Using MPC Designer App with Plant Dynamics Model containing multiple Sign blocks

I have dynamic model of a robot which is designed using multiple "Sign" blocks. When I use the MPC Designer App with the model to control it, it throws the following error:

"The Simulink Model could not be linearized because the blocks listed below have individual linearizations with A,B,C or D matrices which are not finite. Either linearize at another operating point or remove the blocks."

And the blocks listed are all "Sign" blocks.

Please help as to what can be done here.

Answer 1

[Emmanouil Tzorakoleftherakis]

It seems like you have some kind of switched system (?). If that's the case, maybe try to linearize each dynamic model/"sign" separately first to avoid this error?