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Use subs_constants in generate_control_function #2904

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merged 2 commits into from
Jul 29, 2024
Merged

Use subs_constants in generate_control_function #2904

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aa1df08
generate_control_function test and fix
aml5600 Jul 28, 2024
7a93c8d
move test
aml5600 Jul 29, 2024
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1 change: 1 addition & 0 deletions src/inputoutput.jl
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Expand Up @@ -218,6 +218,7 @@ function generate_control_function(sys::AbstractODESystem, inputs = unbound_inpu
inputs = map(x -> time_varying_as_func(value(x), sys), inputs)

eqs = [eq for eq in full_equations(sys)]
eqs = map(subs_constants, eqs)
if disturbance_inputs !== nothing
# Set all disturbance *inputs* to zero (we just want to keep the disturbance state)
subs = Dict(disturbance_inputs .=> 0)
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11 changes: 11 additions & 0 deletions test/input_output_handling.jl
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Expand Up @@ -391,3 +391,14 @@ matrices, ssys = linearize(augmented_sys,
io_sys, [x + u * t]; inputs = [u])
@test obsfn([1.0], [2.0], nothing, 3.0) == [7.0]
end

# https://github.com/SciML/ModelingToolkit.jl/issues/2896
@testset "Constants substitution" begin
@constants c = 2.0
@variables x(t)
eqs = [D(x) ~ c * x]
@named sys = ODESystem(eqs, t, [x], [])

f, dvs, ps = ModelingToolkit.generate_control_function(sys, simplify = true)
@test f[1]([0.5], nothing, nothing, 0.0) == [1.0]
end
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