hello I am Andhika from ITS Indonesia.
I'm trying to control the inverted pendulum using simulink and fuzzy with MATLAB 6.5.1.
after I build my model, there was an error with a message like:

Error executing build command: Error using ==> make_rtw
Error using ==> rtw_c
Error(s) encountered while building model "sim_andhika_new"

these are the following things coming in the matlab window:
### Starting Real-Time Workshop build procedure for model: sim_andhika_new
### Generating code into build directory: .\sim_andhika_new_rtwin
Warning: Matching "From" block for "Goto" block 'sim_andhika_new/Goto1' not found.
Warning: Matching "From" block for "Goto" block 'sim_andhika_new/Goto2' not found.
### Invoking Target Language Compiler on sim_andhika_new.rtw
tlc -r .\sim_andhika_new_rtwin\sim_andhika_new.rtw  'C:\MATLAB6p5\toolbox\rtw\targets\fbk\fbk\rtwinfbk.tlc' -O.\sim_andhika_new_rtwin  '-IC:\MATLAB6p5\toolbox\rtw\targets\fbk\fbk' '-IC:\MATLAB6p5\rtw\c\tlc\mw' '-IC:\MATLAB6p5\rtw\c\tlc\lib' '-IC:\MATLAB6p5\rtw\c\tlc\blocks' '-IC:\MATLAB6p5\rtw\c\tlc\fixpt'  -aCCOptimize=1 -aEnforceIntegerDowncast=1 -aExtMode=1 -aFoldNonRolledExpr=1 -aForceParamTrailComments=0 -aGenerateComments=1 -aGenerateReport=0 -aIncDataTypeInIds=0 -aIncHierarchyInIds=0 -aInlineInvariantSignals=0 -aInlineParameters=0 -aInlinedPrmAccess="Literals" -aLocalBlockOutputs=1 -aMaxRTWIdLen=31 -aPrefixModelToSubsysFcnNames=1 -aRTWVerbose=1 -aRebuildAll=0 -aRollThreshold=5 -aShowEliminatedStatements=0 -aReleaseVersion=13.1 -p10000
  
### Loading TMW TLC function libraries      

.....
### Initial pass through model to cache user defined code
................
### Caching model source code
................................................................................
................................................................................
...................................................
### Writing source file sim_andhika_new.c
### Writing header file sim_andhika_new.h
### Writing header file sim_andhika_new_types.h
..
### Writing header file sim_andhika_new_private.h
### Writing source file sim_andhika_new_data.c
### TLC code generation complete.
### Generating TLC interface API.
.............................................
### Creating data type transition file sim_andhika_new_dt.h
..### sim_andhika_new.mk which is generated from C:\MATLAB6p5\toolbox\rtw\targets\fbk\fbk\winfbk_vc.tmf is up to date
### Building sim_andhika_new: .\sim_andhika_new.bat
 
D:\Andhika\sim_andhika_new_rtwin>set MATLAB=C:\MATLAB6p5  
 
D:\Andhika\sim_andhika_new_rtwin>set MSVCDir=c:\program files\microsoft visual studio\vc98  
 
D:\Andhika\sim_andhika_new_rtwin>set MSDevDir=c:\program files\microsoft visual studio\common\msdev98  
 
D:\Andhika\sim_andhika_new_rtwin>C:\MATLAB6p5\rtw\bin\win32\envcheck INCLUDE "c:\program files\microsoft visual studio\vc98\include"  
 
D:\Andhika\sim_andhika_new_rtwin>if errorlevel 1 goto vcvars32  
 
D:\Andhika\sim_andhika_new_rtwin>set VSCommonDir=\common  
 
D:\Andhika\sim_andhika_new_rtwin>call "C:\MATLAB6p5\toolbox\rtw\rtw\private\vcvars32_600.bat"  
Setting environment for using Microsoft Visual C++ tools. 
 
Microsoft (R) Program Maintenance Utility   Version 6.00.8168.0 
Copyright (C) Microsoft Corp 1988-1998. All rights reserved. 
 
### Compiling sim_andhika_new.c 
	cl -c -Zp8 -J -Gd -W3 -GF -Gs1048576 -O2 -Oa  -DEXT_MODE -DMODEL=sim_andhika_new -DRT -DNUMST=2  -DTID01EQ=1 -DNCSTATES=4  -DMT=0  sim_andhika_new.c 
Microsoft (R) 32-bit C/C++ Optimizing Compiler Version 12.00.8168 for 80x86 
Copyright (C) Microsoft Corp 1984-1998. All rights reserved. 
 
sim_andhika_new.c 
sim_andhika_new_dt.h(51) : error C2039: 'If_Action_d' : is not a member of '_BlockIO' 
        sim_andhika_new.h(66) : see declaration of '_BlockIO' 
sim_andhika_new_dt.h(52) : error C2039: 'If_Action_c' : is not a member of '_BlockIO' 
        sim_andhika_new.h(66) : see declaration of '_BlockIO' 
sim_andhika_new_dt.h(54) : error C2039: 'x_a' : is not a member of '_rtB_sim_andhika_new_If_Acti_e' 
        sim_andhika_new.h(50) : see declaration of '_rtB_sim_andhika_new_If_Acti_e' 
sim_andhika_new_dt.h(56) : error C2039: 'x_a' : is not a member of '_rtB_sim_andhika_new_If_Acti_e' 
        sim_andhika_new.h(50) : see declaration of '_rtB_sim_andhika_new_If_Acti_e' 
sim_andhika_new_dt.h(58) : error C2039: 'x_a' : is not a member of '_rtB_sim_andhika_new_If_Acti_e' 
        sim_andhika_new.h(50) : see declaration of '_rtB_sim_andhika_new_If_Acti_e' 
sim_andhika_new_dt.h(60) : error C2039: 'x_a' : is not a member of '_rtB_sim_andhika_new_If_Acti_e' 
        sim_andhika_new.h(50) : see declaration of '_rtB_sim_andhika_new_If_Acti_e' 
sim_andhika_new_dt.h(62) : error C2039: 'x_a' : is not a member of '_rtB_sim_andhika_new_If_Acti_e' 
        sim_andhika_new.h(50) : see declaration of '_rtB_sim_andhika_new_If_Acti_e' 
sim_andhika_new_dt.h(63) : error C2039: 'If_Action_dd' : is not a member of '_BlockIO' 
        sim_andhika_new.h(66) : see declaration of '_BlockIO' 
sim_andhika_new_dt.h(64) : error C2039: 'If_Action_dc' : is not a member of '_BlockIO' 
        sim_andhika_new.h(66) : see declaration of '_BlockIO' 
sim_andhika_new_dt.h(65) : error C2039: 'If_Action_dh' : is not a member of '_BlockIO' 
        sim_andhika_new.h(66) : see declaration of '_BlockIO' 
sim_andhika_new_dt.h(66) : error C2039: 'If_Action_dg' : is not a member of '_BlockIO' 
        sim_andhika_new.h(66) : see declaration of '_BlockIO' 
sim_andhika_new_dt.h(67) : error C2039: 'If_Action_dl' : is not a member of '_BlockIO' 
        sim_andhika_new.h(66) : see declaration of '_BlockIO' 
sim_andhika_new_dt.h(68) : error C2039: 'If_Action_dk' : is not a member of '_BlockIO' 
        sim_andhika_new.h(66) : see declaration of '_BlockIO' 
sim_andhika_new_dt.h(69) : error C2039: 'If_Action_cz' : is not a member of '_BlockIO' 
        sim_andhika_new.h(66) : see declaration of '_BlockIO' 
sim_andhika_new_dt.h(70) : error C2039: 'If_Action_cy' : is not a member of '_BlockIO' 
        sim_andhika_new.h(66) : see declaration of '_BlockIO' 
sim_andhika_new_dt.h(71) : error C2039: 'If_Action_cb' : is not a member of '_BlockIO' 
        sim_andhika_new.h(66) : see declaration of '_BlockIO' 
sim_andhika_new_dt.h(72) : error C2039: 'If_Action_ca' : is not a member of '_BlockIO' 
        sim_andhika_new.h(66) : see declaration of '_BlockIO' 
sim_andhika_new_dt.h(74) : error C2039: 'x_a' : is not a member of '_rtB_sim_andhika_new_If_Acti_e' 
        sim_andhika_new.h(50) : see declaration of '_rtB_sim_andhika_new_If_Acti_e' 
sim_andhika_new_dt.h(76) : error C2039: 'x_a' : is not a member of '_rtB_sim_andhika_new_If_Acti_e' 
        sim_andhika_new.h(50) : see declaration of '_rtB_sim_andhika_new_If_Acti_e' 
sim_andhika_new_dt.h(78) : error C2039: 'x_a' : is not a member of '_rtB_sim_andhika_new_If_Acti_e' 
        sim_andhika_new.h(50) : see declaration of '_rtB_sim_andhika_new_If_Acti_e' 
sim_andhika_new_dt.h(80) : error C2039: 'x_a' : is not a member of '_rtB_sim_andhika_new_If_Acti_e' 
        sim_andhika_new.h(50) : see declaration of '_rtB_sim_andhika_new_If_Acti_e' 
sim_andhika_new_dt.h(82) : error C2039: 'x_a' : is not a member of '_rtB_sim_andhika_new_If_Acti_e' 
        sim_andhika_new.h(50) : see declaration of '_rtB_sim_andhika_new_If_Acti_e' 
sim_andhika_new_dt.h(83) : error C2039: 'If_Action_bp' : is not a member of '_BlockIO' 
        sim_andhika_new.h(66) : see declaration of '_BlockIO' 
sim_andhika_new_dt.h(84) : error C2039: 'If_Action_bo' : is not a member of '_BlockIO' 
        sim_andhika_new.h(66) : see declaration of '_BlockIO' 
sim_andhika_new_dt.h(85) : error C2039: 'If_Action_bs' : is not a member of '_BlockIO' 
        sim_andhika_new.h(66) : see declaration of '_BlockIO' 
sim_andhika_new.c(3224) : error C2039: 'If_Action_d' : is not a member of '_BlockIO' 
        sim_andhika_new.h(66) : see declaration of '_BlockIO' 
sim_andhika_new.c(3228) : error C2039: 'If_Action_c' : is not a member of '_BlockIO' 
        sim_andhika_new.h(66) : see declaration of '_BlockIO' 
sim_andhika_new.c(3236) : error C2039: 'x_a' : is not a member of '_rtB_sim_andhika_new_If_Acti_e' 
        sim_andhika_new.h(50) : see declaration of '_rtB_sim_andhika_new_If_Acti_e' 
sim_andhika_new.c(3244) : error C2039: 'x_a' : is not a member of '_rtB_sim_andhika_new_If_Acti_e' 
        sim_andhika_new.h(50) : see declaration of '_rtB_sim_andhika_new_If_Acti_e' 
sim_andhika_new.c(3252) : error C2039: 'x_a' : is not a member of '_rtB_sim_andhika_new_If_Acti_e' 
        sim_andhika_new.h(50) : see declaration of '_rtB_sim_andhika_new_If_Acti_e' 
sim_andhika_new.c(3260) : error C2039: 'x_a' : is not a member of '_rtB_sim_andhika_new_If_Acti_e' 
        sim_andhika_new.h(50) : see declaration of '_rtB_sim_andhika_new_If_Acti_e' 
sim_andhika_new.c(3268) : error C2039: 'x_a' : is not a member of '_rtB_sim_andhika_new_If_Acti_e' 
        sim_andhika_new.h(50) : see declaration of '_rtB_sim_andhika_new_If_Acti_e' 
sim_andhika_new.c(3272) : error C2039: 'If_Action_dd' : is not a member of '_BlockIO' 
        sim_andhika_new.h(66) : see declaration of '_BlockIO' 
sim_andhika_new.c(3276) : error C2039: 'If_Action_dc' : is not a member of '_BlockIO' 
        sim_andhika_new.h(66) : see declaration of '_BlockIO' 
sim_andhika_new.c(3280) : error C2039: 'If_Action_dh' : is not a member of '_BlockIO' 
        sim_andhika_new.h(66) : see declaration of '_BlockIO' 
sim_andhika_new.c(3284) : error C2039: 'If_Action_dg' : is not a member of '_BlockIO' 
        sim_andhika_new.h(66) : see declaration of '_BlockIO' 
sim_andhika_new.c(3288) : error C2039: 'If_Action_dl' : is not a member of '_BlockIO' 
        sim_andhika_new.h(66) : see declaration of '_BlockIO' 
sim_andhika_new.c(3292) : error C2039: 'If_Action_dk' : is not a member of '_BlockIO' 
        sim_andhika_new.h(66) : see declaration of '_BlockIO' 
sim_andhika_new.c(3296) : error C2039: 'If_Action_cz' : is not a member of '_BlockIO' 
        sim_andhika_new.h(66) : see declaration of '_BlockIO' 
sim_andhika_new.c(3300) : error C2039: 'If_Action_cy' : is not a member of '_BlockIO' 
        sim_andhika_new.h(66) : see declaration of '_BlockIO' 
sim_andhika_new.c(3304) : error C2039: 'If_Action_cb' : is not a member of '_BlockIO' 
        sim_andhika_new.h(66) : see declaration of '_BlockIO' 
sim_andhika_new.c(3308) : error C2039: 'If_Action_ca' : is not a member of '_BlockIO' 
        sim_andhika_new.h(66) : see declaration of '_BlockIO' 
sim_andhika_new.c(3316) : error C2039: 'x_a' : is not a member of '_rtB_sim_andhika_new_If_Acti_e' 
        sim_andhika_new.h(50) : see declaration of '_rtB_sim_andhika_new_If_Acti_e' 
sim_andhika_new.c(3324) : error C2039: 'x_a' : is not a member of '_rtB_sim_andhika_new_If_Acti_e' 
        sim_andhika_new.h(50) : see declaration of '_rtB_sim_andhika_new_If_Acti_e' 
sim_andhika_new.c(3332) : error C2039: 'x_a' : is not a member of '_rtB_sim_andhika_new_If_Acti_e' 
        sim_andhika_new.h(50) : see declaration of '_rtB_sim_andhika_new_If_Acti_e' 
sim_andhika_new.c(3340) : error C2039: 'x_a' : is not a member of '_rtB_sim_andhika_new_If_Acti_e' 
        sim_andhika_new.h(50) : see declaration of '_rtB_sim_andhika_new_If_Acti_e' 
sim_andhika_new.c(3348) : error C2039: 'x_a' : is not a member of '_rtB_sim_andhika_new_If_Acti_e' 
        sim_andhika_new.h(50) : see declaration of '_rtB_sim_andhika_new_If_Acti_e' 
sim_andhika_new.c(3352) : error C2039: 'If_Action_bp' : is not a member of '_BlockIO' 
        sim_andhika_new.h(66) : see declaration of '_BlockIO' 
sim_andhika_new.c(3356) : error C2039: 'If_Action_bo' : is not a member of '_BlockIO' 
        sim_andhika_new.h(66) : see declaration of '_BlockIO' 
sim_andhika_new.c(3360) : error C2039: 'If_Action_bs' : is not a member of '_BlockIO' 
        sim_andhika_new.h(66) : see declaration of '_BlockIO' 
NMAKE : fatal error U1077: 'cl' : return code '0x2' 
Stop. 

I need your help, because i cannot find the solution..
thanks a lot

best regard
Andhika Rizki Pratama