1 static char help[] = "An example of hybrid system using TS event.\n"; 2 3 /* 4 The dynamics is described by the ODE 5 u_t = A_i u 6 7 where A_1 = [ 1 -100 8 10 1 ], 9 A_2 = [ 1 10 10 -100 1 ]. 11 The index i changes from 1 to 2 when u[1]=2.75u[0] and from 2 to 1 when u[1]=0.36u[0]. 12 Initially u=[0 1]^T and i=1. 13 14 Reference: 15 I. A. Hiskens, M.A. Pai, Trajectory Sensitivity Analysis of Hybrid Systems, IEEE Transactions on Circuits and Systems, Vol 47, No 2, February 2000 16 */ 17 18 #include <petscts.h> 19 20 typedef struct { 21 PetscScalar lambda1; 22 PetscScalar lambda2; 23 PetscInt mode; /* mode flag*/ 24 } AppCtx; 25 26 PetscErrorCode EventFunction(TS ts,PetscReal t,Vec U,PetscScalar *fvalue,void *ctx) 27 { 28 AppCtx *actx=(AppCtx*)ctx; 29 const PetscScalar *u; 30 31 PetscFunctionBegin; 32 PetscCall(VecGetArrayRead(U,&u)); 33 if (actx->mode == 1) { 34 fvalue[0] = u[1]-actx->lambda1*u[0]; 35 }else if (actx->mode == 2) { 36 fvalue[0] = u[1]-actx->lambda2*u[0]; 37 } 38 PetscCall(VecRestoreArrayRead(U,&u)); 39 PetscFunctionReturn(0); 40 } 41 42 PetscErrorCode PostEventFunction(TS ts,PetscInt nevents,PetscInt event_list[],PetscReal t,Vec U,PetscBool forwardsolve,void* ctx) 43 { 44 AppCtx *actx=(AppCtx*)ctx; 45 46 PetscFunctionBegin; 47 if (actx->mode == 1) { 48 actx->mode = 2; 49 PetscCall(PetscPrintf(PETSC_COMM_SELF,"Change from mode 1 to 2 at t = %f \n",(double)t)); 50 } else if (actx->mode == 2) { 51 actx->mode = 1; 52 PetscCall(PetscPrintf(PETSC_COMM_SELF,"Change from mode 2 to 1 at t = %f \n",(double)t)); 53 } 54 PetscFunctionReturn(0); 55 } 56 57 /* 58 Defines the ODE passed to the ODE solver 59 */ 60 static PetscErrorCode IFunction(TS ts,PetscReal t,Vec U,Vec Udot,Vec F,void *ctx) 61 { 62 AppCtx *actx=(AppCtx*)ctx; 63 PetscScalar *f; 64 const PetscScalar *u,*udot; 65 66 PetscFunctionBegin; 67 /* The next three lines allow us to access the entries of the vectors directly */ 68 PetscCall(VecGetArrayRead(U,&u)); 69 PetscCall(VecGetArrayRead(Udot,&udot)); 70 PetscCall(VecGetArray(F,&f)); 71 72 if (actx->mode == 1) { 73 f[0] = udot[0]-u[0]+100*u[1]; 74 f[1] = udot[1]-10*u[0]-u[1]; 75 } else if (actx->mode == 2) { 76 f[0] = udot[0]-u[0]-10*u[1]; 77 f[1] = udot[1]+100*u[0]-u[1]; 78 } 79 80 PetscCall(VecRestoreArrayRead(U,&u)); 81 PetscCall(VecRestoreArrayRead(Udot,&udot)); 82 PetscCall(VecRestoreArray(F,&f)); 83 PetscFunctionReturn(0); 84 } 85 86 /* 87 Defines the Jacobian of the ODE passed to the ODE solver. See TSSetIJacobian() for the meaning of a and the Jacobian. 88 */ 89 static PetscErrorCode IJacobian(TS ts,PetscReal t,Vec U,Vec Udot,PetscReal a,Mat A,Mat B,void *ctx) 90 { 91 AppCtx *actx=(AppCtx*)ctx; 92 PetscInt rowcol[] = {0,1}; 93 PetscScalar J[2][2]; 94 const PetscScalar *u,*udot; 95 96 PetscFunctionBegin; 97 PetscCall(VecGetArrayRead(U,&u)); 98 PetscCall(VecGetArrayRead(Udot,&udot)); 99 100 if (actx->mode == 1) { 101 J[0][0] = a-1; J[0][1] = 100; 102 J[1][0] = -10; J[1][1] = a-1; 103 } else if (actx->mode == 2) { 104 J[0][0] = a-1; J[0][1] = -10; 105 J[1][0] = 100; J[1][1] = a-1; 106 } 107 PetscCall(MatSetValues(B,2,rowcol,2,rowcol,&J[0][0],INSERT_VALUES)); 108 109 PetscCall(VecRestoreArrayRead(U,&u)); 110 PetscCall(VecRestoreArrayRead(Udot,&udot)); 111 112 PetscCall(MatAssemblyBegin(A,MAT_FINAL_ASSEMBLY)); 113 PetscCall(MatAssemblyEnd(A,MAT_FINAL_ASSEMBLY)); 114 if (A != B) { 115 PetscCall(MatAssemblyBegin(B,MAT_FINAL_ASSEMBLY)); 116 PetscCall(MatAssemblyEnd(B,MAT_FINAL_ASSEMBLY)); 117 } 118 PetscFunctionReturn(0); 119 } 120 121 int main(int argc,char **argv) 122 { 123 TS ts; /* ODE integrator */ 124 Vec U; /* solution will be stored here */ 125 Mat A; /* Jacobian matrix */ 126 PetscMPIInt size; 127 PetscInt n = 2; 128 PetscScalar *u; 129 AppCtx app; 130 PetscInt direction[1]; 131 PetscBool terminate[1]; 132 133 /* - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 134 Initialize program 135 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - */ 136 PetscFunctionBeginUser; 137 PetscCall(PetscInitialize(&argc,&argv,(char*)0,help)); 138 PetscCallMPI(MPI_Comm_size(PETSC_COMM_WORLD,&size)); 139 PetscCheck(size == 1,PETSC_COMM_WORLD,PETSC_ERR_WRONG_MPI_SIZE,"Only for sequential runs"); 140 app.mode = 1; 141 app.lambda1 = 2.75; 142 app.lambda2 = 0.36; 143 PetscOptionsBegin(PETSC_COMM_WORLD,NULL,"ex1 options",""); 144 { 145 PetscCall(PetscOptionsReal("-lambda1","","",app.lambda1,&app.lambda1,NULL)); 146 PetscCall(PetscOptionsReal("-lambda2","","",app.lambda2,&app.lambda2,NULL)); 147 } 148 PetscOptionsEnd(); 149 150 /* - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 151 Create necessary matrix and vectors 152 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - */ 153 PetscCall(MatCreate(PETSC_COMM_WORLD,&A)); 154 PetscCall(MatSetSizes(A,n,n,PETSC_DETERMINE,PETSC_DETERMINE)); 155 PetscCall(MatSetType(A,MATDENSE)); 156 PetscCall(MatSetFromOptions(A)); 157 PetscCall(MatSetUp(A)); 158 159 PetscCall(MatCreateVecs(A,&U,NULL)); 160 161 PetscCall(VecGetArray(U,&u)); 162 u[0] = 0; 163 u[1] = 1; 164 PetscCall(VecRestoreArray(U,&u)); 165 /* - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 166 Create timestepping solver context 167 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - */ 168 PetscCall(TSCreate(PETSC_COMM_WORLD,&ts)); 169 PetscCall(TSSetProblemType(ts,TS_NONLINEAR)); 170 PetscCall(TSSetType(ts,TSCN)); 171 PetscCall(TSSetIFunction(ts,NULL,(TSIFunction)IFunction,&app)); 172 PetscCall(TSSetIJacobian(ts,A,A,(TSIJacobian)IJacobian,&app)); 173 174 /* - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 175 Set initial conditions 176 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - */ 177 PetscCall(TSSetSolution(ts,U)); 178 179 /* - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 180 Set solver options 181 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - */ 182 PetscCall(TSSetMaxTime(ts,0.125)); 183 PetscCall(TSSetExactFinalTime(ts,TS_EXACTFINALTIME_MATCHSTEP)); 184 PetscCall(TSSetTimeStep(ts,1./256.)); 185 PetscCall(TSSetFromOptions(ts)); 186 187 /* Set directions and terminate flags for the two events */ 188 direction[0] = 0; 189 terminate[0] = PETSC_FALSE; 190 PetscCall(TSSetEventHandler(ts,1,direction,terminate,EventFunction,PostEventFunction,(void*)&app)); 191 192 /* - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 193 Run timestepping solver 194 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - */ 195 PetscCall(TSSolve(ts,U)); 196 197 /* - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 198 Free work space. All PETSc objects should be destroyed when they are no longer needed. 199 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - */ 200 PetscCall(MatDestroy(&A)); 201 PetscCall(VecDestroy(&U)); 202 PetscCall(TSDestroy(&ts)); 203 204 PetscCall(PetscFinalize()); 205 return(0); 206 } 207 208 /*TEST 209 210 build: 211 requires: !complex 212 test: 213 args: -ts_monitor 214 215 test: 216 suffix: 2 217 args: -ts_monitor_lg_solution -1 218 requires: x 219 220 TEST*/ 221