S_function for dynamics and controller

Hello!!!

I try to write and s_funtion of a controller PID which should help to track a trajectory.

firstly I wrote the s_function for dynamics, secondly the s_funtion for contoller an s_funtion for input dynamics

but I have a lot of errors

Error getting arg counts for S-function 'Controlleur_Kuka' in 'KUKA_LBR_IIWA7R800/S-Function'.

Caused by:

• Error: File: Controlleur_Kuka.m Line: 15 Column: 5 This statement is not inside any function. (It follows the END that terminates the definition of the function "Controller_Kuka".)

Component:Simulink | Category:Modelerror

Error in S-function 'KUKA_LBR_IIWA7R800/S-Function1': S-Function 'KUKA_DYNAMIQUE_directe' does not exist

Component:Simulink | Category:Modelerror

Error getting arg counts for S-function 'Input_dynamique_kuka' in 'KUKA_LBR_IIWA7R800/S-Function2'.

Caused by:

• Error: File: Input_dynamique_kuka.m Line: 14 Column: 5 This statement is not inside any function. (It follows the END that terminates the definition of the function "Input_dynamique_kuka".)

this is my code s_function and the bloc simulink

thanks for your help