init fixes

Author: baggepinnen

docs/src/batch_linearization.md

@@ -8,7 +8,6 @@ This example will demonstrate how to linearize a nonlinear ModelingToolkit model
 The model will be a simple Duffing oscillator:
 ```@example BATCHLIN
 using ControlSystemsMTK, ModelingToolkit, MonteCarloMeasurements, ModelingToolkitStandardLibrary.Blocks
-using ModelingToolkit: getdefault
 unsafe_comparisons(true)
 
 # Create a model
@@ -26,15 +25,15 @@ eqs = [D(x) ~ v
        y.u ~ x]
 
 
-@named duffing = ODESystem(eqs, t, systems=[y, u], defaults=[u.u => 0])
+@named duffing = ODESystem(eqs, t, systems=[y, u])
 ```
 
 ## Batch linearization
 To perform batch linearization, we create a vector of operating points, and then linearize the model around each of these points. The function [`batch_ss`](@ref) does this for us, and returns a vector of `StateSpace` models, one for each operating point. An operating point is a `Dict` that maps variables in the MTK model to numerical values. In the example below, we simply sample the variables uniformly within their bounds specified when we created the variables (normally, we might want to linearize on stationary points)
 ```@example BATCHLIN
 N = 16 # Number of samples
 xs = range(getbounds(x)[1], getbounds(x)[2], length=N)
-ops = Dict.(x .=> xs)
+ops = Dict.(u.u => 0, x .=> xs)
 ```
 
 Just like [`ModelingToolkit.linearize`](@ref), [`batch_ss`](@ref) takes the set of inputs and the set of outputs to linearize between.
@@ -155,7 +154,7 @@ The generated code starts by defining the interpolation vector `xs`, this variab
 We can linearize around a trajectory obtained from `solve` using the function [`trajectory_ss`](@ref). We provide it with a vector of time points along the trajectory at which to linearize, and in this case we specify the inputs and outputs to linearize between as analysis points `r` and `y`.
 ```@example BATCHLIN
 timepoints = 0:0.01:8
-Ps2, ssys = trajectory_ss(closed_loop, closed_loop.r, closed_loop.y, sol; t=timepoints)
+Ps2, ssys = trajectory_ss(closed_loop, closed_loop.r, closed_loop.y, sol; t=timepoints, initialize=true, verbose=true)
 bodeplot(Ps2, w, legend=false)
 ```
 

src/ode_system.jl

@@ -525,7 +525,9 @@ function trajectory_ss(sys, inputs, outputs, sol; t = _max_100(sol.t), allow_inp
     minimum(t) < minimum(sol.t) && @warn("The minimum time in `t`: $(minimum(t)), is smaller than the minimum time in `sol.t`: $(minimum(sol.t)).")
 
     # NOTE: we call linearization_funciton twice :( The first call is to get x=unknowns(ssys), the second call provides the operating points.
-    lin_fun, ssys = linearization_function(sys, inputs, outputs; kwargs...)
+    # lin_fun, ssys = linearization_function(sys, inputs, outputs; warn_initialize_determined = false, kwargs...)
+    lin_fun, ssys = linearization_function(sys, inputs, outputs; warn_initialize_determined = false, kwargs...)
+
     x = unknowns(ssys)
     defs = ModelingToolkit.defaults(sys)
     ops = map(t) do ti
@@ -538,7 +540,7 @@ function trajectory_ss(sys, inputs, outputs, sol; t = _max_100(sol.t), allow_inp
         ops = reduce(vcat, opsv)
         t = repeat(t, inner = length(ops) ÷ length(t))
     end
-    lin_fun, ssys = linearization_function(sys, inputs, outputs; op=ops[1], kwargs...)
+    # lin_fun, ssys = linearization_function(sys, inputs, outputs; op=ops[1], initialize, kwargs...)
     lins = map(zip(ops, t)) do (op, t)
         linearize(ssys, lin_fun; op, t, allow_input_derivatives)
         # linearize(sys, inputs, outputs; op, t, allow_input_derivatives, initialize=false)[1]
@@ -676,7 +678,7 @@ function GainScheduledStateSpace(systems, vt; interpolator, x = zeros(systems[1]
     @variables x(t)[1:nx]=x [
         description = "State variables of gain-scheduled statespace system $name",
     ]
-    @variables v(t) = 0 [
+    @variables v(t) [
         description = "Scheduling variable of gain-scheduled statespace system $name",
     ]