Xmod Co-simulation !new! -

def __init__(self, name: str, Kp: float, x_ref: float = 0.0): super().__init__(name) self.Kp = Kp self.x_ref = x_ref self.input_ports = [XModPort("x_measured")] self.output_ports = [XModPort("F_cmd")]

def __init__(self, name: str): self.name = name self.input_ports: List[XModPort] = [] self.output_ports: List[XModPort] = [] xmod co-simulation

sim.run(0.0, 2.0, log_callback=log)

# Log results history = [] def log(t, outputs): x = outputs["mass_spring"].get("x", [0])[0] history.append((t, x)) print(f"t={t:.3f}, x={x:.4f}") def __init__(self, name: str, Kp: float, x_ref: float = 0