Index exceeds the number of array elements (1).

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Error in NLP_forlooooppiiee (line 80)

tau(k) = floor ( [(C_ud - q_ud(k)) * l_veh / (N_ud * v_ud*c)]);

E1 = 10;
E2 = 4;
E3 = 2;
c = (60/3600); %hr
N_ud = 3;
v_ud = 50; % km/hr
l_veh = (7/1000); %km
l_ud = 1; % km
beta_udo1 = 0.33;
beta_udo2 = 0.34;
beta_udo3 = 0.33;
mu_udo1 = 1600; %veh/hr
mu_udo2 = 1800; 
mu_udo3 = 1500; 
C_ud =  N_ud * l_ud / l_veh;
n_ud0 = 0;
%Parameters link o1-d
N_o1d = 3;
v_o1d = 60;
l_veh = 7;
l_o1d = 1000;
beta_o1du = 0.33;
beta_o1do2 = 0.33;
beta_o1do3 = 0.34;
mu_o1du = 1600;
mu_o1do3 = 1800;
mu_o1do2 = 1500;
for k = 1:60
    %initial values
    q_udo1(1) = 0;
    q_udo2(1) = 0;
    q_udo3(1) = 0;
    q_ud(1) = 0;
    n_ud(1) = 0;
    
    %g_d(k)
    g_d(k) = (30/3600);
   
    
    %a_enter_ud
    if k <= 20
        a_enter_ud(k) = 1800 + 10*E1;
    end
    if k > 20 && k<= 40
        a_enter_ud(k) = 2100 + 10*E2;
    end
    if k > 40
        a_enter_ud(k) = 2300 + 10*E3;
    end
    
    %C_do1
    if k <= 20
        C_do1(k)= 40 + E1;
    end
    if k > 20 && k<= 35
        C_do1(k) = 40 + E1 - 2 * (k -20);
    end
    if k>35 && k<=45
        C_do1(k) = 10+E1;
    end
    if k>45
        C_do1(k) = 10 + E1 + 2*(k-45);
    end
    
    %C_do2
    C_do2(k) = C_do1(k) - E2;
    
    %C_do3
    if k <= 30
        C_do3(k) = 30 - E3;
    end
    if k>30
        C_do3(k) = 30 + E3;
    end
    
    %tau(k)
    tau(k) = floor ( (C_ud - q_ud(k)) * l_veh / (N_ud * v_ud*c) );
    
    
    %gamma(k)
    gamma(k) = mod(( (C_ud - q_ud(k)) * l_veh / (N_ud * v_ud)),c);
    
    %k-tau -- zorgt ervoor dat er geen negatieve index komt
    z(k) = k - tau(k);
    if z(k) <= 0
        z(k) = 1;
    end
    
    %k-tau-1  zorgen ervoor dat er geen negatieve index komt
    e(k) = k - tau(k) - 1;
    if e(k) <=0
        e(k) = 1;
    end
    
    
    %a_arriv_ud
    a_arriv_ud(k) = ((c-gamma(k))/c * a_enter_ud(z(k))) + (gamma(k)/c * a_enter_ud(e(k)));
    
    %a_arriv_udo
    a_arriv_udo1(k) = beta_udo1 * a_arriv_ud(k);
    a_arriv_udo2(k) = beta_udo2 * a_arriv_ud(k);
    a_arriv_udo3(k) = beta_udo3 * a_arriv_ud(k);
    
    
     %a_leave_udo1
    a_leave_udo1(k) = min([mu_udo1 * g_d(k)/c, (q_udo1(k)/c) + a_arriv_udo1(k), C_do1(k)/c]);
    a_leave_udo2(k) = min([mu_udo2 * g_d(k)/c, (q_udo2(k)/c) + a_arriv_udo2(k), C_do2(k)/c]);
    a_leave_udo3(k) = min([mu_udo3 * g_d(k)/c, (q_udo3(k)/c) + a_arriv_udo3(k), C_do3(k)/c]);
    
    %q_udo(k+1)
    q_udo1(k+1) = q_udo1(k) + c*(a_arriv_udo1(k) - a_leave_udo1(k));
    q_udo2(k+1) = q_udo2(k) + c*(a_arriv_udo2(k) - a_leave_udo2(k));
    q_udo3(k+1) = q_udo3(k) + c*(a_arriv_udo3(k) - a_leave_udo3(k));
   
    %q_ud(k)
    q_ud(k) = q_udo1(k) + q_udo2(k) + q_udo3(k);
   
      
    %a_leave_ud
    a_leave_ud(k) = a_leave_udo1(k) + a_leave_udo2(k) + a_leave_udo3(k);
    
   
    %n_ud(k+1) 
    n_ud(k+1) = n_ud(k) + c *(a_enter_ud(k) - a_leave_ud(k));
    
end