#*-------------------------------------------------------------------
* EMSO Model Library (EML) Copyright (C) 2004 - 2007 ALSOC.
*
* This LIBRARY is free software; you can distribute it and/or modify
* it under the therms of the ALSOC FREE LICENSE as available at
* http://www.enq.ufrgs.br/alsoc.
*
* EMSO Copyright (C) 2004 - 2007 ALSOC, original code
* from http://www.rps.eng.br Copyright (C) 2002-2004.
* All rights reserved.
*
* EMSO is distributed under the therms of the ALSOC LICENSE as
* available at http://www.enq.ufrgs.br/alsoc.
*
*--------------------------------------------------------------------
* FlowSheet with the Model for the index three pendulum
* in Cartesian coordinates.
*--------------------------------------------------------------------
* Author: Rafael de Pelegrini Soares
* $Id: sample_pend.mso 247 2007-04-24 13:44:18Z rafael $
*-------------------------------------------------------------------*#

using "types.mso";

FlowSheet pend
	PARAMETERS
	g     as acceleration (Brief = "Gravity acceleration");
	L     as length (Brief = "Pendulum cable length");
	
	VARIABLES
	x   as length_delta(Brief="Position x");
	y   as length_delta(Brief="Position y");
	w   as velocity(Brief = "Velocity for x");
	z   as velocity(Brief = "Velocity for y");
	T   as Real(Brief = "Tension on cable",Default=10,Unit='1/s^2');
	
	EQUATIONS
	"Velocity on x"
 	diff(x)=w;
	
	"Velocity on y"
	diff(y)=z;
	
	"Tension on x"
	diff(w)=T*x;
	
	"Tension on y"
	diff(z)=T*y-g;
	
	"Position Constraint"
	x^2+y^2=L^2;
	
	SET
	g     = 9.8 * 'm/s^2';
	L     = 1 * 'm';

	INITIAL
	"Initial Position x"
	x = -1 * 'm';

	"Initial x Velocity"
	w = 0 * 'm/s';
	
	#"Initial Position y"  y = 0 * "m";
	#"Initial y Velocity"  z = 0 * "m/s";

	OPTIONS
	TimeStep = 0.1;
	TimeEnd = 30;
	Integration = "index0"; # original, index0 or index1

	NLASolver(
		RelativeAccuracy = 1e-8,
		AbsoluteAccuracy = 1e-9
	);
	DAESolver(
		File = "dassl", # mebdf, dasslc, dassl, or sundials
		RelativeAccuracy = 1e-8,
		AbsoluteAccuracy = 1e-9,
		EventAccuracy = 1e-3
	);
	SparseAlgebra = true; # dense or sparse
end