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Details for: "PyInduct backstepping example"

Name: PyInduct backstepping example (Key: HOZEE)
Path: ackrep_data/problem_solutions/pyinduct_backstepping_example View on GitHub
Type: problem_solution
Short Description: An introductory backstepping example implemented using PyInduct
Created: 2021-09-17
Compatible Environment: default_conda_environment (Key: CDAMA)
Source Code [ / ]
Ackrep solution file for backstepping-based control of an unstable heat equation
from problem import ProblemSpecification
from feedback import AnalyticBacksteppingController, ApproximatedBacksteppingController

import matplotlib.pyplot as plt
import matplotlib
import pyinduct as pi
from ackrep_core.system_model_management import save_plot_in_dir

import os

class SolutionData:

def solve(problem_spec: ProblemSpecification):
    # get values from spec
    spatial_domain = problem_spec.spatial_domain
    orig_params = problem_spec.orig_params
    fem_sys = problem_spec.fem_sys
    modal_sys = problem_spec.modal_sys
    n_modal = problem_spec.n_modal_sim

    # target system parameters (controller parameters)
    # Note: Backstepping is not able to alter a1 or a2!
    a0_t = 0
    tar_params = [problem_spec.a2, problem_spec.a1, a0_t, None, None]

    # define analytic backstepping controller
    analytic_cont = AnalyticBacksteppingController(spatial_domain, orig_params, fem_sys)

    # define approximated backstepping controllers
    approx_cont_mod = ApproximatedBacksteppingController(orig_params, tar_params, n_modal, spatial_domain, modal_sys)
    approx_cont_fem = ApproximatedBacksteppingController(orig_params, tar_params, n_modal, spatial_domain, fem_sys)

    sol_data = SolutionData()
    sol_data.u = analytic_cont

    sys = problem_spec.fem_sys.get_system(sol_data.u)
    ics = problem_spec.fem_sys.get_initial_state(problem_spec.initial_profile, sol_data.u)
    t_sim, q_sim = pi.simulate_state_space(sys, ics, problem_spec.temp_domain)
    x_sim = problem_spec.fem_sys.get_results(q_sim, sol_data.u, t_sim, problem_spec.spatial_domain, "FEM Simulation")

    sol_data.x = x_sim

    # visualization
    # avoid qt since there are problems when running headless in docker container
    pi.surface_plot(x_sim)  # , title="Surface plots")
    # pi.surface_plot(x_sim, title="Surface plots")


    return sol_data

Solved Problems: PyInduct backstepping example   |  
Used Methods: PyInduct backstepping example, shared functions
Result: Script Error.
Last Build: Checkout CI Build
Runtime: 2.4 (estimated: 10s)
Entity passed last: 2023-07-03 13:14:44
with ackrep_data commit: {'author': 'JuliusFiedler', 'branch': 'develop', 'date': '2023-07-03 13:12:35', 'message': 'fix typos and folder names', 'sha': '180d385f485e4aa0d3df6c7a716fa9d1270dc4f3'}
with ackrep_core commit: {'author': 'JuliusFiedler', 'branch': 'develop', 'date': '2023-07-03 09:44:41', 'message': 'black', 'sha': '2bde08d26afc7227546533ecd58f249d24063462'}
in environment: default_conda_environment:0.1.12
Checkout CI Build

The image of the latest CI job is not available. This is a fallback image. Debug:
Checking <ProblemSolution (pk: 17, key: HOZEE)> "(PyInduct backstepping example, 10s)"
12:18:25 - ackrep - INFO -   ... Creating exec-script ... 
12:18:25 - ackrep - INFO - execscript-path: /code/ackrep/ackrep_data/
12:18:25 - ackrep - INFO -   ... running exec-script /code/ackrep/ackrep_data/ ... 
12:18:26 - ackrep - ERROR - 
        The command `python /code/ackrep/ackrep_data/` exited with returncode 1.


        stderr: Traceback (most recent call last):
  File "/code/ackrep/ackrep_data/", line 41, in <module>
    import problem as ps
  File "/code/ackrep/ackrep_data/problem_specifications/pyinduct_backstepping_example/", line 5, in <module>
    import pyinduct as pi
  File "/opt/conda/lib/python3.8/site-packages/pyinduct/", line 17, in <module>
    from .eigenfunctions import *
  File "/opt/conda/lib/python3.8/site-packages/pyinduct/", line 24, in <module>
    from .visualization import visualize_roots
  File "/opt/conda/lib/python3.8/site-packages/pyinduct/", line 19, in <module>
    import pyqtgraph.opengl as gl
  File "/opt/conda/lib/python3.8/site-packages/pyqtgraph/opengl/", line 1, in <module>
    from . import shaders
  File "/opt/conda/lib/python3.8/site-packages/pyqtgraph/opengl/", line 1, in <module>
    from OpenGL.GL import *  # noqa
  File "/opt/conda/lib/python3.8/site-packages/OpenGL/GL/", line 4, in <module>
    from OpenGL.GL.VERSION.GL_1_1 import *
  File "/opt/conda/lib/python3.8/site-packages/OpenGL/GL/VERSION/", line 14, in <module>
    from OpenGL.raw.GL.VERSION.GL_1_1 import *
  File "/opt/conda/lib/python3.8/site-packages/OpenGL/raw/GL/VERSION/", line 7, in <module>
    from OpenGL.raw.GL import _errors
  File "/opt/conda/lib/python3.8/site-packages/OpenGL/raw/GL/", line 4, in <module>
    _error_checker = _ErrorChecker( _p, _p.GL.glGetError )
AttributeError: 'NoneType' object has no attribute 'glGetError'