Running: ./testmodel.py --libraries=/home/hudson/saved_omc/libraries/.openmodelica/libraries/ --ompython_omhome=/usr Modelica_Synchronous_Modelica_Synchronous.Examples.CascadeControlledDrive.SubClocked.conf.json loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex 3.2.3+maint.om/package.mo", uses=false) loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 3.2.3+maint.om/package.mo", uses=false) loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaServices 3.2.3+maint.om/package.mo", uses=false) loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica_Synchronous 0.93.0-master/package.mo", uses=false) Using package Modelica_Synchronous with version 0.93.0 (/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica_Synchronous 0.93.0-master/package.mo) Using package ModelicaServices with version 3.2.3 (/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaServices 3.2.3+maint.om/package.mo) Using package Modelica with version 3.2.3 (/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 3.2.3+maint.om/package.mo) Using package Complex with version 3.2.3 (/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex 3.2.3+maint.om/package.mo) Running command: "" <> buildModelFMU(Modelica_Synchronous.Examples.CascadeControlledDrive.SubClocked,fileNamePrefix="Modelica_Synchronous_Modelica_Synchronous_Examples_CascadeControlledDrive_SubClocked",fmuType="me",version="2.0",platforms={"static"}) "" <> buildModelFMU(Modelica_Synchronous.Examples.CascadeControlledDrive.SubClocked,fileNamePrefix="Modelica_Synchronous_Modelica_Synchronous_Examples_CascadeControlledDrive_SubClocked",fmuType="me",version="2.0",platforms={"static"}) Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex 3.2.3+maint.om/package.mo): time 0.001031/0.001031, allocations: 178.3 kB / 16.12 MB, free: 5.57 MB / 13.93 MB Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 3.2.3+maint.om/package.mo): time 1.187/1.187, allocations: 205 MB / 221.9 MB, free: 9.039 MB / 186.7 MB Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaServices 3.2.3+maint.om/package.mo): time 0.0007391/0.000739, allocations: 93.67 kB / 269.9 MB, free: 8.645 MB / 218.7 MB Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica_Synchronous 0.93.0-master/package.mo): time 0.06743/0.06743, allocations: 12.57 MB / 330.4 MB, free: 12.05 MB / 282.7 MB Notification: Performance of FrontEnd - loaded program: time 0.000347/0.0003471, allocations: 11.98 kB / 391.1 MB, free: 66.33 MB / 298.7 MB Notification: Performance of FrontEnd - Absyn->SCode: time 0.06684/0.0672, allocations: 49.98 MB / 441.1 MB, free: 16.3 MB / 298.7 MB Notification: Performance of NFInst.instantiate(Modelica_Synchronous.Examples.CascadeControlledDrive.SubClocked): time 0.001889/0.06912, allocations: 2.065 MB / 443.2 MB, free: 14.21 MB / 298.7 MB Notification: Performance of NFInst.instExpressions: time 0.0009948/0.07013, allocations: 0.8309 MB / 444 MB, free: 13.37 MB / 298.7 MB Notification: Performance of NFInst.updateImplicitVariability: time 0.0001206/0.07027, allocations: 4 kB / 444 MB, free: 13.37 MB / 298.7 MB Notification: Performance of NFTyping.typeComponents: time 0.0002807/0.07056, allocations: 43.69 kB / 444.1 MB, free: 13.32 MB / 298.7 MB Notification: Performance of NFTyping.typeBindings: time 0.0001573/0.07073, allocations: 43.75 kB / 444.1 MB, free: 13.28 MB / 298.7 MB Notification: Performance of NFTyping.typeClassSections: time 0.0003609/0.0711, allocations: 163.7 kB / 444.3 MB, free: 13.12 MB / 298.7 MB Notification: Performance of NFFlatten.flatten: time 0.0002371/0.07134, allocations: 363.5 kB / 444.6 MB, free: 12.77 MB / 298.7 MB Notification: Performance of NFFlatten.resolveConnections: time 0.0001549/0.0715, allocations: 84.12 kB / 444.7 MB, free: 12.69 MB / 298.7 MB Notification: Performance of NFEvalConstants.evaluate: time 0.0001449/0.07165, allocations: 135.5 kB / 444.8 MB, free: 12.55 MB / 298.7 MB Notification: Performance of NFSimplifyModel.simplify: time 0.0001526/0.07182, allocations: 155.3 kB / 445 MB, free: 12.4 MB / 298.7 MB Notification: Performance of NFPackage.collectConstants: time 4.392e-05/0.07187, allocations: 16 kB / 445 MB, free: 12.39 MB / 298.7 MB Notification: Performance of NFFlatten.collectFunctions: time 3.46e-05/0.07191, allocations: 19.94 kB / 445 MB, free: 12.37 MB / 298.7 MB Notification: Performance of NFScalarize.scalarize: time 6.965e-05/0.07198, allocations: 75.77 kB / 445.1 MB, free: 12.29 MB / 298.7 MB Notification: Performance of NFVerifyModel.verify: time 0.0001036/0.07209, allocations: 135.2 kB / 445.2 MB, free: 12.16 MB / 298.7 MB Notification: Performance of NFConvertDAE.convert: time 0.0001929/0.07229, allocations: 298.8 kB / 445.5 MB, free: 11.87 MB / 298.7 MB Notification: Performance of FrontEnd - DAE generated: time 3.587e-06/0.0723, allocations: 0 / 445.5 MB, free: 11.87 MB / 298.7 MB Notification: Performance of FrontEnd: time 8.92e-07/0.07231, allocations: 3.938 kB / 445.5 MB, free: 11.86 MB / 298.7 MB Notification: Performance of Transformations before backend: time 4.017e-06/0.07232, allocations: 0 / 445.5 MB, free: 11.86 MB / 298.7 MB Notification: Model statistics after passing the front-end and creating the data structures used by the back-end: * Number of equations: 73 * Number of variables: 73 Notification: Performance of Generate backend data structure: time 0.0008628/0.07319, allocations: 0.5928 MB / 446.1 MB, free: 11.22 MB / 298.7 MB Notification: Performance of prepare preOptimizeDAE: time 3.32e-05/0.07323, allocations: 8.031 kB / 446.1 MB, free: 11.21 MB / 298.7 MB Notification: Performance of preOpt introduceOutputAliases (simulation): time 5.285e-05/0.07329, allocations: 70.72 kB / 446.2 MB, free: 11.14 MB / 298.7 MB Notification: Performance of preOpt normalInlineFunction (simulation): time 5.43e-05/0.07335, allocations: 36.56 kB / 446.2 MB, free: 11.1 MB / 298.7 MB Notification: Performance of preOpt evaluateParameters (simulation): time 0.0002331/0.07359, allocations: 276.2 kB / 446.5 MB, free: 10.79 MB / 298.7 MB Notification: Performance of preOpt simplifyIfEquations (simulation): time 0.0001531/0.07375, allocations: 146.3 kB / 446.6 MB, free: 10.63 MB / 298.7 MB Notification: Performance of preOpt expandDerOperator (simulation): time 4.662e-05/0.0738, allocations: 32.38 kB / 446.7 MB, free: 10.6 MB / 298.7 MB Notification: Performance of preOpt clockPartitioning (simulation): time 0.0009122/0.07472, allocations: 0.5776 MB / 447.3 MB, free: 9.992 MB / 298.7 MB Notification: Performance of preOpt findStateOrder (simulation): time 1.582e-05/0.07475, allocations: 0 / 447.3 MB, free: 9.992 MB / 298.7 MB Notification: Performance of preOpt replaceEdgeChange (simulation): time 2.882e-05/0.07478, allocations: 19.92 kB / 447.3 MB, free: 9.973 MB / 298.7 MB Notification: Performance of preOpt inlineArrayEqn (simulation): time 6.783e-06/0.0748, allocations: 8 kB / 447.3 MB, free: 9.965 MB / 298.7 MB Notification: Performance of preOpt removeEqualRHS (simulation): time 0.001117/0.07592, allocations: 0.5308 MB / 447.8 MB, free: 9.434 MB / 298.7 MB Notification: Performance of preOpt removeSimpleEquations (simulation): time 0.001123/0.07705, allocations: 1.029 MB / 448.8 MB, free: 8.324 MB / 298.7 MB Notification: Performance of preOpt comSubExp (simulation): time 0.001274/0.07834, allocations: 0.5219 MB / 449.4 MB, free: 7.766 MB / 298.7 MB Notification: Performance of preOpt resolveLoops (simulation): time 0.0004919/0.07884, allocations: 275.4 kB / 449.6 MB, free: 7.484 MB / 298.7 MB Notification: Performance of preOpt evalFunc (simulation): time 4.503e-05/0.0789, allocations: 7.984 kB / 449.6 MB, free: 7.477 MB / 298.7 MB Notification: Performance of preOpt encapsulateWhenConditions (simulation): time 1.392e-05/0.07891, allocations: 38.56 kB / 449.7 MB, free: 7.43 MB / 298.7 MB Notification: Performance of pre-optimization done (n=44): time 1.583e-06/0.07892, allocations: 4 kB / 449.7 MB, free: 7.426 MB / 298.7 MB Notification: Performance of matching and sorting (n=72): time 0.03461/0.1135, allocations: 6.746 MB / 456.4 MB, free: 0.6641 MB / 298.7 MB Notification: Performance of inlineWhenForInitialization (initialization): time 5.804e-05/0.1136, allocations: 148.9 kB / 456.6 MB, free: 500 kB / 298.7 MB Notification: Performance of selectInitializationVariablesDAE (initialization): time 0.0001454/0.1138, allocations: 199.4 kB / 456.8 MB, free: 288 kB / 298.7 MB Notification: Performance of collectPreVariables (initialization): time 5.885e-05/0.1139, allocations: 33.7 kB / 456.8 MB, free: 248 kB / 298.7 MB Notification: Performance of collectInitialEqns (initialization): time 5.489e-05/0.1139, allocations: 149.5 kB / 456.9 MB, free: 96 kB / 298.7 MB Notification: Performance of collectInitialBindings (initialization): time 0.0001597/0.1141, allocations: 189.5 kB / 457.1 MB, free: 15.91 MB / 314.7 MB Notification: Performance of simplifyInitialFunctions (initialization): time 0.0001114/0.1142, allocations: 57.69 kB / 457.2 MB, free: 15.84 MB / 314.7 MB Notification: Performance of setup shared object (initialization): time 0.0001042/0.1143, allocations: 346.8 kB / 457.5 MB, free: 15.5 MB / 314.7 MB Notification: Performance of preBalanceInitialSystem (initialization): time 0.00149/0.1158, allocations: 0.6504 MB / 458.2 MB, free: 14.84 MB / 314.7 MB Notification: Performance of partitionIndependentBlocks (initialization): time 0.001573/0.1174, allocations: 0.8354 MB / 459 MB, free: 13.93 MB / 314.7 MB Notification: Performance of analyzeInitialSystem (initialization): time 0.002783/0.1202, allocations: 1.326 MB / 460.3 MB, free: 12.53 MB / 314.7 MB Notification: Performance of solveInitialSystemEqSystem (initialization): time 3.026e-06/0.1202, allocations: 0 / 460.3 MB, free: 12.53 MB / 314.7 MB Notification: Performance of matching and sorting (n=83) (initialization): time 0.003185/0.1234, allocations: 1.48 MB / 461.8 MB, free: 11.05 MB / 314.7 MB Notification: Performance of prepare postOptimizeDAE: time 2.576e-05/0.1234, allocations: 11.98 kB / 461.8 MB, free: 11.04 MB / 314.7 MB Notification: Performance of postOpt simplifyComplexFunction (initialization): time 1.247e-05/0.1235, allocations: 4 kB / 461.8 MB, free: 11.03 MB / 314.7 MB Notification: Performance of postOpt tearingSystem (initialization): time 2.494e-05/0.1235, allocations: 8 kB / 461.8 MB, free: 11.02 MB / 314.7 MB Notification: Performance of postOpt solveSimpleEquations (initialization): time 0.001299/0.1248, allocations: 235.6 kB / 462.1 MB, free: 10.79 MB / 314.7 MB Notification: Performance of postOpt calculateStrongComponentJacobians (initialization): time 1.702e-05/0.1248, allocations: 11.94 kB / 462.1 MB, free: 10.78 MB / 314.7 MB Notification: Performance of postOpt simplifyAllExpressions (initialization): time 0.0009138/0.1257, allocations: 127.7 kB / 462.2 MB, free: 10.66 MB / 314.7 MB Notification: Performance of postOpt collapseArrayExpressions (initialization): time 7.372e-05/0.1258, allocations: 24 kB / 462.2 MB, free: 10.63 MB / 314.7 MB Notification: Model statistics after passing the back-end for initialization: * Number of independent subsystems: 25 * Number of states: 0 () * Number of discrete variables: 2 (kinematicPTP.noWphase,kinematicPTP.moving[1]) * Number of discrete states: 0 () * Number of clocked states: 1 (PI.x) * Top-level inputs: 0 Notification: Strong component statistics for initialization (83): * Single equations (assignments): 83 * Array equations: 0 * Algorithm blocks: 0 * Record equations: 0 * When equations: 0 * If-equations: 0 * Equation systems (not torn): 0 * Torn equation systems: 0 * Mixed (continuous/discrete) equation systems: 0 Notification: Performance of prepare postOptimizeDAE: time 0.0002746/0.1261, allocations: 177.6 kB / 462.4 MB, free: 10.45 MB / 314.7 MB Notification: Performance of postOpt lateInlineFunction (simulation): time 0.000271/0.1264, allocations: 161.1 kB / 462.6 MB, free: 10.29 MB / 314.7 MB Notification: Performance of postOpt wrapFunctionCalls (simulation): time 0.0001708/0.1266, allocations: 71.3 kB / 462.6 MB, free: 10.21 MB / 314.7 MB Notification: Performance of postOpt inlineArrayEqn (simulation): time 1.047e-05/0.1266, allocations: 8 kB / 462.6 MB, free: 10.21 MB / 314.7 MB Notification: Performance of postOpt constantLinearSystem (simulation): time 9.749e-06/0.1266, allocations: 0 / 462.6 MB, free: 10.21 MB / 314.7 MB Notification: Performance of postOpt simplifysemiLinear (simulation): time 8.756e-06/0.1266, allocations: 3.984 kB / 462.6 MB, free: 10.2 MB / 314.7 MB Notification: Performance of postOpt removeSimpleEquations (simulation): time 0.004393/0.131, allocations: 2.289 MB / 464.9 MB, free: 7.727 MB / 314.7 MB Notification: Performance of postOpt simplifyComplexFunction (simulation): time 9.067e-06/0.131, allocations: 8 kB / 464.9 MB, free: 7.719 MB / 314.7 MB Notification: Performance of postOpt solveSimpleEquations (simulation): time 0.0006714/0.1317, allocations: 208.1 kB / 465.1 MB, free: 7.516 MB / 314.7 MB Notification: Performance of postOpt tearingSystem (simulation): time 1.186e-05/0.1317, allocations: 12 kB / 465.2 MB, free: 7.504 MB / 314.7 MB Notification: Performance of postOpt inputDerivativesUsed (simulation): time 4.399e-05/0.1318, allocations: 28 kB / 465.2 MB, free: 7.477 MB / 314.7 MB Notification: Performance of postOpt calculateStrongComponentJacobians (simulation): time 1.205e-05/0.1318, allocations: 19.92 kB / 465.2 MB, free: 7.457 MB / 314.7 MB Notification: Performance of postOpt calculateStateSetsJacobians (simulation): time 9.678e-06/0.1318, allocations: 15.94 kB / 465.2 MB, free: 7.441 MB / 314.7 MB Notification: Performance of postOpt symbolicJacobian (simulation): time 0.002769/0.1346, allocations: 1.662 MB / 466.9 MB, free: 5.633 MB / 314.7 MB Notification: Performance of postOpt removeConstants (simulation): time 0.0001583/0.1348, allocations: 168.7 kB / 467 MB, free: 5.449 MB / 314.7 MB Notification: Performance of postOpt simplifyTimeIndepFuncCalls (simulation): time 6.409e-05/0.1348, allocations: 27.98 kB / 467.1 MB, free: 5.422 MB / 314.7 MB Notification: Performance of postOpt simplifyAllExpressions (simulation): time 0.000527/0.1354, allocations: 91.92 kB / 467.2 MB, free: 5.332 MB / 314.7 MB Notification: Performance of postOpt findZeroCrossings (simulation): time 0.0001626/0.1355, allocations: 95.89 kB / 467.3 MB, free: 5.238 MB / 314.7 MB Notification: Performance of postOpt collapseArrayExpressions (simulation): time 4.161e-05/0.1356, allocations: 32.19 kB / 467.3 MB, free: 5.207 MB / 314.7 MB Notification: Performance of sorting global known variables: time 9.81e-05/0.1357, allocations: 141.2 kB / 467.4 MB, free: 5.07 MB / 314.7 MB Notification: Performance of sort global known variables: time 1.2e-07/0.1357, allocations: 3.938 kB / 467.4 MB, free: 5.066 MB / 314.7 MB Notification: Performance of remove unused functions: time 0.0005538/0.1362, allocations: 127.9 kB / 467.6 MB, free: 4.941 MB / 314.7 MB Notification: Model statistics after passing the back-end for simulation: * Number of independent subsystems: 45 * Number of states: 2 (load.w,speed.flange.phi) * Number of discrete variables: 2 (kinematicPTP.moving[1],kinematicPTP.noWphase) * Number of discrete states: 0 () * Number of clocked states: 1 (PI.x) * Top-level inputs: 0 Notification: Strong component statistics for simulation (72): * Single equations (assignments): 72 * Array equations: 0 * Algorithm blocks: 0 * Record equations: 0 * When equations: 0 * If-equations: 0 * Equation systems (not torn): 0 * Torn equation systems: 0 * Mixed (continuous/discrete) equation systems: 0 Notification: Performance of Backend phase and start with SimCode phase: time 0.00299/0.1392, allocations: 2.242 MB / 469.8 MB, free: 2.543 MB / 314.7 MB Notification: Performance of simCode: created initialization part: time 0.002488/0.1417, allocations: 1.19 MB / 471 MB, free: 1.348 MB / 314.7 MB Notification: Performance of simCode: created event and clocks part: time 4.569e-06/0.1418, allocations: 0 / 471 MB, free: 1.348 MB / 314.7 MB Notification: Performance of simCode: created simulation system equations: time 0.001077/0.1428, allocations: 379 kB / 471.4 MB, free: 0.9805 MB / 314.7 MB Notification: Performance of simCode: created of all other equations (e.g. parameter, nominal, assert, etc): time 0.000983/0.1438, allocations: 149.5 kB / 471.5 MB, free: 0.8359 MB / 314.7 MB Notification: Performance of simCode: created linear, non-linear and system jacobian parts: time 0.01098/0.1548, allocations: 7.118 MB / 478.6 MB, free: 9.223 MB / 330.7 MB Notification: Performance of simCode: some other stuff during SimCode phase: time 0.000316/0.1552, allocations: 0.8129 MB / 479.4 MB, free: 8.379 MB / 330.7 MB Notification: Performance of simCode: alias equations: time 0.0005348/0.1557, allocations: 91.38 kB / 479.5 MB, free: 8.289 MB / 330.7 MB Notification: Performance of simCode: all other stuff during SimCode phase: time 0.0003261/0.156, allocations: 115.4 kB / 479.6 MB, free: 8.176 MB / 330.7 MB Notification: Performance of SimCode: time 6.41e-07/0.156, allocations: 0 / 479.6 MB, free: 8.176 MB / 330.7 MB Notification: Performance of buildModelFMU: Generate the FMI files: time 0.6653/0.8214, allocations: 10.4 MB / 490 MB, free: 53.11 MB / 330.7 MB Notification: Performance of buildModelFMU: configured platform static using cached values: time 0.0001483/0.8216, allocations: 224.4 kB / 490.3 MB, free: 52.86 MB / 330.7 MB Notification: Performance of buildModelFMU: Generate platform static: time 2.211/3.033, allocations: 0 / 490.3 MB, free: 52.86 MB / 330.7 MB (rm -f Modelica_Synchronous_Modelica_Synchronous.Examples.CascadeControlledDrive.SubClocked.pipe ; mkfifo Modelica_Synchronous_Modelica_Synchronous.Examples.CascadeControlledDrive.SubClocked.pipe ; head -c 1048576 < Modelica_Synchronous_Modelica_Synchronous.Examples.CascadeControlledDrive.SubClocked.pipe >> ../files/Modelica_Synchronous_Modelica_Synchronous.Examples.CascadeControlledDrive.SubClocked.sim & /home/hudson/saved_omc/OMSimulator/install/linux/bin/OMSimulator -r=Modelica_Synchronous_Modelica_Synchronous.Examples.CascadeControlledDrive.SubClocked_res.mat --tempDir=temp_Modelica_Synchronous_Modelica_Synchronous_Examples_CascadeControlledDrive_SubClocked_fmu --startTime=0 --stopTime=4 --timeout=50 --tolerance=1e-06 Modelica_Synchronous_Modelica_Synchronous_Examples_CascadeControlledDrive_SubClocked.fmu > Modelica_Synchronous_Modelica_Synchronous.Examples.CascadeControlledDrive.SubClocked.pipe 2>&1) diffSimulationResults("Modelica_Synchronous_Modelica_Synchronous.Examples.CascadeControlledDrive.SubClocked_res.mat","/var/lib/jenkins1/ws/OpenModelicaLibraryTestingWork/OpenModelica/testsuite/ReferenceFiles/Modelica_Synchronous/Modelica_Synchronous.Examples.CascadeControlledDrive.SubClocked.mat","../files/Modelica_Synchronous_Modelica_Synchronous.Examples.CascadeControlledDrive.SubClocked.diff",relTol=0.003,relTolDiffMinMax=0.003,rangeDelta=0.001) "" Variables in the reference:PI.y,Time,angle.phi,gain.y,speed.w Variables in the result:PI.T,PI.k,PI.u,PI.x,PI.y,angle.flange.phi,angle.flange.tau,angle.phi,der(der(kinematicPTP.Ta1)),der(der(kinematicPTP.Ta1s)),der(der(kinematicPTP.Ta2)),der(der(kinematicPTP.Ta2s)),der(der(kinematicPTP.Te)),der(der(kinematicPTP.Tv)),der(der(kinematicPTP.Tvs)),der(der(kinematicPTP.s1)),der(der(kinematicPTP.s2)),der(der(kinematicPTP.s3)),der(der(kinematicPTP.sd_max)),der(der(kinematicPTP.sd_max2)),der(der(kinematicPTP.sdd_max)),der(kinematicPTP.Ta1),der(kinematicPTP.Ta1s),der(kinematicPTP.Ta2),der(kinematicPTP.Ta2s),der(kinematicPTP.Te),der(kinematicPTP.Tv),der(kinematicPTP.Tvs),der(kinematicPTP.s),der(kinematicPTP.s1),der(kinematicPTP.s2),der(kinematicPTP.s3),der(kinematicPTP.sd),der(kinematicPTP.sd_max),der(kinematicPTP.sd_max2),der(kinematicPTP.sdd_max),der(load.w),der(speed.flange.phi),feedback1.u1,feedback1.u2,feedback1.y,feedback2.u1,feedback2.u2,feedback2.y,gain.k,gain.u,gain.y,hold1.u,hold1.y,hold1.y_start,kinematicPTP.endTime,kinematicPTP.moving[1],kinematicPTP.nout,kinematicPTP.q[1],kinematicPTP.q_begin[1],kinematicPTP.q_end[1],kinematicPTP.qd[1],kinematicPTP.qd_max[1],kinematicPTP.qdd[1],kinematicPTP.qdd_max[1],kinematicPTP.startTime,load.J,load.a,load.flange_a.phi,load.flange_a.tau,load.flange_b.phi,load.flange_b.tau,load.phi,load.stateSelect,load.w,periodicRealClock.period,periodicRealClock.useSolver,previous(PI.x),sample1.u,sample1.y,sample2.u,sample2.y,sample3.u,sample3.y,speed.flange.phi,speed.flange.tau,speed.w,subSample1.factor,super.factor,super.inferFactor,super.u,super.y,time,torque.flange.phi,torque.flange.tau,torque.tau,torque.useSupport