Multiple shooting, DAE, using IDA
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Sarry Haj Yahia
Nov 16, 2017, 9:31:06 AM11/16/17
to CasADi
Hello Casadi team,
I was wondering if there is an example in casadi on how to apply multiple shooting method on a DAE system using Casadi?
I know that a collocation method would be favorable, hence it will be the next step of my learning.
Regards,
Sarry
Joel Andersson
Nov 17, 2017, 10:48:01 AM11/17/17
to CasADi
Check the examples collection: https://github.com/casadi/casadi/blob/master/docs/examples/python/dae_multiple_shooting.py
Joel
Sarry Haj Yahia
Nov 17, 2017, 11:24:55 AM11/17/17
to CasADi
Hi Joel, Thank you for your quick response, I attempt to use the same method, however, I get a msg similar to the following:
F:jacF failed: NaN detected for output o0, at nonzero index 32 (row 16, col 4).
psetup failed: The assertion "!isnan(A[k])" on line 110 of file "/home/travis/build/casadi/binaries/casadi/casadi/interfaces/csparse/csparse_interface.cpp" failed.
Nonzero 32 is not-a-number
F:jacF failed: NaN detected for output o0, at nonzero index 32 (row 16, col 4).
psetup failed: The assertion "!isnan(A[k])" on line 110 of file "/home/travis/build/casadi/binaries/casadi/casadi/interfaces/csparse/csparse_interface.cpp" failed.
Nonzero 32 is not-a-number
The residual routine or the linear setup or solve routine had a recoverable error, but IDACalcIC was unable to recover.
solver:nlp_g failed: on line 566 of file "/home/travis/build/casadi/binaries/casadi/casadi/interfaces/sundials/idas_interface.cpp"
IDACalcIC on line 399 of file "/home/travis/build/casadi/binaries/casadi/casadi/interfaces/sundials/idas_interface.cpp" returned "IDA_NO_RECOVERY". Consult IDAS documentation.
Warning: Cutting back alpha due to evaluation error
F:jacF failed: NaN detected for output o0, at nonzero index 32 (row 16, col 4).
psetup failed: The assertion "!isnan(A[k])" on line 110 of file "/home/travis/build/casadi/binaries/casadi/casadi/interfaces/csparse/csparse_interface.cpp" failed.
Nonzero 32 is not-a-number
F:jacF failed: NaN detected for output o0, at nonzero index 32 (row 16, col 4).
psetup failed: The assertion "!isnan(A[k])" on line 110 of file "/home/travis/build/casadi/binaries/casadi/casadi/interfaces/csparse/csparse_interface.cpp" failed.
Nonzero 32 is not-a-number
F:jacF failed: NaN detected for output o0, at nonzero index 32 (row 16, col 4).
psetup failed: The assertion "!isnan(A[k])" on line 110 of file "/home/travis/build/casadi/binaries/casadi/casadi/interfaces/csparse/csparse_interface.cpp" failed.
Nonzero 32 is not-a-number
F:jacF failed: NaN detected for output o0, at nonzero index 32 (row 16, col 4).
psetup failed: The assertion "!isnan(A[k])" on line 110 of file "/home/travis/build/casadi/binaries/casadi/casadi/interfaces/csparse/csparse_interface.cpp" failed.
Nonzero 32 is not-a-number
F:jacF failed: NaN detected for output o0, at nonzero index 32 (row 16, col 4).
psetup failed: The assertion "!isnan(A[k])" on line 110 of file "/home/travis/build/casadi/binaries/casadi/casadi/interfaces/csparse/csparse_interface.cpp" failed.
Nonzero 32 is not-a-number
The residual routine or the linear setup or solve routine had a recoverable error, but IDACalcIC was unable to recover.
solver:nlp_g failed: on line 566 of file "/home/travis/build/casadi/binaries/casadi/casadi/interfaces/sundials/idas_interface.cpp"
IDACalcIC on line 399 of file "/home/travis/build/casadi/binaries/casadi/casadi/interfaces/sundials/idas_interface.cpp" returned "IDA_NO_RECOVERY". Consult IDAS documentation.
Warning: Cutting back alpha due to evaluation error
F:jacF failed: NaN detected for output o0, at nonzero index 32 (row 16, col 4).
psetup failed: The assertion "!isnan(A[k])" on line 110 of file "/home/travis/build/casadi/binaries/casadi/casadi/interfaces/csparse/csparse_interface.cpp" failed.
Nonzero 32 is not-a-number
F:jacF failed: NaN detected for output o0, at nonzero index 32 (row 16, col 4).
psetup failed: The assertion "!isnan(A[k])" on line 110 of file "/home/travis/build/casadi/binaries/casadi/casadi/interfaces/csparse/csparse_interface.cpp" failed.
Nonzero 32 is not-a-number
F:jacF failed: NaN detected for output o0, at nonzero index 32 (row 16, col 4).
psetup failed: The assertion "!isnan(A[k])" on line 110 of file "/home/travis/build/casadi/binaries/casadi/casadi/interfaces/csparse/csparse_interface.cpp" failed.
Nonzero 32 is not-a-number
F:jacF failed: NaN detected for output o0, at nonzero index 32 (row 16, col 4).
psetup failed: The assertion "!isnan(A[k])" on line 110 of file "/home/travis/build/casadi/binaries/casadi/casadi/interfaces/csparse/csparse_interface.cpp" failed.
Nonzero 32 is not-a-number
F:jacF failed: NaN detected for output o0, at nonzero index 32 (row 16, col 4).
psetup failed: The assertion "!isnan(A[k])" on line 110 of file "/home/travis/build/casadi/binaries/casadi/casadi/interfaces/csparse/csparse_interface.cpp" failed.
Nonzero 32 is not-a-number
The residual routine or the linear setup or solve routine had a recoverable error, but IDACalcIC was unable to recover.
solver:nlp_g failed: on line 566 of file "/home/travis/build/casadi/binaries/casadi/casadi/interfaces/sundials/idas_interface.cpp"
IDACalcIC on line 399 of file "/home/travis/build/casadi/binaries/casadi/casadi/interfaces/sundials/idas_interface.cpp" returned "IDA_NO_RECOVERY". Consult IDAS documentation.
Warning: Cutting back alpha due to evaluation error
Newton/Linesearch algorithm failed to converge.
solver:nlp_g failed: on line 566 of file "/home/travis/build/casadi/binaries/casadi/casadi/interfaces/sundials/idas_interface.cpp"
IDACalcIC on line 399 of file "/home/travis/build/casadi/binaries/casadi/casadi/interfaces/sundials/idas_interface.cpp" returned "IDA_CONV_FAIL". Consult IDAS documentation.
Warning: Cutting back alpha due to evaluation error
Newton/Linesearch algorithm failed to converge.
solver:nlp_g failed: on line 566 of file "/home/travis/build/casadi/binaries/casadi/casadi/interfaces/sundials/idas_interface.cpp"
IDACalcIC on line 399 of file "/home/travis/build/casadi/binaries/casadi/casadi/interfaces/sundials/idas_interface.cpp" returned "IDA_CONV_FAIL". Consult IDAS documentation.
Warning: Cutting back alpha due to evaluation error
Newton/Linesearch algorithm failed to converge.
solver:nlp_g failed: on line 566 of file "/home/travis/build/casadi/binaries/casadi/casadi/interfaces/sundials/idas_interface.cpp"
IDACalcIC on line 399 of file "/home/travis/build/casadi/binaries/casadi/casadi/interfaces/sundials/idas_interface.cpp" returned "IDA_CONV_FAIL". Consult IDAS documentation.
Warning: Cutting back alpha due to evaluation error
Newton/Linesearch algorithm failed to converge.
solver:nlp_g failed: on line 566 of file "/home/travis/build/casadi/binaries/casadi/casadi/interfaces/sundials/idas_interface.cpp"
IDACalcIC on line 399 of file "/home/travis/build/casadi/binaries/casadi/casadi/interfaces/sundials/idas_interface.cpp" returned "IDA_CONV_FAIL". Consult IDAS documentation.
F:jacF failed: NaN detected for output o0, at nonzero index 32 (row 16, col 4).
psetup failed: The assertion "!isnan(A[k])" on line 110 of file "/home/travis/build/casadi/binaries/casadi/casadi/interfaces/csparse/csparse_interface.cpp" failed.
Nonzero 32 is not-a-number
The residual routine or the linear setup or solve routine had a recoverable error, but IDACalcIC was unable to recover.
solver:nlp_g failed: on line 566 of file "/home/travis/build/casadi/binaries/casadi/casadi/interfaces/sundials/idas_interface.cpp"
IDACalcIC on line 399 of file "/home/travis/build/casadi/binaries/casadi/casadi/interfaces/sundials/idas_interface.cpp" returned "IDA_NO_RECOVERY". Consult IDAS documentation.
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Warning: Cutting back alpha due to evaluation error
F:daeF failed: NaN detected for output alg, at (row 5, col 0).
F:daeF failed: NaN detected for output alg, at (row 9, col 0).
F:daeF failed: NaN detected for output alg, at (row 5, col 0).
F:daeF failed: NaN detected for output alg, at (row 5, col 0).
F:daeF failed: NaN detected for output alg, at (row 9, col 0).
F:daeF failed: NaN detected for output alg, at (row 5, col 0).
F:daeF failed: NaN detected for output alg, at (row 5, col 0).
F:daeF failed: NaN detected for output alg, at (row 9, col 0).
F:daeF failed: NaN detected for output alg, at (row 5, col 0).
fsens18_F:daeF failed: NaN detected for output alg, at (row 3, col 1).
fsens18_F:jtimesF failed: NaN detected for output fwd_alg, at (row 3, col 0).
fsens18_F:daeF failed: NaN detected for output alg, at (row 5, col 0).
fsens18_F:jtimesF failed: NaN detected for output fwd_ode, at (row 0, col 0).
fsens18_F:daeF failed: NaN detected for output alg, at (row 3, col 1).
fsens18_F:jtimesF failed: NaN detected for output fwd_alg, at (row 3, col 0).
fsens18_F:daeF failed: NaN detected for output alg, at (row 3, col 1).
fsens18_F:jtimesF failed: NaN detected for output fwd_alg, at (row 3, col 0).
fsens18_F:daeF failed: NaN detected for output alg, at (row 3, col 1).
fsens18_F:jtimesF failed: NaN detected for output fwd_alg, at (row 3, col 0).
fsens18_F:daeF failed: NaN detected for output alg, at (row 9, col 0).
fsens18_F:jtimesF failed: NaN detected for output fwd_ode, at (row 0, col 0).
fsens18_F:daeF failed: NaN detected for output alg, at (row 9, col 0).
fsens18_F:jtimesF failed: NaN detected for output fwd_ode, at (row 0, col 0).
fsens18_F:daeF failed: NaN detected for output alg, at (row 9, col 0).
fsens18_F:jtimesF failed: NaN detected for output fwd_ode, at (row 0, col 0).
fsens18_F:daeF failed: NaN detected for output alg, at (row 9, col 0).
fsens18_F:jtimesF failed: NaN detected for output fwd_ode, at (row 0, col 0).
fsens18_F:daeF failed: NaN detected for output alg, at (row 9, col 0).
fsens18_F:jtimesF failed: NaN detected for output fwd_ode, at (row 0, col 0).
fsens18_F:daeF failed: NaN detected for output alg, at (row 9, col 0).
fsens18_F:jtimesF failed: NaN detected for output fwd_ode, at (row 0, col 0).
fsens18_F:daeF failed: NaN detected for output alg, at (row 3, col 1).
fsens18_F:jtimesF failed: NaN detected for output fwd_alg, at (row 3, col 0).
fsens18_F:daeF failed: NaN detected for output alg, at (row 5, col 0).
fsens18_F:jtimesF failed: NaN detected for output fwd_ode, at (row 0, col 0).
fsens18_F:daeF failed: NaN detected for output alg, at (row 3, col 1).
fsens18_F:jtimesF failed: NaN detected for output fwd_alg, at (row 3, col 0).
fsens18_F:daeF failed: NaN detected for output alg, at (row 3, col 1).
fsens18_F:jtimesF failed: NaN detected for output fwd_alg, at (row 3, col 0).
fsens18_F:daeF failed: NaN detected for output alg, at (row 3, col 1).
fsens18_F:jtimesF failed: NaN detected for output fwd_alg, at (row 3, col 0).
fsens18_F:daeF failed: NaN detected for output alg, at (row 9, col 0).
fsens18_F:jtimesF failed: NaN detected for output fwd_ode, at (row 0, col 0).
fsens18_F:daeF failed: NaN detected for output alg, at (row 9, col 0).
fsens18_F:jtimesF failed: NaN detected for output fwd_ode, at (row 0, col 0).
fsens18_F:daeF failed: NaN detected for output alg, at (row 9, col 0).
fsens18_F:jtimesF failed: NaN detected for output fwd_ode, at (row 0, col 0).
fsens18_F:daeF failed: NaN detected for output alg, at (row 9, col 0).
fsens18_F:jtimesF failed: NaN detected for output fwd_ode, at (row 0, col 0).
fsens18_F:daeF failed: NaN detected for output alg, at (row 9, col 0).
fsens18_F:jtimesF failed: NaN detected for output fwd_ode, at (row 0, col 0).
fsens18_F:daeF failed: NaN detected for output alg, at (row 9, col 0).
fsens18_F:jtimesF failed: NaN detected for output fwd_ode, at (row 0, col 0).
fsens18_F:daeF failed: NaN detected for output alg, at (row 3, col 1).
fsens18_F:jtimesF failed: NaN detected for output fwd_alg, at (row 3, col 0).
fsens18_F:daeF failed: NaN detected for output alg, at (row 5, col 0).
fsens18_F:jtimesF failed: NaN detected for output fwd_ode, at (row 0, col 0).
fsens18_F:daeF failed: NaN detected for output alg, at (row 3, col 1).
fsens18_F:jtimesF failed: NaN detected for output fwd_alg, at (row 3, col 0).
fsens18_F:daeF failed: NaN detected for output alg, at (row 3, col 1).
fsens18_F:jtimesF failed: NaN detected for output fwd_alg, at (row 3, col 0).
fsens18_F:daeF failed: NaN detected for output alg, at (row 3, col 1).
fsens18_F:jtimesF failed: NaN detected for output fwd_alg, at (row 3, col 0).
fsens18_F:daeF failed: NaN detected for output alg, at (row 9, col 0).
fsens18_F:jtimesF failed: NaN detected for output fwd_ode, at (row 0, col 0).
fsens18_F:daeF failed: NaN detected for output alg, at (row 9, col 0).
fsens18_F:jtimesF failed: NaN detected for output fwd_ode, at (row 0, col 0).
fsens18_F:daeF failed: NaN detected for output alg, at (row 9, col 0).
fsens18_F:jtimesF failed: NaN detected for output fwd_ode, at (row 0, col 0).
fsens18_F:daeF failed: NaN detected for output alg, at (row 9, col 0).
fsens18_F:jtimesF failed: NaN detected for output fwd_ode, at (row 0, col 0).
fsens18_F:daeF failed: NaN detected for output alg, at (row 9, col 0).
fsens18_F:jtimesF failed: NaN detected for output fwd_ode, at (row 0, col 0).
fsens18_F:daeF failed: NaN detected for output alg, at (row 9, col 0).
fsens18_F:jtimesF failed: NaN detected for output fwd_ode, at (row 0, col 0).
fsens18_F:daeF failed: NaN detected for output alg, at (row 3, col 1).
fsens18_F:jtimesF failed: NaN detected for output fwd_alg, at (row 3, col 0).
fsens18_F:daeF failed: NaN detected for output alg, at (row 5, col 0).
fsens18_F:jtimesF failed: NaN detected for output fwd_ode, at (row 0, col 0).
fsens18_F:daeF failed: NaN detected for output alg, at (row 3, col 1).
fsens18_F:jtimesF failed: NaN detected for output fwd_alg, at (row 3, col 0).
fsens18_F:daeF failed: NaN detected for output alg, at (row 3, col 1).
fsens18_F:jtimesF failed: NaN detected for output fwd_alg, at (row 3, col 0).
fsens18_F:daeF failed: NaN detected for output alg, at (row 3, col 1).
fsens18_F:jtimesF failed: NaN detected for output fwd_alg, at (row 3, col 0).
fsens18_F:daeF failed: NaN detected for output alg, at (row 9, col 0).
fsens18_F:jtimesF failed: NaN detected for output fwd_ode, at (row 0, col 0).
fsens18_F:daeF failed: NaN detected for output alg, at (row 9, col 0).
fsens18_F:jtimesF failed: NaN detected for output fwd_ode, at (row 0, col 0).
fsens18_F:daeF failed: NaN detected for output alg, at (row 9, col 0).
fsens18_F:jtimesF failed: NaN detected for output fwd_ode, at (row 0, col 0).
fsens18_F:daeF failed: NaN detected for output alg, at (row 9, col 0).
fsens18_F:jtimesF failed: NaN detected for output fwd_ode, at (row 0, col 0).
fsens18_F:daeF failed: NaN detected for output alg, at (row 9, col 0).
fsens18_F:jtimesF failed: NaN detected for output fwd_ode, at (row 0, col 0).
fsens18_F:daeF failed: NaN detected for output alg, at (row 9, col 0).
fsens18_F:jtimesF failed: NaN detected for output fwd_ode, at (row 0, col 0).
fsens18_F:daeF failed: NaN detected for output alg, at (row 3, col 1).
fsens18_F:jtimesF failed: NaN detected for output fwd_alg, at (row 3, col 0).
fsens18_F:daeF failed: NaN detected for output alg, at (row 5, col 0).
fsens18_F:jtimesF failed: NaN detected for output fwd_ode, at (row 0, col 0).
fsens18_F:daeF failed: NaN detected for output alg, at (row 3, col 1).
fsens18_F:jtimesF failed: NaN detected for output fwd_alg, at (row 3, col 0).
fsens18_F:daeF failed: NaN detected for output alg, at (row 3, col 1).
fsens18_F:jtimesF failed: NaN detected for output fwd_alg, at (row 3, col 0).
fsens18_F:daeF failed: NaN detected for output alg, at (row 3, col 1).
fsens18_F:jtimesF failed: NaN detected for output fwd_alg, at (row 3, col 0).
fsens18_F:daeF failed: NaN detected for output alg, at (row 9, col 0).
fsens18_F:jtimesF failed: NaN detected for output fwd_ode, at (row 0, col 0).
fsens18_F:daeF failed: NaN detected for output alg, at (row 9, col 0).
fsens18_F:jtimesF failed: NaN detected for output fwd_ode, at (row 0, col 0).
fsens18_F:daeF failed: NaN detected for output alg, at (row 9, col 0).
fsens18_F:jtimesF failed: NaN detected for output fwd_ode, at (row 0, col 0).
fsens18_F:daeF failed: NaN detected for output alg, at (row 9, col 0).
fsens18_F:jtimesF failed: NaN detected for output fwd_ode, at (row 0, col 0).
fsens18_F:daeF failed: NaN detected for output alg, at (row 9, col 0).
fsens18_F:jtimesF failed: NaN detected for output fwd_ode, at (row 0, col 0).
fsens18_F:daeF failed: NaN detected for output alg, at (row 9, col 0).
fsens18_F:jtimesF failed: NaN detected for output fwd_ode, at (row 0, col 0).
Newton/Linesearch algorithm failed to converge.
solver:nlp_jac_g failed: on line 566 of file "/home/travis/build/casadi/binaries/casadi/casadi/interfaces/sundials/idas_interface.cpp"
IDACalcIC on line 399 of file "/home/travis/build/casadi/binaries/casadi/casadi/interfaces/sundials/idas_interface.cpp" returned "IDA_CONV_FAIL". Consult IDAS documentation.
Sorry, things failed ?!?!
Number of Iterations....: 25
...
...
....
...
Newton/Linesearch algorithm failed to converge.
solver:nlp_jac_g failed: on line 566 of file "/home/travis/build/casadi/binaries/casadi/casadi/interfaces/sundials/idas_interface.cpp"
IDACalcIC on line 399 of file "/home/travis/build/casadi/binaries/casadi/casadi/interfaces/sundials/idas_interface.cpp" returned "IDA_CONV_FAIL". Consult IDAS documentation.
Exception of type: Eval_Error in file "../../../../Ipopt/src/Algorithm/IpOrigIpoptNLP.cpp" at line 646:
Exception message: success evaluated false: Error evaluating the jacobian of the equality constraints
Number of objective function evaluations = 35
Number of objective gradient evaluations = 6
Number of equality constraint evaluations = 485
Number of inequality constraint evaluations = 0
Number of equality constraint Jacobian evaluations = 29
Number of inequality constraint Jacobian evaluations = 0
Number of Lagrangian Hessian evaluations = 26
Total CPU secs in IPOPT (w/o function evaluations) = 3.090
Total CPU secs in NLP function evaluations = 850.577
EXIT: Invalid number in NLP function or derivative detected.
proc wall num mean mean
time time evals proc time wall time
nlp_f 2.553 [s] 2.552 [s] 32 79.78 [ms] 79.75 [ms]
nlp_g 2.884 [s] 2.885 [s] 33 87.39 [ms] 87.42 [ms]
nlp_grad_f 5.957 [s] 5.957 [s] 7 851.00 [ms] 850.95 [ms]
nlp_jac_g 161.692 [s] 161.689 [s] 28 5774.71 [ms] 5774.62 [ms]
nlp_hess_l 672.765 [s] 672.765 [s] 25 26910.60 [ms] 26910.59 [ms]
all previous 845.851 [s] 845.847 [s]
callback_prep 0.000 [s] 0.000 [s] 4 0.00 [ms] 0.00 [ms]
solver 12.100 [s] 12.104 [s]
mainloop 857.951 [s] 857.951 [s]
Joel Andersson
Nov 17, 2017, 3:24:27 PM11/17/17
to CasADi
You probably need to start by making sure you can simulate the system using IDAS. Joel
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