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feat: allow calling generate_control_function with unsimplified system #3699

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Merged
merged 1 commit into from
Jun 9, 2025
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feat: allow calling generate_control_function with unsimplified system #3699

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8 changes: 3 additions & 5 deletions src/inputoutput.jl
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Original file line number Diff line number Diff line change
Expand Up @@ -198,13 +198,11 @@ function generate_control_function(sys::AbstractSystem, inputs = unbound_inputs(
simplify = false,
eval_expression = false,
eval_module = @__MODULE__,
check_simplified = true,
kwargs...)
# Remove this when the ControlFunction gets merged.
if check_simplified && !iscomplete(sys)
error("A completed `ODESystem` is required. Call `complete` or `mtkcompile` on the system before creating the control function.")
end
isempty(inputs) && @warn("No unbound inputs were found in system.")
if !iscomplete(sys)
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sys may be complete without being mtkcompiled?

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ModelingToolkit.isscheduled is for structural simplification, you can complete without that.

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I assumed the user may provide a handwritten model in the correct format that they complete without running mtkcompile. If this is not a case we want to handle, then I can just use isscheduled.

sys = mtkcompile(sys; inputs, disturbance_inputs)
end
if disturbance_inputs !== nothing
# add to inputs for the purposes of io processing
inputs = [inputs; disturbance_inputs]
Expand Down
23 changes: 11 additions & 12 deletions test/input_output_handling.jl
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Expand Up @@ -165,8 +165,8 @@ end
]

@named sys = System(eqs, t)
sys = mtkcompile(sys, inputs = [u])
f, dvs, ps, io_sys = ModelingToolkit.generate_control_function(sys; simplify, split)
f, dvs, ps, io_sys = ModelingToolkit.generate_control_function(
sys, [u]; simplify, split)

@test isequal(dvs[], x)
@test isempty(ps)
Expand All @@ -183,8 +183,8 @@ end
]

@named sys = System(eqs, t)
sys = mtkcompile(sys, inputs = [u], disturbance_inputs = [d])
f, dvs, ps, io_sys = ModelingToolkit.generate_control_function(sys; simplify, split)
f, dvs, ps, io_sys = ModelingToolkit.generate_control_function(
sys, [u], [d]; simplify, split)

@test isequal(dvs[], x)
@test isempty(ps)
Expand All @@ -201,9 +201,9 @@ end
]

@named sys = System(eqs, t)
sys = mtkcompile(sys, inputs = [u], disturbance_inputs = [d])
f, dvs, ps, io_sys = ModelingToolkit.generate_control_function(
sys; simplify, split, disturbance_argument = true)
sys, [u], [d];
simplify, split, disturbance_argument = true)

@test isequal(dvs[], x)
@test isempty(ps)
Expand Down Expand Up @@ -267,8 +267,8 @@ eqs = [connect_sd(sd, mass1, mass2)
@named _model = System(eqs, t)
@named model = compose(_model, mass1, mass2, sd);

model = mtkcompile(model, inputs = [u])
f, dvs, ps, io_sys = ModelingToolkit.generate_control_function(model, simplify = true)
f, dvs, ps, io_sys = ModelingToolkit.generate_control_function(
model, [u]; simplify = true)
@test length(dvs) == 4
p = MTKParameters(io_sys, [io_sys.u => NaN])
x = ModelingToolkit.varmap_to_vars(
Expand Down Expand Up @@ -435,8 +435,8 @@ matrices = ModelingToolkit.reorder_unknowns(
]

@named sys = System(eqs, t)
sys = mtkcompile(sys, inputs = [u])
(; io_sys,) = ModelingToolkit.generate_control_function(sys, simplify = true)
(; io_sys,) = ModelingToolkit.generate_control_function(
sys, [u]; simplify = true)
obsfn = ModelingToolkit.build_explicit_observed_function(
io_sys, [x + u * t]; inputs = [u])
@test obsfn([1.0], [2.0], MTKParameters(io_sys, []), 3.0) ≈ [7.0]
Expand All @@ -458,8 +458,7 @@ end
@parameters p(::Real) = (x -> 2x)
eqs = [D(x) ~ -x + p(u)]
@named sys = System(eqs, t)
sys = mtkcompile(sys, inputs = [u])
f, dvs, ps, io_sys = ModelingToolkit.generate_control_function(sys)
f, dvs, ps, io_sys = ModelingToolkit.generate_control_function(sys, [u])
p = MTKParameters(io_sys, [])
u = [1.0]
x = [1.0]
Expand Down
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