Merge pull request #3626 from hersle/change_ivar_array

Change independent variable of ODEs with array variables

Author: ChrisRackauckas

src/systems/diffeqs/basic_transformations.jl

@@ -153,13 +153,25 @@ function change_independent_variable(
     @set! sys.eqs = [get_eqs(sys); eqs] # add extra equations we derived
     @set! sys.unknowns = [get_unknowns(sys); [iv1, div2_of_iv1]] # add new variables, will be transformed to e.g. t(u) and uˍt(u)
 
+    # A utility function that returns whether var (e.g. f(t)) is a function of iv (e.g. t)
+    function is_function_of(var, iv)
+        # Peel off outer calls to find the argument of the function of
+        if iscall(var) && operation(var) === getindex # handle array variables
+            var = arguments(var)[1] # (f(t))[1] -> f(t)
+        end
+        if iscall(var)
+            var = only(arguments(var)) # e.g. f(t) -> t
+            return isequal(var, iv)
+        end
+        return false
+    end
+
     # Create a utility that performs the chain rule on an expression, followed by insertion of the new independent variable:
     # e.g. (d/dt)(f(t)) -> (d/dt)(f(u(t))) -> df(u(t))/du(t) * du(t)/dt -> df(u)/du * uˍt(u)
     function transform(ex::T) where {T}
         # 1) Replace the argument of every function; e.g. f(t) -> f(u(t))
         for var in vars(ex; op = Nothing) # loop over all variables in expression (op = Nothing prevents interpreting "D(f(t))" as one big variable)
-            is_function_of_iv1 = iscall(var) && isequal(only(arguments(var)), iv1) # of the form f(t)?
-            if is_function_of_iv1 && !isequal(var, iv2_of_iv1) # prevent e.g. u(t) -> u(u(t))
+            if is_function_of(var, iv1) && !isequal(var, iv2_of_iv1) # of the form f(t)? but prevent e.g. u(t) -> u(u(t))
                 var_of_iv1 = var # e.g. f(t)
                 var_of_iv2_of_iv1 = substitute(var_of_iv1, iv1 => iv2_of_iv1) # e.g. f(u(t))
                 ex = substitute(ex, var_of_iv1 => var_of_iv2_of_iv1; fold)
@@ -207,15 +219,15 @@ function change_independent_variable(
         connector_type = get_connector_type(sys)
         assertions = Dict(transform(ass) => msg for (ass, msg) in get_assertions(sys))
         wascomplete = iscomplete(sys) # save before reconstructing system
+        wassplit = is_split(sys)
+        wasflat = isempty(systems)
         sys = typeof(sys)( # recreate system with transformed fields
             eqs, iv2, unknowns, ps; observed, initialization_eqs,
             parameter_dependencies, defaults, guesses, connector_type,
             assertions, name = nameof(sys), description = description(sys)
         )
         sys = compose(sys, systems) # rebuild hierarchical system
         if wascomplete
-            wasflat = isempty(systems)
-            wassplit = is_split(sys)
             sys = complete(sys; split = wassplit, flatten = wasflat) # complete output if input was complete
         end
         return sys

test/basic_transformations.jl

@@ -287,3 +287,20 @@ end
     @test all(isapprox.(sol[ss.t], sol[ss.y]; atol = 1e-10))
     @test all(sol[ss.x][2:end] .< sol[ss.x][1])
 end
+
+@testset "Change independent variable with array variables" begin
+    @variables x(t) y(t) z(t)[1:2]
+    eqs = [
+        D(x) ~ 2,
+        z ~ ModelingToolkit.scalarize.([sin(y), cos(y)]),
+        D(y) ~ z[1]^2 + z[2]^2
+    ]
+    @named sys = ODESystem(eqs, t)
+    sys = complete(sys)
+    new_sys = change_independent_variable(sys, sys.x; add_old_diff = true)
+    ss_new_sys = structural_simplify(new_sys; allow_symbolic = true)
+    u0 = [new_sys.y => 0.5, new_sys.t => 0.0]
+    prob = ODEProblem(ss_new_sys, u0, (0.0, 0.5), [])
+    sol = solve(prob, Tsit5(); reltol = 1e-5)
+    @test sol[new_sys.y][end] ≈ 0.75
+end