View source for Egerstedt standard problem (AMPL)

This page contains a discretized version of the MIOCP [[Egerstedt standard problem]] in [http://www.ampl.org AMPL] format and with the package ampl_mintoc. You should be aware of the comments regarding discretization made on the [[:Category:AMPL|AMPL overview]] page. Note that you will need to include two generic [[support AMPL files]], mintocPre.mod and mintocPost.mod.

=== AMPL ===

The model in AMPL code for a fixed control discretization grid with a collocation method. We need a model file egerstedt.mod,
<source lang="AMPL">
# Problem specific parameters and variables
#param ref{X};
#param p{X,Omega};

# Problem specific functions

var f {k in X,o in 0..no,i in I} = (
	if      (k==1 && o==0) then 0
	else if (k==2 && o==0) then 0
	else if (k==1 && o==1) then -x[1,i]
	else if (k==2 && o==1) then x[1,i]+2*x[2,i]
	else if (k==1 && o==2) then x[1,i]+x[2,i]
	else if (k==2 && o==2) then x[1,i]-2*x[2,i]
	else if (k==1 && o==3) then x[1,i]-x[2,i]
	else if (k==2 && o==3) then x[1,i]+x[2,i]
);

var lagrange{i in IC} = sum{k in X} (x[k,i])^2;

var re{k in RE} = (
	if      (k==1) then x[1,0] - 0.5
	else if (k==2) then x[2,0] - 0.5
);

var con {k in C, i in IC} = (
	if      (k==1) then 0.4-x[1,i]
);



# -----------------------------------------
# Unused modeling parts
var mayer = 0;

var ri {k in RI} = (
	if      (k==1) then x[1,0]
);

var xa {k in XA, i in I} = (
	if      (k==1) then x[1,i]
);


var vcon {k in VC, o in 0..no, i in IC} = (
	if      (k==1) then x[1,i]
);

var sw{o in Omega, i in IC diff {nt}, k in 1..nsw} = (
	if      (k==1) then x[1,i]
);

</source>

the data file egerstedt.dat

<source lang="AMPL">
# ------------------------------------
# Data: Egerstedt example from Jung Dissertation
# ------------------------------------

# Dimensions, all other 0 by default
param nxd := 2;
param no := 3;
param nre := 2;
param nc :=1;

# Algorithmic parameters
param nt := 1200;
param ntperu := 30;

# Problem parameters

let T := 1.0;



# Initial values control
let {o in Omega, i in IU} wi[o,i] := 1.0;

let nplots := 2;
let filename_base := "egerstedt";
for {k in X} { let plotlambda[k] := 2; }
#let {k in X} plotrefx[k] := 3;

</source>


and the run file
<source lang="AMPL">
##############################
model ../mintocPre.mod;
model egerstedt.mod;
model ../mintocPost.mod;
data egerstedt.dat;
##############################

let isSOS1 := 1;
let integrator := "explicitEuler";




##############################
let integrator := "radau3";
let mode := "Relaxed";
include ../solve.run;
include ../plot1404.run;
include ../storeTrajectory.run;
include ../saveTrajectory.run;
include ../printFrel.run;
include ../printOutput.run;

##############################
let mode := "CIA";
include ../solveMILP.run;
let mode := "Simulate";
include ../solve.run;
let filename_ext := "CIA";
include ../plot1404.run;
include ../printOutput.run;
</source>




[[Category:AMPL]]