how to fix this error

I get this error when executing my robotic arm model with the adaptive controller

An error occurred while running the simulation and the simulation was terminated

Caused by:

• Algebraic state in algebraic loop containing 'KR10_R1100_sixx_CR/Sum1' computed at time 0.0 is Inf or NaN. There may be a singularity in the solution. If the model is correct, try reducing the step size (either by reducing the fixed step size or by tightening the error tolerances) or tweak the initial guess of algebraic loop variable values.

Component:Simulink | Category:Block error

[Walter Roberson]

Please see these for more information about algebraic loops:

https://blogs.mathworks.com/simulink/2010/04/29/causes-of-algebraic-loops/

https://blogs.mathworks.com/simulink/2015/07/18/why-you-should-never-break-an-algebraic-loop-with-with-a-memory-block/

Answer 1

[Yash]

Hi,

As per the screenshot shared by you, it seems you are getting algebraic loop error because of the feedback loops in the model that have no initial condition available for the calculations to start. To break such loops, you can introduce delay blocks that provide initial output.

You can refer to this article to know how to remove algebraic loops - Remove Algebraic Loops - MATLAB & Simulink (mathworks.com)