Merge pull request #695 from SciML/s/alias_elim2

Simpler alias elimination

Author: YingboMa

src/systems/diffeqs/abstractodesystem.jl

@@ -418,3 +418,5 @@ end
 function SteadyStateProblemExpr(sys::AbstractODESystem, args...; kwargs...)
     SteadyStateProblemExpr{true}(sys, args...; kwargs...)
 end
+
+isdiffeq(eq) = eq.lhs isa Term && operation(eq.lhs) isa Differential

src/systems/diffeqs/odesystem.jl

@@ -119,28 +119,34 @@ function ODESystem(eqs, iv=nothing; kwargs...)
     end
     iv === nothing && throw(ArgumentError("Please pass in independent variables."))
     for eq in eqs
-        for var in vars(eq.rhs for eq ∈ eqs)
-            if isparameter(var) || isparameter(var.op)
-                isequal(var, iv) || push!(ps, var)
-            else
-                push!(allstates, var)
-            end
-        end
-        if !(eq.lhs isa Symbolic)
-            push!(algeeq, eq)
-        else
-            diffvar = first(var_from_nested_derivative(eq.lhs))
+        collect_vars!(allstates, ps, eq.lhs, iv)
+        collect_vars!(allstates, ps, eq.rhs, iv)
+        if isdiffeq(eq)
+            diffvar, _ = var_from_nested_derivative(eq.lhs)
             isequal(iv, iv_from_nested_derivative(eq.lhs)) || throw(ArgumentError("An ODESystem can only have one independent variable."))
             diffvar in diffvars && throw(ArgumentError("The differential variable $diffvar is not unique in the system of equations."))
             push!(diffvars, diffvar)
             push!(diffeq, eq)
+        else
+            push!(algeeq, eq)
         end
     end
     algevars = setdiff(allstates, diffvars)
     # the orders here are very important!
     return ODESystem(append!(diffeq, algeeq), iv, vcat(collect(diffvars), collect(algevars)), ps; kwargs...)
 end
 
+function collect_vars!(states, parameters, expr, iv)
+    for var in vars(expr)
+        if isparameter(var) || isparameter(var.op)
+            isequal(var, iv) || push!(parameters, var)
+        else
+            push!(states, var)
+        end
+    end
+    return nothing
+end
+
 Base.:(==)(sys1::ODESystem, sys2::ODESystem) =
     _eq_unordered(sys1.eqs, sys2.eqs) && isequal(sys1.iv, sys2.iv) &&
     _eq_unordered(sys1.states, sys2.states) && _eq_unordered(sys1.ps, sys2.ps)

src/systems/reduction.jl

@@ -6,6 +6,8 @@ function flatten(sys::ODESystem)
     else
         return ODESystem(equations(sys),
                          independent_variable(sys),
+                         states(sys),
+                         parameters(sys),
                          observed=observed(sys))
     end
 end
@@ -27,59 +29,67 @@ function substitute_aliases(diffeqs, dict)
     lhss(diffeqs) .~ fixpoint_sub.(rhss(diffeqs), (dict,))
 end
 
-isvar(s::Sym) = !isparameter(s)
-isvar(s::Term) = isvar(s.op)
+# Note that we reduce parameters, too
+# i.e. `2param = 3` will be reduced away
+isvar(s::Sym) = true
+isvar(s::Term) = isvar(operation(s))
 isvar(s::Any) = false
 
-function filterexpr(f, s)
-    vs = []
-    Rewriters.Prewalk(Rewriters.Chain([@rule((~x::f) => push!(vs, ~x))]))(s)
-    vs
-end
+function get_α_x(αx)
+    if isvar(αx)
+        return 1, αx
+    elseif αx isa Term && operation(αx) === (*)
+        args = arguments(αx)
+        nums = []
+        syms = []
+        for arg in args
+            isvar(arg) ? push!(syms, arg) : push!(nums, arg)
+        end
 
-function make_lhs_0(eq)
-    if eq.lhs isa Number && iszero(eq.lhs)
-        return eq
+        if length(syms) == 1
+            return prod(nums), syms[1]
+        end
     else
-        0 ~ eq.lhs - eq.rhs
+        return nothing
     end
 end
 
 function alias_elimination(sys::ODESystem)
     eqs = vcat(equations(sys), observed(sys))
-
-    # make all algebraic equations have 0 on LHS
-    eqs = map(eqs) do eq
-        if eq.lhs isa Term && eq.lhs.op isa Differential
-            eq
+    subs = Pair[]
+    diff_vars = filter(!isnothing, map(eqs) do eq
+            if isdiffeq(eq)
+                eq.lhs.args[1]
+            else
+                nothing
+            end
+        end) |> Set
+
+    # only substitute when the variable is algebraic
+    del = Int[]
+    for (i, eq) in enumerate(eqs)
+        isdiffeq(eq) && continue
+        res_left = get_α_x(eq.lhs)
+        if !isnothing(res_left) && !(res_left[2] in diff_vars)
+            # `α x = rhs` => `x = rhs / α`
+            α, x = res_left
+            push!(subs, x => _isone(α) ? eq.rhs : eq.rhs / α)
+            push!(del, i)
         else
-            make_lhs_0(eq)
+            res_right = get_α_x(eq.rhs)
+            if !isnothing(res_right) && !(res_right[2] in diff_vars)
+                # `lhs = β y` => `y = lhs / β`
+                β, y = res_right
+                push!(subs, y => _isone(β) ? eq.lhs : β * eq.lhs)
+                push!(del, i)
+            end
         end
     end
+    deleteat!(eqs, del)
 
-    newstates = map(eqs) do eq
-        if eq.lhs isa Term && eq.lhs.op isa Differential
-            filterexpr(isvar, eq.lhs)
-        else
-            []
-        end
-    end |> Iterators.flatten |> collect |> unique
-
+    eqs′ = substitute_aliases(eqs, Dict(subs))
+    alias_vars = first.(subs)
 
-    all_vars = map(eqs) do eq
-        filterexpr(isvar, eq.rhs)
-    end |> Iterators.flatten |> collect |> unique
-
-    alg_idxs = findall(x->!(x.lhs isa Term) && iszero(x.lhs), eqs)
-
-    eliminate = setdiff(all_vars, newstates)
-
-    outputs = solve_for(eqs[alg_idxs], eliminate)
-
-    diffeqs = eqs[setdiff(1:length(eqs), alg_idxs)]
-
-    diffeqs′ = substitute_aliases(diffeqs, Dict(eliminate .=> outputs))
-
-    ODESystem(diffeqs′, sys.iv, newstates, parameters(sys), observed=eliminate .~ outputs)
+    newstates = setdiff(states(sys), alias_vars)
+    ODESystem(eqs′, sys.iv, newstates, parameters(sys), observed=alias_vars .~ last.(subs))
 end
-

test/odesystem.jl

@@ -200,3 +200,14 @@ for (prob, atol) in [(prob1, 1e-12), (prob2, 1e-12), (prob3, 1e-12)]
     sol = solve(prob, Rodas5())
     @test all(x->≈(sum(x), 1.0, atol=atol), sol.u)
 end
+
+@parameters t σ β
+@variables x(t) y(t) z(t)
+@derivatives D'~t
+eqs = [D(x) ~ σ*(y-x),
+       D(y) ~ x-β*y,
+       x + z ~ y]
+sys = ODESystem(eqs)
+@test all(isequal.(states(sys), [x, y, z]))
+@test all(isequal.(parameters(sys), [σ, β]))
+@test equations(sys) == eqs

test/reduction.jl

@@ -7,53 +7,52 @@ using ModelingToolkit, OrdinaryDiffEq, Test
 test_equal(a, b) = @test isequal(simplify(a, polynorm=true), simplify(b, polynorm=true))
 
 eqs = [D(x) ~ σ*(y-x),
-       D(y) ~ x*(ρ-z)-y,
-       D(z) ~ a*y - β*z,
-       0 ~ x - a]
+       D(y) ~ x*(ρ-z)-y + β,
+       0 ~ sin(z) - x + y,
+       sin(u) ~ x + y,
+       2β ~ 2,
+       x ~ a,
+      ]
 
-lorenz1 = ODESystem(eqs,t,[x,y,z,a],[σ,ρ,β],name=:lorenz1)
+lorenz1 = ODESystem(eqs,t,[u,x,y,z,a],[σ,ρ,β],name=:lorenz1)
 
 lorenz1_aliased = alias_elimination(lorenz1)
-@test length(equations(lorenz1_aliased)) == 3
-@test length(states(lorenz1_aliased)) == 3
-
-eqs = [D(x) ~ σ*(y-x),
-       D(y) ~ x*(ρ-z)-y,
-       D(z) ~ x*y - β*z]
-
-@test lorenz1_aliased == ODESystem(eqs,t,[x,y,z],[σ,ρ,β],observed=[a ~ x],name=:lorenz1)
+reduced_eqs = [
+               D(x) ~ σ * (y - x),
+               D(y) ~ x*(ρ-z)-y + 1,
+               0 ~ sin(z) - x + y,
+               sin(u) ~ x + y,
+              ]
+test_equal.(equations(lorenz1_aliased), reduced_eqs)
+test_equal.(states(lorenz1_aliased), [u, x, y, z])
+test_equal.(observed(lorenz1_aliased), [
+    β ~ 1,
+    a ~ x,
+])
 
 # Multi-System Reduction
 
-eqs1 = [D(x) ~ σ*(y-x) + F,
-       D(y) ~ x*(ρ-z)-u,
-       D(z) ~ x*y - β*z]
-
-aliases = [u ~ x + y - z]
-
-lorenz1 = ODESystem(eqs1,pins=[F],observed=aliases,name=:lorenz1)
-
-eqs2 = [D(x) ~ F,
-       D(y) ~ x*(ρ-z)-x,
-       D(z) ~ x*y - β*z]
+eqs1 = [
+        D(x) ~ σ*(y-x) + F,
+        D(y) ~ x*(ρ-z)-u,
+        D(z) ~ x*y - β*z,
+        u ~ x + y - z,
+       ]
 
-aliases2 = [u ~ x - y - z]
+lorenz1 = ODESystem(eqs1,pins=[F],name=:lorenz1)
 
-lorenz2 = ODESystem(eqs2,pins=[F],observed=aliases2,name=:lorenz2)
+eqs2 = [
+        D(x) ~ F,
+        D(y) ~ x*(ρ-z)-x,
+        D(z) ~ x*y - β*z,
+        u ~ x - y - z
+       ]
 
-connections = [lorenz1.F ~ lorenz2.u,
-               lorenz2.F ~ lorenz1.u]
+lorenz2 = ODESystem(eqs2,pins=[F],name=:lorenz2)
 
-connected = ODESystem([0 ~ a + lorenz1.x - lorenz2.y],t,[a],[],observed=connections,systems=[lorenz1,lorenz2])
-
-# Reduced Unflattened System
-#=
-
-connections2 = [lorenz1.F ~ lorenz2.u,
-                lorenz2.F ~ lorenz1.u,
-                a ~ -lorenz1.x + lorenz2.y]
-connected = ODESystem(Equation[],t,[],[],observed=connections2,systems=[lorenz1,lorenz2])
-=#
+connected = ODESystem([lorenz2.y ~ a + lorenz1.x,
+                       lorenz1.F ~ lorenz2.u,
+                       lorenz2.F ~ lorenz1.u],t,[a],[],systems=[lorenz1,lorenz2])
 
 # Reduced Flattened System
 
@@ -62,6 +61,7 @@ flattened_system = ModelingToolkit.flatten(connected)
 aliased_flattened_system = alias_elimination(flattened_system)
 
 @test isequal(states(aliased_flattened_system), [
+        a
         lorenz1.x
         lorenz1.y
         lorenz1.z
@@ -80,22 +80,24 @@ aliased_flattened_system = alias_elimination(flattened_system)
         lorenz2.β
        ]) |> isempty
 
-test_equal.(equations(aliased_flattened_system), [
-       D(lorenz1.x) ~ lorenz1.σ*(lorenz1.y-lorenz1.x) + lorenz2.x - lorenz2.y - lorenz2.z,
-       D(lorenz1.y) ~ lorenz1.x*(lorenz1.ρ-lorenz1.z)-(lorenz1.x + lorenz1.y - lorenz1.z),
-       D(lorenz1.z) ~ lorenz1.x*lorenz1.y - lorenz1.β*lorenz1.z,
-       D(lorenz2.x) ~ lorenz1.x + lorenz1.y - lorenz1.z,
-       D(lorenz2.y) ~ lorenz2.x*(lorenz2.ρ-lorenz2.z)-lorenz2.x,
-       D(lorenz2.z) ~ lorenz2.x*lorenz2.y - lorenz2.β*lorenz2.z])
-
-test_equal.(observed(aliased_flattened_system), [
-       lorenz1.F ~ lorenz2.x + -1 * (lorenz2.y + lorenz2.z),
-       lorenz1.u ~ lorenz1.x + lorenz1.y + -1 * lorenz1.z,
-       lorenz2.F ~ lorenz1.x + lorenz1.y + -1 * lorenz1.z,
-       a ~ lorenz2.y + -1 * lorenz1.x,
-       lorenz2.u ~ lorenz2.x + -1 * (lorenz2.y + lorenz2.z),
-])
-
+reduced_eqs = [
+               lorenz2.y ~ a + lorenz1.x, # irreducible by alias elimination
+               D(lorenz1.x) ~ lorenz1.σ*(lorenz1.y-lorenz1.x) + lorenz2.x - lorenz2.y - lorenz2.z,
+               D(lorenz1.y) ~ lorenz1.x*(lorenz1.ρ-lorenz1.z)-(lorenz1.x + lorenz1.y - lorenz1.z),
+               D(lorenz1.z) ~ lorenz1.x*lorenz1.y - lorenz1.β*lorenz1.z,
+               D(lorenz2.x) ~ lorenz1.x + lorenz1.y - lorenz1.z,
+               D(lorenz2.y) ~ lorenz2.x*(lorenz2.ρ-lorenz2.z)-lorenz2.x,
+               D(lorenz2.z) ~ lorenz2.x*lorenz2.y - lorenz2.β*lorenz2.z
+              ]
+test_equal.(equations(aliased_flattened_system), reduced_eqs)
+
+observed_eqs = [
+                lorenz1.F ~ lorenz2.u,
+                lorenz2.F ~ lorenz1.u,
+                lorenz1.u ~ lorenz1.x + lorenz1.y - lorenz1.z,
+                lorenz2.u ~ lorenz2.x - lorenz2.y - lorenz2.z,
+               ]
+test_equal.(observed(aliased_flattened_system), observed_eqs)
 
 # issue #578