I have an error but I dont know where it is referring to "Index exc... (2024)

function [XDOT] = RCAM_model(X,U)

% ---------- State and control vectors ----------

x(1) = X(1); %u

x(2) = X(2); %alpha

x(3) = X(3); %q

x(4) = X(4); %theta

x(5) = X(5); %mass

x(6) = X(6); %vertical

x(7) = X(7); %horizontal

u1 = U(1); %eledefl

u2 = U(2); %thrustvec

u3 = U(3); %power

% ---------- Constants ----------

b = 10.2;

c = 1.74;

S = 17.1;

initial_mass = 1248.5;

Ix = 1421;

Iy = 4067.5;

Iz = 4786;

Ixz = 200;

g = 9.81;

rho = 1.225;

speedsound = 340;

% ---------- Control limits ----------

u1min = 0;

u1max = 25*pi/180;

u2min = 0;

u2max = 90*pi/180;

u3min = 1;

u3max = 4;

if(u1>u1max)

u1 = u1max;

else if (u<u1min)

u1 =u1min;

end

if(u2>u2max)

u2 = u2max;

else if (u<u2min)

u2 =u2min;

end

if(u3>u3max)

u3 = u3max;

else if (u<u3min)

u3 =u3min;

end

% ---------- Aerodynamic force coefficients ----------

CL = 6.44*x(2) + 3.8*c*x(3)/(2*x(1)) + 0.355*u(1); % Lift

L = 0.5*rho*speed^2 * CL;

CD = 0.03 + 0.05*CL^2; % Drag

D = 0.5*rho*speed^2 * CD;

Cm = 0.05 - 0.683*x(2) - 9.96*c*x(3)/(2*x(1)) - 0.923*u(1); % pitching moment

m = 0.5*rho*speed^2*S*c*Cm;

% ---------- Engine force ----------

thrust = u(3) * ( (7+speed/speedsound)*200/3 + x(6)*(2*speed/speedsound -11) )

% ---------- XDOT ----------

XDOT = [(thrust * cos(x(2)+x(2)) - D)/ x(5) - g*sin(x(4)-x(2));

q - (thrust*sin(x(2)+u(2)) + L) / x(5)* x(1) + g/x(1)*cos(x(4) - x(2));

m/Iy;

x(3);

-200/60/60/1000 * thrust;

x(1)*sin(x(4)-x(2));

x(1)*cos(x(4)-x(2))]

% Initialize constatns for the rcam simulation

clear clc

close all

%% Define constants

x0 = [63.292; 0.043891; 0; 0.043891; 1248.5; 0; 0]; % u, alpha, q, theta, mass, vertical, horizontal

u = [0.021692; 0; 1]; % eledefl, thrustvec, power

TF = 60;

%% Run the model

sim('RCAMSimulation.slx')

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