#*---------------------------------------------------------------------
* This file is property of the author and cannot be used, copyed
* or modified without permission.
*
* Copyright (C) 2002-2004  the author
*----------------------------------------------------------------------
* Author: Rafael de Pelegrini Soares
* $Id: sample_pend.mso 48 2006-11-10 13:09:07Z rafael $
*----------------------------------------------------------------------
*
* EMSO sample file.
*
* FlowSheet with the Model for the index three pendulum
* in Cartesian coordinates.
*
*--------------------------------------------------------------------*#

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
	
	time = [0:0.1:30];
	integration = "index0"; # original, index0 or index1
	relativeAccuracy = 1e-8;
	absoluteAccuracy = 1e-9;
	indVarAccuracy = 1e-3;
	LASolver = "dense"; # dense or sparse
	DAESolver = "dassl"; # mebdf, dasslc, dassl, or sundials
end