=20;
lambda1=2;q=3;p=2;k1=0.5;beta1=0.5;
kt=0.5npf;a0=-b/j;b0=kt/j;
xd=u(1);
dxd=u(2);
x1=u(3);
x2=u(4);
ddxd=diff(dxd);
e1=x1-xd;
e2=x2-dxd;
s=e1+lambda1e2^(q/p);
f1=(1/lambda1)(p/q)(e2^(2-p/q));
f2=a0x2-k1s-beta1sign(s)-ddxd;
ut=(f1+f2)/-b0;
sys(1)=ut;
我想输出ut为控制率