Voici une partie du programme que j'ai écris :
(je rentre avec un vecteur [1 0 1])
function [sys,x0,str,ts,simStateCompliance]=mdlInitializeSizes
%
% call simsizes for a sizes structure, fill it in and convert it to a
% sizes array.
%
% Note that in this example, the values are hard coded. This is not a
% recommended practice as the characteristics of the block are typically
% defined by the S-function parameters.
%
sizes = simsizes;
sizes.NumContStates = 6;
sizes.NumDiscStates = 0;
sizes.NumOutputs = 3;
sizes.NumInputs = 3;
sizes.DirFeedthrough = 0;
sizes.NumSampleTimes = 1; % at least one sample time is needed
sys = simsizes(sizes);
%
% initialize the initial conditions
%
x0 = [0 0 10 0 0 0];
%
% str is always an empty matrix
%
str = [];
%
% initialize the array of sample times
%
ts = [0 0];
% end mdlInitializeSizes
%
%=============================================================================
% mdlDerivatives
% Return the derivatives for the continuous states.
%=============================================================================
%
function sys=mdlDerivatives(t,x,u)
M = [cos(x(6)) sin(x(4))*sin(x(6)) 0;-sin(x(6)) sin(x(4))*cos(x(6)) 0;0 cos(x(4)) 1]
Y=[x(1);x(2);x(3)]
sys=[x(4:6) ; inv(M)*Y]
% end mdlDerivatives
%
%=============================================================================
% mdlUpdate
% Handle discrete state updates, sample time hits, and major time step
% requirements.
%=============================================================================
%
function sys=mdlUpdate(t,x,u)
sys = [];
% end mdlUpdate
%
%=============================================================================
% mdlOutputs
% Return the block outputs.
%=============================================================================
%
function sys=mdlOutputs(t,x,u)
sys = x(4:6);
% end mdlOutputs
Et au final, j'ai cette erreur :
State derivatives returned by S-function 'matrix' in 'sat/S-Function2' during flag=1 call must be a real vector of length 6
Et je n'arrive pas à la résoudre mais ça vient du inv(M) je pense :/
Merci d'avance pour votre aide.