Plate Experiment for the active vibration damping of large flexible space structures, example of order 10
(Key:
DLR2 like DLR1, original system .mat file generated by /export/home/leibfr/tankred/work/DLR_40_data.m on msun10
simulation.py
# This file was autogenerated from the template: simulation.py.template (2022-10-10 15:57:37).
import numpy as np
import system_model
from scipy.integrate import solve_ivp, odeint
from ackrep_core import ResultContainer
from ackrep_core.system_model_management import save_plot_in_dir
import matplotlib.pyplot as plt
import os
from ipydex import Container
# link to documentation with examples: https://ackrep-doc.readthedocs.io/en/latest/devdoc/contributing_data.html
def simulate():
"""
simulate the system model with scipy.integrate.solve_ivp
:return: result of solve_ivp, might contains input function
"""
model = system_model.Model()
rhs_xx_pp_symb = model.get_rhs_symbolic()
rhs = model.get_rhs_func()
# initial state values
xx0 = np.ones(model.sys_dim)
t_end = 10
tt = np.linspace(0, t_end, 1000)
simulation_data = solve_ivp(rhs, (0, t_end), xx0, t_eval=tt)
# using odeint for models with large state vectors
# res = odeint(rhs, y0=xx0, t=tt, tfirst=True)
# simulation_data = Container()
# simulation_data.y = res.transpose()
# simulation_data.t = tt
# postprocessing: calc output
ny = 2
C = model.get_parameter_value("C")
D21 = model.get_parameter_value("D21")
output = np.zeros((ny, len(tt)))
for i in range(len(tt)):
output[:,i] = np.matmul(C, simulation_data.y[:,i]) # + np.matmul(D21, w)
simulation_data.output = output
save_plot(simulation_data)
return simulation_data
def save_plot(simulation_data):
"""
plot your data and save the plot
access to data via: simulation_data.t array of time values
simulation_data.y array of data components
simulation_data.uu array of input values
:param simulation_data: simulation_data of system_model
:return: None
"""
for i in range(simulation_data.output.shape[0]):
plt.plot(simulation_data.t, simulation_data.output[i], label=f"$y_{i}$")
plt.legend()
plt.tight_layout()
save_plot_in_dir()
def evaluate_simulation(simulation_data):
"""
assert that the simulation results are as expected
:param simulation_data: simulation_data of system_model
:return:
"""
expected_final_state = np.array([-1.30536565e+00, 9.39559776e-02, -4.05886861e-01, -4.19803171e-01,
-4.96150118e-01, -6.00312256e-02, 2.11699878e-01, 2.34455256e-02,
8.77194491e-02, -4.92084356e-02, -1.25297647e-02, -8.98890907e-04,
1.50758410e-02, 3.60165239e-03, -6.64936291e-03, -5.28956453e-03,
2.37386301e-03, -1.32426115e-03, 7.52496957e-04, -1.06850011e-03,
-3.44821749e-01, -1.64767066e+00, 3.35899154e+00, 4.24962056e+00,
-1.61270602e+00, 6.77158086e+00, 1.96089152e+00, 5.22622896e+00,
6.97539726e-01, -3.29191603e+00, 3.21114854e+00, 2.12398548e+00,
-1.21695592e+00, -8.66723707e-01, 2.38077276e-01, -2.97369689e-01,
1.78032734e-01, 1.32692003e-01, -1.69427780e-01, -1.21475772e-01])
rc = ResultContainer(score=1.0)
simulated_final_state = simulation_data.y[:, -1]
rc.final_state_errors = [
simulated_final_state[i] - expected_final_state[i] for i in np.arange(0, len(simulated_final_state))
]
rc.success = np.allclose(expected_final_state, simulated_final_state, rtol=0, atol=1e-2)
return rc
system_model.py
# This file was autogenerated from the template: system_model.py.template (2022-10-10 15:57:37).
import sympy as sp
import numpy as np
import symbtools as st
import importlib
import sys, os
#from ipydex import IPS, activate_ips_on_exception
from ackrep_core.system_model_management import GenericModel, import_parameters
# Import parameter_file
params = import_parameters()
#link to documentation with examples: https://ackrep-doc.readthedocs.io/en/latest/devdoc/contributing_data.html
class Model(GenericModel):
def initialize(self):
"""
this function is called by the constructor of GenericModel
:return: None
"""
# Define number of inputs -- MODEL DEPENDENT
self.u_dim = 2
# Set "sys_dim" to constant value, if system dimension is constant
self.sys_dim = 40
# check existence of params file
self.has_params = True
self.params = params
# ----------- SET DEFAULT INPUT FUNCTION ---------- #
def uu_default_func(self):
"""
define input function
:return:(function with 2 args - t, xx_nv) default input function
"""
def uu_rhs(t, xx_nv):
"""
sequence of numerical input values
:param t:(scalar or vector) time
:param xx_nv:(vector or array of vectors) numeric state vector
:return:(list) numeric inputs
"""
u = np.zeros(self.u_dim)
return u
return uu_rhs
# ----------- SYMBOLIC RHS FUNCTION ---------- #
def get_rhs_symbolic(self):
"""
define symbolic rhs function
:return: matrix of symbolic rhs-functions
"""
if self.dxx_dt_symb is not None:
return self.dxx_dt_symb
x = self.xx_symb
A, B, B1, C1, C, D11, D12, D21 = self.pp_symb # parameters
w = np.zeros(1) # noise
u = self.uu_symb # inputs
# define symbolic rhs functions
self.dxx_dt_symb = np.matmul(A,x) + np.matmul(B1,w) + np.matmul(B,u)
return self.dxx_dt_symb
parameters.py
# This file was autogenerated from the template: parameters.py.template (2022-10-10 15:57:37).
import sys
import os
import numpy as np
import sympy as sp
import tabulate as tab
#link to documentation with examples: https://ackrep-doc.readthedocs.io/en/latest/devdoc/contributing_data.html
# set model name
model_name = 'Plate Experiment for the active vibration damping of large flexible space structures, example of order 10'
# ---------- create symbolic parameters
A = sp.MatrixSymbol('A', 40, 40)
B = sp.MatrixSymbol('B', 40, 2)
B1 = sp.MatrixSymbol('B1', 40, 1)
C1 = sp.MatrixSymbol('C1', 42, 40)
C = sp.MatrixSymbol('C', 2, 40)
D11 = sp.MatrixSymbol('D11', 42, 1)
D12 = sp.MatrixSymbol('D12', 42, 2)
D21 = sp.MatrixSymbol('D21', 2, 1)
pp_symb = [A, B, B1, C1, C, D11, D12, D21]
# ---------- create auxiliary symbolic parameters
# set numerical values of auxiliary parameters
# trailing "_nv" stands for "numerical value"
A_nv = sp.Matrix(np.array([[ 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 1.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00],
[ 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
1.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00],
[ 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 1.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00],
[ 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
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0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 1.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00],
[ 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
1.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00],
[ 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 1.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00],
[ 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 1.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00],
[ 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
1.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00],
[ 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
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0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 1.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00],
[ 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 1.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00],
[ 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
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1.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00],
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0.00000000e+00, 1.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00],
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0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 1.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00],
[ 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
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0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
1.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00],
[ 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
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B1_nv = sp.Matrix(np.array([[ 0. , 0. ],
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[ 0.0808331 , -0.0808331 ],
[-0.0707422 , -0.0707422 ],
[-0.0309156 , 0.0309156 ],
[ 0.060544 , 0.060544 ],
[ 0.00277099, 0.00277099],
[ 0.040953 , -0.040953 ],
[-0.118247 , -0.118247 ],
[-0.149486 , -0.149486 ],
[-0.080104 , -0.080104 ],
[ 0.0849413 , -0.0849413 ],
[ 0.158145 , 0.158145 ],
[ 0.0199461 , 0.0199461 ],
[ 0.0528277 , -0.0528276 ],
[ 0.0342809 , -0.0342809 ],
[ 0.138786 , 0.138786 ],
[ 0.275623 , -0.275623 ],
[-0.0635756 , -0.0635756 ]]))
C1_nv = sp.Matrix(np.array([[3162.27766017, 0. , 0. , 0. ,
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[ 0. , 0. , 0. , 0. ,
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[ 0. , 0. , 0. , 0. ,
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0. , 0. , 0. , 0. ,
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0. , 0. , 0. , 0. ,
0. , 0. , 0. , 0. ,
0. , 0. , 0. , 316.22776602],
[ 0. , 0. , 0. , 0. ,
0. , 0. , 0. , 0. ,
0. , 0. , 0. , 0. ,
0. , 0. , 0. , 0. ,
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0. , 0. , 0. , 0. ,
0. , 0. , 0. , 0. ,
0. , 0. , 0. , 0. ,
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[ 0. , 0. , 0. , 0. ,
0. , 0. , 0. , 0. ,
0. , 0. , 0. , 0. ,
0. , 0. , 0. , 0. ,
0. , 0. , 0. , 0. ,
0. , 0. , 0. , 0. ,
0. , 0. , 0. , 0. ,
0. , 0. , 0. , 0. ,
0. , 0. , 0. , 0. ,
0. , 0. , 0. , 0. ]]))
C_nv = sp.Matrix(np.array([[-2.74346e-01, 2.56495e-07, 1.24771e-08, 6.38627e-02,
-9.02473e-09, -3.54791e-01, 5.15609e-09, 9.47967e-09,
2.89055e-01, 7.72417e-08, -1.09564e-08, -1.49674e-09,
2.04444e-01, 2.42373e-08, -6.97884e-08, -3.89486e-01,
-9.25547e-02, 1.85888e-07, -5.84968e-01, -1.94107e-07,
0.00000e+00, 0.00000e+00, 0.00000e+00, 0.00000e+00,
0.00000e+00, 0.00000e+00, 0.00000e+00, 0.00000e+00,
0.00000e+00, 0.00000e+00, 0.00000e+00, 0.00000e+00,
0.00000e+00, 0.00000e+00, 0.00000e+00, 0.00000e+00,
0.00000e+00, 0.00000e+00, 0.00000e+00, 0.00000e+00],
[-2.01214e-08, -3.02832e-02, 1.75384e-01, 2.02140e-08,
8.07153e-02, 1.12285e-08, 3.35051e-01, -8.01912e-02,
1.20779e-07, -2.82554e-01, 5.26414e-01, 3.23432e-01,
-1.96047e-09, 8.75089e-02, -5.02781e-01, 1.28096e-07,
2.59987e-09, -7.11243e-01, 1.06339e-07, -1.21232e+00,
0.00000e+00, 0.00000e+00, 0.00000e+00, 0.00000e+00,
0.00000e+00, 0.00000e+00, 0.00000e+00, 0.00000e+00,
0.00000e+00, 0.00000e+00, 0.00000e+00, 0.00000e+00,
0.00000e+00, 0.00000e+00, 0.00000e+00, 0.00000e+00,
0.00000e+00, 0.00000e+00, 0.00000e+00, 0.00000e+00]]))
D11_nv = sp.Matrix(np.array([[0.],
[0.],
[0.],
[0.],
[0.],
[0.],
[0.],
[0.],
[0.],
[0.],
[0.],
[0.],
[0.],
[0.],
[0.],
[0.],
[0.],
[0.],
[0.],
[0.],
[0.],
[0.],
[0.],
[0.],
[0.],
[0.],
[0.],
[0.],
[0.],
[0.],
[0.],
[0.],
[0.],
[0.],
[0.],
[0.],
[0.],
[0.],
[0.],
[0.],
[0.],
[0.]]))
D12_nv = sp.Matrix(np.array([[0. , 0. ],
[0. , 0. ],
[0. , 0. ],
[0. , 0. ],
[0. , 0. ],
[0. , 0. ],
[0. , 0. ],
[0. , 0. ],
[0. , 0. ],
[0. , 0. ],
[0. , 0. ],
[0. , 0. ],
[0. , 0. ],
[0. , 0. ],
[0. , 0. ],
[0. , 0. ],
[0. , 0. ],
[0. , 0. ],
[0. , 0. ],
[0. , 0. ],
[0. , 0. ],
[0. , 0. ],
[0. , 0. ],
[0. , 0. ],
[0. , 0. ],
[0. , 0. ],
[0. , 0. ],
[0. , 0. ],
[0. , 0. ],
[0. , 0. ],
[0. , 0. ],
[0. , 0. ],
[0. , 0. ],
[0. , 0. ],
[0. , 0. ],
[0. , 0. ],
[0. , 0. ],
[0. , 0. ],
[0. , 0. ],
[0. , 0. ],
[0.083666, 0. ],
[0. , 0.083666]]))
D21_nv = sp.Matrix(np.array([[0.],
[0.]]))
# ---------- create symbolic parameter functions
# parameter values can be constant/fixed values OR set in relation to other parameters (for example: a = 2*b)
# list of symbolic parameter functions
# tailing "_sf" stands for "symbolic parameter function"
pp_sf = [A_nv, B_nv, B1_nv, C1_nv, C_nv, D11_nv, D12_nv, D21_nv]
# ---------- list for substitution
# -- entries are tuples like: (independent symbolic parameter, numerical value)
pp_subs_list = []
# OPTONAL: Dictionary which defines how certain variables shall be written
# in the table - key: Symbolic Variable, Value: LaTeX Representation/Code
# useful for example for complex variables: {Z: r"\underline{Z}"}
latex_names = {}
# ---------- Define LaTeX table
# Define table header
# DON'T CHANGE FOLLOWING ENTRIES: "Symbol", "Value"
tabular_header = ["Symbol", "Value"]
# Define column text alignments
col_alignment = ["center", "left"]
# Define Entries of all columns before the Symbol-Column
# --- Entries need to be latex code
col_1 = []
# contains all lists of the columns before the "Symbol" Column
# --- Empty list, if there are no columns before the "Symbol" Column
start_columns_list = []
# Define Entries of the columns after the Value-Column
# --- Entries need to be latex code
col_4 = []
# contains all lists of columns after the FIX ENTRIES
# --- Empty list, if there are no columns after the "Value" column
end_columns_list = []