Dear All, I am having a problem with the atan2 function and unwrap. My Simulink model contains a feedback control system for a vehicle which is required to make turns. When the required turning angle exceeds +/- pi radians (e.g. 3*pi/2 radians or three quarters of a full revolution in either direction) I am getting constant oscillation between the limits of +/- pi instead of a step. I tried to unwrap this oscillating data coming out of my atan2 function, so that the output would extend beyond these limits, but it simply unwraps to an extremely large number. Please advise.