SeeToDee
SeeToDee implements low-overhead, nonlinear variants of the classical c2d function from ControlSystems.jl.
Given a continuous-time dynamics function
\[\dot x = f(x, u, p, t)\]
this package contains integrators that convert the continuous-time dynamics into a discrete-time dynamics function
\[x_{t+T_s} = f(x_t, u_t, p, t)\]
that advances the state from time $t$ to time $t+T_s$, with a Zero-order-Hold (ZoH) assumption on the input $u$.
The integrators in this package focus on
- Inputs are first class, i.e., the signature of the dynamics take input signals (such as control signals or disturbance inputs) as arguments. This is in contrast to the DifferentialEquations ecosystem, where there are several different ways of handling inputs, none of which are quite first class.
- Low overhead for single-step integration, i.e., no solution handling, no interpolation, nothing fancy at all.
- Fixed time step. All integrators are non-adaptive, i.e., the integrators do not change their step size using error control. This typically makes the integrator have a more predictable runtime. It also reduces overhead without affecting accuracy in situations when the fixed step-size is small in relation to what would be required to meet the desired accuracy, a situation which is uncommon when simulating control systems. It also means that the user is responsible for checking the accuracy for the chosen step size.
- Dirt-simple interface, i.e., you literally use the integrator as a function
x⁺ = f(x, u, p, t)that you can call in a loop etc. to perform simulations. - Most things are manual. Want to simulate a trajectory? Write a loop!
Available discretization methods
The following methods are available
SeeToDee.Rk4An explicit 4th order Runge-Kutta integrator with ZoH input. Supports non-stiff differential equations only. If called with StaticArrays, this method is allocation free.SeeToDee.SimpleCollocA textbook implementation of a direct collocation method (includes trapezoidal integration as a special case) with ZoH input. Supports stiff differential-algebraic equations (DAE) and fully implicit form $0 = F(ẋ, x, u, p, t)$.
See their docstrings for more details.
When is this package useful?
Control systems are most of the time implemented in discrete time a computer, but they may interact with the continuous-time world around them. Simulation of the combined system including both the discrete-time controller and the continuous-time world is therefore a common task. The typically fixed sample interval of the controller, $T_s$, is thus presenting an upper bound to the length of the integration step in the simulation, an adaptive solver cannot take longer steps than this since the input is discountinuous with the invocation of the controller. If the sample time is short, a good adaptive algorithm will thus always take a step of length $T_s$, but figuring this out incurs unnecessary overhead.
The invocation of the controller also means that some additional code, the implementation of the controller, has to be run at a fixed interval, but not in-between. The DifferentialEquations ecosystem provides callbacks for this purpose. Making use of the callback is associated with a very large amount of boilerplate already for simple control-system simulations.
It's also common to want to do more than just simulation, for example, linearize the dynamics or state estimation. In both of those cases, one may be interested in integrating a single step of length $T_s$ only, starting from an arbitrary initial condition. In such situations, a one-liner function call is then preferable to a 10+ lines configuration of a traditional ODE solver, combined with the appropriate calls to remake etc. in-between calls.
When should you not use this package?
- If inputs that change at a fixed interval is not an integral part of your dynamics.
- Your system requires a very special integrator for simulation.
- Your system is very large, e.g., a discretized PDE.
- If the sample interval $T_s$ is long in relation to the time constants of the system, then an adaptive solver may be more efficient despite the discontinuities.
Example
The example below defines a dynamics function cartpole and then discretizes this using SeeToDee.Rk4 and propagates the state forward one time step
using SeeToDee, StaticArrays
function cartpole(x, u, p, t)
T = promote_type(eltype(x), eltype(u))
mc, mp, l, g = p
q = x[SA[1, 2]]
qd = x[SA[3, 4]]
s = sin(q[2])
c = cos(q[2])
H = @SMatrix [mc+mp mp*l*c; mp*l*c mp*l^2]
C = @SMatrix [0 -mp*qd[2]*l*s; 0 0]
G = @SVector [0, mp * g * l * s]
B = @SVector [1, 0]
qdd = -H \ (C * qd + G - B * u[1])
return [qd; qdd]
end
Ts = 0.01
discrete_dynamics_rk = SeeToDee.Rk4(cartpole, Ts; supersample=2)
x0 = SA[1.0, 2.0, 3.0, 4.0]
u0 = SA[1.0]
p = mc, mp, l, g = 1.0, 0.2, 0.5, 9.81
x1_rk4 = discrete_dynamics_rk(x0, u0, p, 0)4-element StaticArraysCore.SVector{4, Float64} with indices SOneTo(4):
1.030070812063625
2.0391740784608836
3.013901837105509
3.835309019317308The function discrete_dynamics_rk is now the discretized dynamics $x^+ = f(x, u, p, t)$, and x1_rk4 is the state at time $0+T_s$.
Next, we do the same but with SeeToDee.SimpleColloc instead of SeeToDee.Rk4.
n = 5 # Number of collocation points
nx = 4 # Number of differential state variables
na = 0 # Number of algebraic variables
nu = 1 # Number of inputs
discrete_dynamics_colloc = SeeToDee.SimpleColloc(cartpole, Ts, nx, na, nu; n, abstol=1e-10)
x1_colloc = discrete_dynamics_colloc(x0, u0, p, 0)
using Test
@test x1_rk4 ≈ x1_colloc atol=1e-2 # Test the it's roughly the same as the output of RK4Test PassedIf we benchmark these two methods
@btime $discrete_dynamics_rk($x0, $u0, $p, 0); # 203.633 ns (0 allocations: 0 bytes)
@btime $discrete_dynamics_colloc($x0, $u0, $p, 0); # 22.072 μs (80 allocations: 50.23 KiB)the explicit RK4 method is much faster in this case.
Using fully implicit dynamics
Below, we define the same dynamics as above, but this time in the fully implicit form
\[0 = F(ẋ, x, u, p, t)\]
This is occasionally useful in order to avoid inverting large coordinate-dependent mass matrices for mechanical systems etc. In the cartpole function, the mass matrix is called H, and it's of size 2×2
function cartpole_implicit(dx, x, u, p, _=0)
mc, mp, l, g = 1.0, 0.2, 0.5, 9.81
q = x[SA[1, 2]]
qd = x[SA[3, 4]]
s = sin(q[2])
c = cos(q[2])
H = @SMatrix [mc+mp mp*l*c; mp*l*c mp*l^2]
C = @SMatrix [0 -mp*qd[2]*l*s; 0 0]
G = @SVector [0, mp * g * l * s]
B = @SVector [1, 0]
Hqdd = (C * qd + G - B * u[1]) # Acceleration times mass matrix H
return [qd; -Hqdd] - [dx[SA[1, 2]]; H*dx[SA[3, 4]]] # We multiply H here instead of inverting H like above
end
discrete_dynamics_implicit = SimpleColloc(cartpole_implicit, Ts, nx, na, nu; n, abstol=1e-10, residual=true)
x1_implicit = discrete_dynamics_implicit(x0, u0, p, 0)
@test x1_implicit ≈ x1_colloc atol=1e-9Test Passed@btime $discrete_dynamics_implicit($x0, $u0, 0, 0); # 21.911 μs (84 allocations: 50.39 KiB)For this system, the solve time is almost identical to the explicit collocation case, but for larger systems, the implicit form can be faster.
Simulate whole trajectories
Simulation is done by implementing the loop manually, for example (pseudocode)
discrete_dynamics = SeeToDee.Rk4(cartpole, Ts; supersample=2)
x = x0
X = [x]
U = []
for i = 1:T
u = compute_control_input(x) # State feedback, MPC, etc.
x = discrete_dynamics(x, u, p, t) # Propagate state forward one step
push!(X, x) # Log data
push!(U, u)
endBatch propagation and GPU support
Using SeeToDee.Rk4, it's possible to propagate a batch of N states forward in time by writing the dynamics to accept matrices x and u where size(x) = (nx, N). No further changes are required. This also works if x, u are GPU arrays, such as those from CUDA.jl. For best performance on the GPU, make sure to construct the Rk4 object using a sample time of type Float32 and make sure that your x, u are also of element type Float32. N has to be rather large for this to be worthwhile. Propagating the state in batches can be useful when implementing, e.g., a particle filter.
Usage in the wild
This package is used in the following places