Problem Fixed

The original issue was that the file four_layer_pid_l1_adapter.slx was actually a MATLAB script (.m file) but had a .slx extension, which caused MATLAB to try to open it as a Simulink model file, resulting in the error:

'four_layer_pid_l1_adapter.slx' is not a valid Simulink model file: Could not open source package

Solution

  1. Renamed the file: four_layer_pid_l1_adapter.slx → four_layer_pid_l1_adapter.m
  2. Created a runner script: run_l1_adapter.m to easily generate the Simulink model
  3. Fixed model naming: The script now generates a proper .slx file

How to Use

  1. Open MATLAB R2025a
  2. Navigate to the matlab/control_models/ directory
  3. Run the ultra-simple script: matlab simple_l1_model
  1. Open MATLAB R2025a
  2. Navigate to the matlab/control_models/ directory
  3. Run the full script: matlab generate_l1_model

Method 3: Using the Runner Script

  1. Open MATLAB R2025a
  2. Navigate to the matlab/control_models/ directory
  3. Run the script: matlab run_l1_adapter

Method 4: Direct Execution

  1. Open MATLAB R2025a
  2. Navigate to the matlab/control_models/ directory
  3. Run the main script: matlab four_layer_pid_l1_adapter

Method 5: Function Call

  1. Open MATLAB R2025a
  2. Navigate to the matlab/control_models/ directory
  3. Call the function directly: matlab create_four_layer_pid_model()

What Happens

  1. The script generates a new Simulink model called four_layer_pid_l1_adapter.slx
  2. The model includes both PID and L1 adaptive control systems
  3. You can switch between control modes using the Control_Mode constant
  4. The model opens automatically in Simulink

Model Features

  • Hybrid Control: Both PID and L1 adaptive control
  • 4 Control Layers: Position, Velocity, Attitude, Attitude Rate
  • Real-time Switching: Switch between control methods during simulation
  • Monitoring: Scopes to monitor L1 adaptation behavior
  • Parameter Tuning: Easy parameter adjustment

Control Mode Selection

  • Control_Mode = 1: PID Control (default)
  • Control_Mode = 0: L1 Adaptive Control

Simulation

After the model is generated:

% Run simulation
sim('four_layer_pid_l1_adapter');

% Or open the model first
open_system('four_layer_pid_l1_adapter');
% Then click the "Run" button in Simulink

Troubleshooting

If you encounter any issues:

  1. Clear workspace: clear all; close all; clc;
  2. Check MATLAB path: Make sure you're in the correct directory
  3. Check Simulink: Ensure Simulink is properly installed
  4. Run the runner script: Use run_l1_adapter for error handling

Files Created

  • four_layer_pid_l1_adapter.m - Main model generator script
  • run_l1_adapter.m - Easy-to-use runner script
  • four_layer_pid_l1_adapter.slx - Generated Simulink model (after running the script)
  • L1_ADAPTIVE_INTEGRATION.md - Detailed documentation

Next Steps

  1. Run the model generator
  2. Explore the Simulink model
  3. Try switching between PID and L1 adaptive control
  4. Monitor the adaptation behavior
  5. Tune parameters for your specific application