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edxmorgan/linearize.py

Last active October 20, 2024 22:02
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linearize a nonlinear function in casadi
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linearize.py
#method 0
def linearize_new(f, x, x0):
x_lim = SX.sym('x_lim', x.sparsity())
return substitute(f + jtimes(f, x, x_lim - x0), vertcat(x_lim, x), vertcat(x, x0))
f_linear_new = Function('f_linear_new', [x, x0, u, mu, I_sym], [linearize_new(x_next, x, x0)])
#method 1
F_next_linear = Function('Xnext_linear', [x, x0, u, mu, I_sym], [linearize(x_next, x, x0)])
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