Model linearization fails when no parameter is used #2400
Description
Describe the bug 🐞
When attempting linearization of a MTK model without parameters, the linearize call fails with
ERROR: MethodError: no method matching similar(::SciMLBase.NullParameters, ::Type{ForwardDiff.Dual{ForwardDiff.Tag{…}, Any, 0}})
An arithmetic operation was performed on a NullParameters object. This means no parameters were passed
into the AbstractSciMLProblem (e.x.: ODEProblem) but the parameters object `p` was used in an arithmetic
expression. Two common reasons for this issue are:
1. Forgetting to pass parameters into the problem constructor. For example, `ODEProblem(f,u0,tspan)` should
be `ODEProblem(f,u0,tspan,p)` in order to use parameters.
2. Using the wrong function signature. For example, with `ODEProblem`s the function signature is always
`f(du,u,p,t)` for the in-place form or `f(u,p,t)` for the out-of-place form. Note that the `p` argument
will always be in the function signature regardless of if the problem is defined with parameters!
Closest candidates are:
similar(::VSCodeServer.JuliaInterpreter.Compiled, ::Any)
@ VSCodeServer d:\user\.vscode\extensions\julialang.language-julia-1.65.2\scripts\packages\JuliaInterpreter\src\types.jl:7
similar(::Type{A}, ::Type{T}, ::StaticArraysCore.Size{S}) where {A<:Array, T, S}
@ StaticArrays D:\user\.julia\packages\StaticArrays\Uc4hE\src\abstractarray.jl:136
similar(::Type{SA}, ::Type{T}, ::StaticArraysCore.Size{S}) where {SA<:StaticArraysCore.SizedArray, T, S}
@ StaticArrays D:\user\.julia\packages\StaticArrays\Uc4hE\src\abstractarray.jl:135
...
Stacktrace:
[1] jacobian_wrt_vars(pf::SciMLBase.ParamJacobianWrapper{…}, p::SciMLBase.NullParameters, input_idxs::UnitRange{…}, chunk::ForwardDiff.Chunk{…})
@ ModelingToolkit D:\user\.julia\packages\ModelingToolkit\arrCl\src\utils.jl:809
[2] (::ModelingToolkit.var"#144#148"{…})(u::Vector{…}, p::SciMLBase.NullParameters, t::Float64)
@ ModelingToolkit D:\user\.julia\packages\ModelingToolkit\arrCl\src\systems\abstractsystem.jl:1442
[3] linearize(sys::ODESystem, lin_fun::ModelingToolkit.var"#144#148"{…}; t::Float64, op::Dict{…}, allow_input_derivatives::Bool, p::SciMLBase.NullParameters)
@ ModelingToolkit D:\user\.julia\packages\ModelingToolkit\arrCl\src\systems\abstractsystem.jl:1694
[4] linearize(sys::ODESystem, inputs::Vector{…}, outputs::Vector{…}; op::Dict{…}, t::Float64, allow_input_derivatives::Bool, zero_dummy_der::Bool, kwargs::@Kwargs{})
@ ModelingToolkit D:\user\.julia\packages\ModelingToolkit\arrCl\src\systems\abstractsystem.jl:1745
[5] top-level scope
@ Untitled-1:26
Some type information was truncated. Use `show(err)` to see complete types.Expected behavior
Linearization of MTK models should work even in the absence of additional parameters
Minimal Reproducible Example 👇
parameter-less version of the example provided in https://discourse.julialang.org/t/differential-equation-with-periodic-orbit-can-diffeq-jl-determine-the-period/107982/8
using ModelingToolkit
using DifferentialEquations, ControlSystemsBase
@variables begin
t
x(t)
y(t)
end
D = Differential(t)
eqs = [
D(x) ~ -y
D(y) ~ x
]
@named model = ODESystem(eqs, t, [x, y], [])
sys = structural_simplify(model)
tspan = (0.0, 2π)
@nonamespace initial_conditions = Dict([x => 1.0, y => 0.0])
prob = ODEProblem(sys, initial_conditions, tspan)
sol = solve(prob, Tsit5(), reltol=1e-8, abstol=1e-8)
(; A, B, C, D), simplified_sys = linearize(sys, [], [x, y], op=initial_conditions)
Error & Stacktrace
Already provided
Environment (please complete the following information):
- Output of
using Pkg; Pkg.status()
[aaaaaaaa] ControlSystemsBase v1.10.1
[0c46a032] DifferentialEquations v7.12.0
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[961ee093] ModelingToolkit v8.74.1
[16a59e39] ModelingToolkitStandardLibrary v2.3.4
[37e2e46d] LinearAlgebra- Output of
using Pkg; Pkg.status(; mode = PKGMODE_MANIFEST)
[47edcb42] ADTypes v0.2.6
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[9e88b42a] Serialization
[1a1011a3] SharedArrays
[6462fe0b] Sockets
[2f01184e] SparseArrays v1.10.0
[10745b16] Statistics v1.10.0
[4607b0f0] SuiteSparse
[fa267f1f] TOML v1.0.3
[a4e569a6] Tar v1.10.0
[8dfed614] Test
[cf7118a7] UUIDs
[4ec0a83e] Unicode
[e66e0078] CompilerSupportLibraries_jll v1.0.5+1
[deac9b47] LibCURL_jll v8.4.0+0
[e37daf67] LibGit2_jll v1.6.4+0
[29816b5a] LibSSH2_jll v1.11.0+1
[c8ffd9c3] MbedTLS_jll v2.28.2+1
[14a3606d] MozillaCACerts_jll v2023.1.10
[4536629a] OpenBLAS_jll v0.3.23+2
[05823500] OpenLibm_jll v0.8.1+2
[efcefdf7] PCRE2_jll v10.42.0+1
[bea87d4a] SuiteSparse_jll v7.2.1+1
[83775a58] Zlib_jll v1.2.13+1
[8e850b90] libblastrampoline_jll v5.8.0+1
[8e850ede] nghttp2_jll v1.52.0+1
[3f19e933] p7zip_jll v17.4.0+2- Output of
versioninfo()
Julia Version 1.10.0
Commit 3120989f39 (2023-12-25 18:01 UTC)
Build Info:
Official https://julialang.org/ release
Platform Info:
OS: Windows (x86_64-w64-mingw32)
CPU: 8 × 11th Gen Intel(R) Core(TM) i7-1185G7 @ 3.00GHz
WORD_SIZE: 64
LIBM: libopenlibm
LLVM: libLLVM-15.0.7 (ORCJIT, tigerlake)
Threads: 11 on 8 virtual cores
Environment:
JULIA_EDITOR = codeAdditional context
Add any other context about the problem here.