TD uses constructs that are invalid when the block specifies or inherits a continuous sample time. Invalid constructs include the use of persistent or global variables...
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Dear all,
I am studying dynamic positioning based an Active Disturbance Rejection Control (ADRC). However, when I run the mdl, there is an error in the Tracking Differentiator (TD) as follows:
"TD uses constructs that are invalid when the block specifies or inherits a continuous sample time. Invalid constructs include the use of persistent or global variables, calls to exported functions or using coder.extrinsic."
I want to know why this error take place and how to solve it?
Thank you very much.
*TD is the component of ADRC and the structure of TD is as follows.
![](https://www.mathworks.com/matlabcentral/answers/uploaded_files/1133820/image.png)
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