def __init__(self):
"""Return a Customer object whose name is *name* and starting
balance is *balance*."""
# Set up solver
si.set_defaults()
si.setup_indexing()
si.load_default_data()
import solver_interface as si import numpy as np import matplotlib.pyplot as plt si.set_defaults() si.setup_indexing() # Set parameters #x_0 x_0 = [0.0, 0.0, 0.0] u_0 = [0.0, 0.0] si.set_parameters(0,0,0.0) si.set_parameters(0,1,0.0) si.set_parameters(0,2,0.0) #Q si.set_parameters(1,0,10.0) si.set_parameters(1,4,100.0) si.set_parameters(1,8,1.0) #R si.set_parameters(2,0,1.0) si.set_parameters(2,3,1.0) #u_max si.set_parameters(5,0,100.0) #deltau_max si.set_parameters(8,0,100.0) xpos = [0.0]