fix: fix sort_eqs and check distrubances in markio

Author: vyudu

src/inputoutput.jl

@@ -258,7 +258,7 @@ end
 """
 Turn input variables into parameters of the system.
 """
-function inputs_to_parameters!(state::TransformationState, inputsyms; is_disturbance = false)
+function inputs_to_parameters!(state::TransformationState, inputsyms)
     check_bound = inputsyms === nothing
     @unpack structure, fullvars, sys = state
     @unpack var_to_diff, graph, solvable_graph = structure
@@ -317,18 +317,7 @@ function inputs_to_parameters!(state::TransformationState, inputsyms; is_disturb
     @set! sys.unknowns = setdiff(unknowns(sys), keys(input_to_parameters))
     ps = parameters(sys)
 
-    if inputsyms !== nothing
-        # Change order of new parameters to correspond to user-provided order in argument `inputs`
-        d = Dict{Any, Int}()
-        for (i, inp) in enumerate(new_parameters)
-            d[inp] = i
-        end
-        permutation = [d[i] for i in inputsyms]
-        new_parameters = new_parameters[permutation]
-    end
-
     @set! sys.ps = [ps; new_parameters]
-
     @set! state.sys = sys
     @set! state.fullvars = new_fullvars
     @set! state.structure = structure
@@ -431,6 +420,6 @@ function add_input_disturbance(sys, dist::DisturbanceModel, inputs = Any[]; kwar
     ssys = structural_simplify(augmented_sys, inputs = all_inputs, disturbance_inputs = [d])
 
     f, dvs, p, io_sys = generate_control_function(ssys, all_inputs,
-        [d]; check_simplified = false, kwargs...)
+        [d]; kwargs...)
     f, augmented_sys, dvs, p, io_sys
 end

src/linearization.jl

@@ -132,14 +132,13 @@ function linearization_function(sys::AbstractSystem, inputs,
     return lin_fun, sys
 end
 
+"""
+Return the set of indexes of differential equations and algebraic equations in the simplified system.
+"""
 function eq_idxs(sys::AbstractSystem)
     eqs = equations(sys)
-    alg_start_idx = findfirst(!isdiffeq, eqs)
-    if alg_start_idx === nothing
-        alg_start_idx = length(eqs) + 1
-    end
-    diff_idxs = 1:(alg_start_idx - 1)
-    alge_idxs = alg_start_idx:length(eqs)
+    alge_idxs = findall(!isdiffeq, eqs)
+    diff_idxs = setdiff(1:length(eqs), alge_idxs)
 
     diff_idxs, alge_idxs
 end
@@ -556,6 +555,9 @@ function linearize_symbolic(sys::AbstractSystem, inputs,
     (; A, B, C, D, f_x, f_z, g_x, g_z, f_u, g_u, h_x, h_z, h_u), sys
 end
 
+"""
+Modify the variable metadata of system variables to indicate which ones are inputs, outputs, and disturbances. Needed for `inputs`, `outputs`, `disturbances`, `unbound_inputs`, `unbound_outputs` to return the proper subsets.
+"""
 function markio!(state, orig_inputs, inputs, outputs, disturbances; check = true)
     fullvars = get_fullvars(state)
     inputset = Dict{Any, Bool}(i => false for i in inputs)
@@ -586,6 +588,7 @@ function markio!(state, orig_inputs, inputs, outputs, disturbances; check = true
         if v in keys(disturbanceset)
             v = setio(v, true, false)
             v = setdisturbance(v, true)
+            disturbanceset[v] = true
             fullvars[i] = v
         end
     end
@@ -596,11 +599,16 @@ function markio!(state, orig_inputs, inputs, outputs, disturbances; check = true
                 "Some specified inputs were not found in system. The following variables were not found ",
                 ikeys)
         end
-    end
-    check && (all(values(outputset)) ||
-     error(
-        "Some specified outputs were not found in system. The following Dict indicates the found variables ",
+        dkeys = keys(filter(!last, disturbanceset))
+        if !isempty(dkeys)
+            error(
+                "Specified disturbance inputs were not found in system. The following variables were not found ",
+                ikeys)
+        end
+        (all(values(outputset)) || error(
+            "Some specified outputs were not found in system. The following Dict indicates the found variables ",
         outputset))
+    end
     state, orig_inputs
 end
 

src/systems/systems.jl

@@ -74,6 +74,7 @@ end
 function __structural_simplify(sys::AbstractSystem; simplify = false,
         inputs = Any[], outputs = Any[],
         disturbance_inputs = Any[],
+        sort_eqs = true,
         kwargs...)
     sys = expand_connections(sys)
     state = TearingState(sys; sort_eqs)

src/systems/systemstructure.jl

@@ -724,7 +724,8 @@ function _structural_simplify!(state::TearingState; simplify = false,
     else
         check_consistency = true
     end
-    has_io = inputs !== nothing || outputs !== nothing
+    has_io = !isempty(inputs) || !isempty(outputs) !== nothing ||
+             !isempty(disturbance_inputs)
     orig_inputs = Set()
     if has_io
         ModelingToolkit.markio!(state, orig_inputs, inputs, outputs, disturbance_inputs)