geometric control of a quad with suspended load

Hello Dears, I implemented a paper with mentioned title and i have problem in simulation, i will upload the project please take a look at it and help me to find the problem. note: the hovering xLd=[0;0;4] is working, but when i set the xLd = [2;3;4] the result would not be tolerable. thenk you for ur time. the simulink is not uploaded if anyone is like to help me please send me your email for sending the project. thank you

[arash abdi]

the paper is in attachment