jaeandersson

import numpy as np
import casadi as ca
from numpy import exp,pi



def ode():
  # Plant parameter values
  T0 = 350    # K
  c0 = 1      # kmol/m^3

jaeandersson

from casadi import *

jaeandersson

package CSTR

model CSTR "A CSTR"
 
  parameter Modelica.SIunits.VolumeFlowRate F0=100/1000/60 "Inflow";
  parameter Modelica.SIunits.Concentration c0=1000 "Concentration of inflow"; 
  Modelica.Blocks.Interfaces.RealInput Tc "Cooling temperature"; 
  parameter Modelica.SIunits.VolumeFlowRate F=100/1000/60 "Outflow"; 
  parameter Modelica.SIunits.Temp_K T0 = 350;
  parameter Modelica.SIunits.Length r = 0.219;

jaeandersson

from casadi import *
from casadi.tools import *
from plotter import *
from pylab import *

"""
       NOTE: if you use spyder,
           make sure you open a Python interpreter
                 instead of an IPython interpreter
           otherwise you wont see any plots

jaeandersson

import numpy as NP
from casadi import *

# Choose collocation points
d = 4  # Degree
tau_root = collocationPoints(d,"legendre")

# Calculate coefficients
C = DMatrix.nan(d+1,d+1)  # For the collocation equation
D = DMatrix.nan(d+1)      # For the continuity equation

jaeandersson

from casadi import *
from casadi.tools import *

import numpy
from numpy import cos,sin, vstack, hstack, multiply

class Quadcopter:
  """
   
   Quadcopter model

jaeandersson

#import casadi
import numpy
from casadi import *

# Initial and final position
px0 = 0.0;  py0 = 1.5
pxF = 20.0; pyF = 0.0

# Time horizon and discretization
T = 3.0

jaeandersson

from casadi import *
from numpy import *
import matplotlib.pyplot as plt

N = 20      # Control discretization
T = 10.0    # End time

# Declare variables (use scalar graph)
u  = SX.sym("u")    # control
x  = SX.sym("x",2)  # states

jaeandersson

from casadi import *
from numpy import *
import matplotlib.pyplot as plt

N = 20      # Control discretization
T = 10.0    # End time

# Declare variables (use scalar graph)
u  = SX.sym("u")    # control
x  = SX.sym("x",2)  # states

jaeandersson

from pylab import *

# End time
T = 10.

# Number of control intervals
N = 20

# Number of Runge-Kutta 4 steps per interval and step size
NK = 20