diff --git a/Compiler/BackEnd/BackendDAECreate.mo b/Compiler/BackEnd/BackendDAECreate.mo
index 5aa6e71d9ad..1e3ddd923e6 100644
--- a/Compiler/BackEnd/BackendDAECreate.mo
+++ b/Compiler/BackEnd/BackendDAECreate.mo
@@ -122,7 +122,7 @@ algorithm
   // handle alias equations
   (vars, knvars, extVars, aliasVars, eqns, reqns, ieqns, whenclauses_1) := handleAliasEquations(aliaseqns, vars, knvars, extVars, aliasVars, eqns, reqns, ieqns, whenclauses_1);
   vars_1 := detectImplicitDiscrete(vars, knvars, eqns);
-  (vars_1, eqns, clsAttrs) := DynamicOptimization.addOptimizationVarsEqns(vars_1, eqns, Config.acceptOptimicaGrammar(), clsAttrs, constrs, knvars);
+  (vars_1, eqns, clsAttrs) := DynamicOptimization.addOptimizationVarsEqns(vars_1, eqns, Config.acceptOptimicaGrammar(), clsAttrs, constrs, knvars,Flags.getConfigBool(Flags.GENERATE_DYN_OPTIMIZATION_PROBLEM));
   eqnarr := BackendEquation.listEquation(eqns);
   reqnarr := BackendEquation.listEquation(reqns);
   ieqnarr := BackendEquation.listEquation(ieqns);
diff --git a/Compiler/BackEnd/DynamicOptimization.mo b/Compiler/BackEnd/DynamicOptimization.mo
index 5bd0d727417..f614dd21dda 100644
--- a/Compiler/BackEnd/DynamicOptimization.mo
+++ b/Compiler/BackEnd/DynamicOptimization.mo
@@ -51,6 +51,7 @@ protected import BackendVariable;
 protected import ComponentReference;
 
 protected import Expression;
+protected import Flags;
 protected import List;
 protected import Util;
 
@@ -63,11 +64,12 @@ public function addOptimizationVarsEqns
   input list< .DAE.ClassAttributes> inClassAttr;
   input list< .DAE.Constraint> inConstraint;
   input BackendDAE.Variables knvars;
+  input Boolean inDynOptimization;
   output BackendDAE.Variables outVars;
   output list<BackendDAE.Equation>  outEqns;
   output list< .DAE.ClassAttributes> outClassAttr;
 algorithm
-  (outVars, outEqns, outClassAttr) := match(inVars, inEqns, inOptimicaFlag, inClassAttr, inConstraint, knvars)
+  (outVars, outEqns, outClassAttr) := match(inVars, inEqns, inOptimicaFlag, inClassAttr, inConstraint, knvars, inDynOptimization)
   local
       DAE.ComponentRef leftcref;
       list<BackendDAE.Equation> objectEqn;
@@ -79,8 +81,9 @@ algorithm
       list< .DAE.Exp> constraintLst;
       list< .DAE.Constraint> constraints;
       list<BackendDAE.Var> varlst;
+      list< .DAE.ClassAttributes> tmpClassAttr;
 
-    case (v, e, true, {DAE.OPTIMIZATION_ATTRS(objetiveE=mayer, objectiveIntegrandE=lagrange)}, _, _)
+    case (v, e, true, {DAE.OPTIMIZATION_ATTRS(objetiveE=mayer, objectiveIntegrandE=lagrange)}, _, _,_)
       equation
         inVarsAndknvars = BackendVariable.mergeVariables(inVars, knvars);
         varlst = BackendVariable.varList(inVarsAndknvars);
@@ -110,9 +113,10 @@ algorithm
 
         constraints = findFinalConstraints(varlst, {});
         (v, e) = addOptimizationVarsEqns2(constraints, 1, v, e, knvars, "$OMC$finalConstarintTerm", BackendDAE.OPT_FCONSTR());
-
-    then (v, e,inClassAttr);
-    case (v, e, true, _, _, _)
+        
+        Flags.setConfigBool(Flags.GENERATE_SYMBOLIC_LINEARIZATION, true);
+    then (v, e, inClassAttr);
+    case (v, e, true, _, _, _,_)
       equation
         inVarsAndknvars = BackendVariable.mergeVariables(inVars, knvars);
         varlst = BackendVariable.varList(inVarsAndknvars);
@@ -139,8 +143,14 @@ algorithm
 
         constraints = findFinalConstraints(varlst, {});
         (v, e) = addOptimizationVarsEqns2(constraints, 1, v, e, knvars, "$OMC$finalConstarintTerm", BackendDAE.OPT_FCONSTR());
-
+        
+        Flags.setConfigBool(Flags.GENERATE_SYMBOLIC_LINEARIZATION, true);
        then (v, e,{DAE.OPTIMIZATION_ATTRS(mayer1, lagrange1, NONE(), NONE())});
+    case (v, e, false, _, _, _, true)
+      equation
+        Flags.setConfigEnum(Flags.GRAMMAR, Flags.OPTIMICA);
+        (v, e, tmpClassAttr) =  addOptimizationVarsEqns(inVars, inEqns, true, inClassAttr, inConstraint, knvars, true);
+       then (v,e,tmpClassAttr);
     else then(inVars, inEqns, inClassAttr);
   end match;
 end addOptimizationVarsEqns;
diff --git a/Compiler/Script/CevalScript.mo b/Compiler/Script/CevalScript.mo
index 78ac5fccd45..ea479874759 100644
--- a/Compiler/Script/CevalScript.mo
+++ b/Compiler/Script/CevalScript.mo
@@ -482,9 +482,10 @@ protected
   DAE.Exp startTime, stopTime, numberOfIntervals, stepSize, tolerance, method, fileNamePrefix, options, outputFormat, variableFilter, cflags, simflags;
   Boolean UseOtimica;
 algorithm
-  UseOtimica := Config.acceptOptimicaGrammar();
+  UseOtimica := Config.acceptOptimicaGrammar() or Flags.getConfigBool(Flags.GENERATE_DYN_OPTIMIZATION_PROBLEM);
   GlobalScript.SIMULATION_OPTIONS(startTime, stopTime, numberOfIntervals, stepSize, tolerance, method, _, options, outputFormat, variableFilter, cflags, simflags) := inSimOpt;
   method := Util.if_(UseOtimica, DAE.SCONST("optimization"),method);
+  numberOfIntervals := Util.if_(UseOtimica, DAE.ICONST(50),numberOfIntervals);
   outSimOpt := GlobalScript.SIMULATION_OPTIONS(startTime, stopTime, numberOfIntervals, stepSize, tolerance, method, DAE.SCONST(inFileNamePrefix), options, outputFormat, variableFilter, cflags, simflags);
 end setFileNamePrefixInSimulationOptions;
 
@@ -1605,8 +1606,9 @@ algorithm
 
         System.realtimeTick(GlobalScript.RT_CLOCK_SIMULATE_TOTAL);
 
-        b = Flags.getConfigBool(Flags.GENERATE_SYMBOLIC_LINEARIZATION);
-        Flags.setConfigBool(Flags.GENERATE_SYMBOLIC_LINEARIZATION, true);
+        Flags.setConfigBool(Flags.GENERATE_SYMBOLIC_LINEARIZATION,true);
+        Flags.setConfigEnum(Flags.GRAMMAR, Flags.OPTIMICA);
+        Flags.setConfigBool(Flags.GENERATE_DYN_OPTIMIZATION_PROBLEM,true);
 
         (cache,st,compileDir,executable,_,outputFormat_str,_,simflags,resultValues) = buildModel(cache,env,vals,st_1,msg);
         cit = winCitation();
@@ -1627,8 +1629,6 @@ algorithm
         timeSimulation = System.realtimeTock(GlobalScript.RT_CLOCK_SIMULATE_SIMULATION);
         timeTotal = System.realtimeTock(GlobalScript.RT_CLOCK_SIMULATE_TOTAL);
         (cache,simValue,newst) = createSimulationResultFromcallModelExecutable(resI,timeTotal,timeSimulation,resultValues,cache,className,vals,st,result_file,logFile);
-        //reset config flag
-        Flags.setConfigBool(Flags.GENERATE_SYMBOLIC_LINEARIZATION, b);
       then
         (cache,simValue,newst);
 
diff --git a/Compiler/Util/Flags.mo b/Compiler/Util/Flags.mo
index 559f9ec6eed..5223c3a6653 100644
--- a/Compiler/Util/Flags.mo
+++ b/Compiler/Util/Flags.mo
@@ -926,6 +926,11 @@ constant ConfigFlag RESHUFFLE = CONFIG_FLAG(58, "reshuffle",
 constant ConfigFlag NEW_UNIT_CHECKING = CONFIG_FLAG(59,
   "newUnitChecking", NONE(), INTERNAL(), BOOL_FLAG(false), NONE(),
   Util.notrans(""));
+  
+constant ConfigFlag GENERATE_DYN_OPTIMIZATION_PROBLEM = CONFIG_FLAG(60, "gDynOpt",
+  NONE(), EXTERNAL(), BOOL_FLAG(false), NONE(),
+  Util.gettext("Generate dynamic optimization problem based on annation approach."));
+  
 
 // This is a list of all configuration flags. A flag can not be used unless it's
 // in this list, and the list is checked at initialization so that all flags are
@@ -989,7 +994,8 @@ constant list<ConfigFlag> allConfigFlags = {
   INT_ENUM_CONVERSION,
   PROFILING_LEVEL,
   RESHUFFLE,
-  NEW_UNIT_CHECKING
+  NEW_UNIT_CHECKING,
+  GENERATE_DYN_OPTIMIZATION_PROBLEM
 };
 
 public function new