ODESystem

struct ODESystem <: ModelingToolkit.AbstractODESystem

A system of ordinary differential equations.

Fields

• eqs

  The ODEs defining the system.

• iv

  Independent variable.

• states

  Dependent (state) variables. Must not contain the independent variable.

• ps

  Parameter variables. Must not contain the independent variable.

• var_to_name

  Array variables.

• ctrls

  Control parameters (some subset of ps).

• observed

  Observed states.

• tgrad

  Time-derivative matrix. Note: this field will not be defined until calculate_tgrad is called on the system.

• jac

  Jacobian matrix. Note: this field will not be defined until calculate_jacobian is called on the system.

• ctrl_jac

  Control Jacobian matrix. Note: this field will not be defined until calculate_control_jacobian is called on the system.

• Wfact

  Wfact matrix. Note: this field will not be defined until generate_factorized_W is called on the system.

• Wfact_t

  Wfact_t matrix. Note: this field will not be defined until generate_factorized_W is called on the system.

• name

  Name: the name of the system

• systems

  systems: The internal systems. These are required to have unique names.

• defaults

  defaults: The default values to use when initial conditions and/or parameters are not supplied in ODEProblem.

• structure

  structure: structural information of the system

• connection_type

  connection_type: type of the system

• preface

  preface: injuect assignment statements before the evaluation of the RHS function.

Example

using ModelingToolkit

@parameters σ ρ β
@variables t x(t) y(t) z(t)
D = Differential(t)

eqs = [D(x) ~ σ*(y-x),
       D(y) ~ x*(ρ-z)-y,
       D(z) ~ x*y - β*z]

de = ODESystem(eqs,t,[x,y,z],[σ,ρ,β])

ode_order_lowering(sys::ODESystem) -> Any

Takes a Nth order ODESystem and returns a new ODESystem written in first order form by defining new variables which represent the N-1 derivatives.

dae_index_lowering(sys::ODESystem) -> ODESystem

Perform the Pantelides algorithm to transform a higher index DAE to an index 1 DAE.

liouville_transform(sys::ModelingToolkit.AbstractODESystem)

Generates the Liouville transformed set of ODEs, which is the original ODE system with a new variable trJ appended, corresponding to the -tr(Jacobian). This variable is used for properties like uncertainty propagation from a given initial distribution density.

For example, if $u'=p*u$ and p follows a probability distribution $f(p)$, then the probability density of a future value with a given choice of $p$ is computed by setting the inital trJ = f(p), and the final value of trJ is the probability of $u(t)$.

Example:

using ModelingToolkit, OrdinaryDiffEq, Test

@parameters t α β γ δ
@variables x(t) y(t)
D = Differential(t)

eqs = [D(x) ~ α*x - β*x*y,
       D(y) ~ -δ*y + γ*x*y]

sys = ODESystem(eqs)
sys2 = liouville_transform(sys)
@variables trJ

u0 = [x => 1.0,
      y => 1.0,
      trJ => 1.0]

prob = ODEProblem(sys2,u0,tspan,p)
sol = solve(prob,Tsit5())

Where sol[3,:] is the evolution of trJ over time.

Sources:

Probabilistic Robustness Analysis of F-16 Controller Performance: An Optimal Transport Approach

Abhishek Halder, Kooktae Lee, and Raktim Bhattacharya https://abhishekhalder.bitbucket.io/F16ACC2013Final.pdf

function DiffEqBase.ODEFunction{iip}(sys::AbstractODESystem, dvs = states(sys),
                                     ps = parameters(sys);
                                     version = nothing, tgrad=false,
                                     jac = false,
                                     sparse = false,
                                     kwargs...) where {iip}

Create an ODEFunction from the ODESystem. The arguments dvs and ps are used to set the order of the dependent variable and parameter vectors, respectively.

function DiffEqBase.ODEProblem{iip}(sys::AbstractODESystem,u0map,tspan,
                                    parammap=DiffEqBase.NullParameters();
                                    version = nothing, tgrad=false,
                                    jac = false,
                                    checkbounds = false, sparse = false,
                                    simplify=false,
                                    linenumbers = true, parallel=SerialForm(),
                                    kwargs...) where iip

Generates an ODEProblem from an ODESystem and allows for automatically symbolically calculating numerical enhancements.

function DiffEqBase.SteadyStateProblem(sys::AbstractODESystem,u0map,
                                    parammap=DiffEqBase.NullParameters();
                                    version = nothing, tgrad=false,
                                    jac = false,
                                    checkbounds = false, sparse = false,
                                    linenumbers = true, parallel=SerialForm(),
                                    kwargs...) where iip

Generates an SteadyStateProblem from an ODESystem and allows for automatically symbolically calculating numerical enhancements.