Moved TestStateSpace.jl from ModiaLang and adapted it

Author: MartinOtter

examples/StateSpace.jl

@@ -0,0 +1,53 @@
+module StateSpaceSimulation
+
+using Modia, ModiaPlot
+
+
+# Second order system:
+#     w = 1.0
+#     D = 0.1
+#     k = 2.0
+#     der(x1) = x2
+#     der(x2) = -w^2*x1 - 2*D*w*x2 + w^2*u
+#          y  = k*x1
+SecondOrder1 = Model(
+    w = 20.0,
+    D =  0.1,
+    k =  2.0,
+    sys = Modia.StateSpace | Map(A = :([  0        1;
+                                       -w^2  -2*D*w]),
+                                 B = :([0; w^2]),
+                                 C = :([k 0]),
+                                 D = :(zeros(1)),
+                                 x = Var(init = zeros(2)) ),
+    equations = :[sys.u = 1.0]
+)
+
+
+secondOrder1 = @instantiateModel(SecondOrder1, unitless=true)
+simulate!(secondOrder1, merge=Map(D=0.3),
+          requiredFinalStates = [0.9974089572681231, 0.011808652820321723])
+plot(secondOrder1, [("sys.u", "sys.y"); "sys.x"], figure = 1)
+
+
+
+SecondOrder2 = Model(
+    sys = Modia.StateSpace | Map(   A = [   0.0    1.0;
+                                         -100.0  -12.0],
+                                    B = [0; 400.0],
+                                    C = [2.0 0],
+                                    D = zeros(1,1),
+                                    x = Var(init = zeros(2))),
+    equations = :[sys.u = 1.0]
+)
+
+secondOrder2 = @instantiateModel(SecondOrder2, unitless=true)
+simulate!(secondOrder2, Tsit5(), merge=Map(sys=Map(A = [0.0 1.0; -400.0  -12.0])),
+          requiredFinalStates = [0.9974089572681231, 0.011808652820321723])
+plot(secondOrder2, [("sys.u", "sys.y"); "sys.x"], figure = 2)
+
+simulate!(secondOrder2, Tsit5(), merge=Map(sys=Map(x=[1.0,1.0])),
+          logParameters=true, logStates=true,
+          requiredFinalStates = [1.0000295203337868, 0.0022367686372974493])
+plot(secondOrder2, [("sys.u", "sys.y"); "sys.x"], figure = 3)
+end

test/runtests.jl

@@ -9,6 +9,7 @@ using Test
     include("../examples/MotorControl.jl")          
     include("../examples/Pendulum.jl")    
     include("../examples/ServoSystem.jl")   
+    include("../examples/StateSpace.jl")       
     include("../examples/Tutorial.jl")  
 
 end