将 M 文件中的代码拷贝到Matlab Function模块中直接使用会出现错误

代码如下：

function out =abscontroller(in)

alpha        =in(1);

beta         =in(2);

sigma        =in(3);

theta        =[alpha;beta;sigma];

p            =in(4);

q            =in(5);

r            =in(6);

w            =[p;q;r];

alpha_ref    =in(7);

beta_ref     =in(8);

sigma_ref    =in(9);

theta_ref    =[alpha_ref;beta_ref;sigma_ref];

dalpha_ref   =in(10);

dbeta_ref    =in(11);

dsigma_ref   =in(12);

dtheta_ref   =[dalpha_ref;dbeta_ref;dsigma_ref];

% ddalpha_ref  =in(13);

% ddbeta_ref   =in(14);

% ddsigma_ref  =in(15);

% ddtheta_ref  =[ddalpha_ref;ddbeta_ref;ddsigma_ref];

% vs           =in(13:15);

delta_1g     =in(13);

delta_2g     =in(14);

zI           =in(15:17);

%%

% I            =[1997922 0 0;0 276629966.8 0;0 0 28383800.1];

I            =[434270 0 -17880;0 961200 0;-17880 0 1131541];

% Ixx=434270*(1+0);      Iyy=961200*(1+0);    Izz=1131541*(1+0);

% Ixz=17880*(1+0);

R            =[0 1 0;sin(alpha) 0 -cos(alpha);-cos(alpha) 0 -sin(alpha)];

Omega        =[0 -r q;r 0 -p;-q p 0];

%%

k1           = 25*diag([1 1 1]);

k2           = 25*diag([3 3 3]);

kI           =  0;

c1           = 2;

a1           = 0.01;

eta1         = 0.0001;

a2           = 0.01;

c2           = 2;

eta2         = 0.0001;

%%

z            =theta-theta_ref;

ztheta       =z+kI*zI;

% dztheta      =R*w-dtheta_ref;

zf           =norm(ztheta);

delta1        =c1*a1*delta_1g*ztheta/(zf+eta1);

wd           =R\(-k1*ztheta+dtheta_ref-delta1-kI*z);

% % %%

if zf>=eta1/(c1-1);

ddelta_1g     =c1*a2*zf^2/(zf+eta1);

else

ddelta_1g     =0;

end

%%

z1            =w-wd;

zf2           =norm(z1);

fw            =-I\Omega*I*w;

% dvs          =epslion*[sign(z1(1));sign(z1(2));sign(z1(3))];

delta2        =c2*a2*delta_2g*z1/(zf2+eta2);

if zf2>=eta2/(c2-1);

ddelta_2g     =c2*a2*zf2^2/(zf2+eta2);

else

ddelta_2g     =0;

end

%%

M            =I*(-k2*z1-fw-delta2);

out          =[M;ddelta_1g;ddelta_2g;zI];

错误提示如下：

Index expression out of bounds. Attempted to access element 2. The valid range is 1-1.

More information

Function 'MATLAB Function' (#35.94.95), line 5, column 18:

"2"

Launch diagnostic report.

Component: MATLAB Function | Category: Coder error

Index expression out of bounds. Attempted to access element 3. The valid range is 1-1.

More information

Function 'MATLAB Function' (#35.115.116), line 6, column 18:

"3"

Launch diagnostic report.

Component: MATLAB Function | Category: Coder error

……

Simulink does not have enough information to determine output sizes for

this block. If you think the errors below are inaccurate, try specifying

types for the block inputs and/or sizes for the block outputs.

Component: MATLAB Function | Category: Coder error

Undefined function or variable 'theta'. The first assignment to a local variable determines its class.

Function 'MATLAB Function' (#35.1245.1250), line 52, column 15:

"theta"

Launch diagnostic report.

Component: MATLAB Function | Category: Coder error

经实验，将该M文件放在Interpreted Matlab Function中可以正常使用。

推测是Matlab Function相比于Interpreted Matlab Function 在变量输入或赋值上有特殊的限制。

论坛视频区都看过了，没有发现关于Matlab Function 的相关教程，故求老司机解疑答惑并最好能推荐一些关于Matlab Function模块的教程~