Simulink PD Controller Singularity Error

Error: "Derivative input 1 of 'sys_help/Integrator' at time 0.0 is Inf or NaN. Stopping simulation. There may be a singularity in the solution. If not, try reducing the step size (either by reducing the fixed step size or by tightening the error tolerances)." I tried setting initial conditions on the integrators, different solvers, and changing the error tolerances. Kindly run the assignConstants script before running the solver. Thanks!

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