ModelingToolkit and State Variables with Optimization

I have the simple system from the documentation.

module Grid1

export get_model

using ModelingToolkit
using ModelingToolkitStandardLibrary.Electrical
using ModelingToolkitStandardLibrary.Blocks: Constant

function get_model(; resistance::Float64=0.4, capacitance::Float64=0.6, voltage::Float64=1.0)
    @variables t
    @named R = Resistor(R=resistance)
    @named C = Capacitor(C=capacitance)
    @named V = Voltage()
    @named ground = Ground()
    @named source = Constant(k=voltage)

    rc_eqs = [
        connect(V.p, R.p)
        connect(R.n, C.p)
        connect(C.n, V.n, ground.g)
        connect(V.V, source.output)

    @named _rc_model = ODESystem(rc_eqs, t)

    @named rc_model = compose(_rc_model, [R, C, V, source, ground])
    sys = structural_simplify(rc_model)
    return sys, parameters(sys), states(sys), C 


I want to run optimization of that system wrt parameters [R and C]. The following code works well.

using Revise

using .Grid1

using ModelingToolkit, DifferentialEquations
using Optimization, OptimizationOptimisers, DiffEqSensitivity, ForwardDiff, Zygote, OptimizationOptimJL
using CSV, DataFrames, Statistics

function get_obs(fname::String, obs_vars::Vector{String})
    df = DataFrame(CSV.File(fname))
    return df[:, "time"], df[:, obs_vars]

function loss(p::Vector{Float64})
    pred_sol = solve(prob, Tsit5(), p=p, saveat=t_save)
    pred = Array(pred_sol[model_state[1]])
    # pred = Array(pred_sol')
    mse = mean((pred - obs_vals) .^ 2)
    return mse

function callback(p, l)
    println(l, " ", p)
    return false

obs_var = ["C₊v(t)"]
obs_data_file = "working_example/res1.csv"

t_save, obs = get_obs(obs_data_file, obs_var)

model, param_vars, model_state, target_var = get_model()

u0 = [s => 0.0 for s in model_state]
tspan = (t_save[1], last(t_save))

lb = zeros(length(param_vars))
ub = zeros(length(param_vars)) .+ 10

prob = ODAEProblem(model, u0, tspan)
obs_vals = Array(obs)

p_init = rand(length(param_vars))

adtype = Optimization.AutoZygote()
optf = Optimization.OptimizationFunction((x, p) -> loss(x), adtype)
optprob = Optimization.OptimizationProblem(optf, p_init, lb=lb, ub=ub)
result = Optimization.solve(optprob, LBFGS(), callback=callback, maxiters=300)

Sometimes I need to point out the name of the output variable explicitly. I mean in the cost function I want to do something like that:

function loss(p::Vector{Float64})
    pred_sol = solve(prob, Tsit5(), p=p, saveat=t_save)
    pred = Array(pred_sol[model_state[1]])  # this doesn't work
    # pred = Array(pred_sol')  # this works
    mse = mean((pred - obs_vals) .^ 2)
    return mse

the model_state is:

julia> model_state
1-element Vector{Term{Real, Base.ImmutableDict{DataType, Any}}}:

I have variable C but if I do pred = Array(pred_sol[C.v]) I get the same error.

The error:

ERROR: ArgumentError: invalid index: C₊v(t) of type Term{Real, Base.ImmutableDict{DataType, Any}}

It’s important to me to have that option to point name explicitly because sometimes it can be variable not from the state. For e.g. it can be R.v etc.

If I solve this outside of loss-function

sol = solve(prob, Tsit5(), p=p, saveat=t_save)

I can get sol[C.v] without any errors.

Any idea how I can use the names of variables in the loss function?


Your working and desired loss functions look the same to me, but perhaps you want something like this:

function loss(p::Vector{Float64})
    pred_sol = solve(prob, Tsit5(), p=p, saveat=t_save)
    @variables t C₊v(t)
    pred = Array(pred_sol[C₊v])
    # pred = Array(pred_sol[model_state[1]])
    # pred = Array(pred_sol')
    mse = mean((pred - obs_vals) .^ 2)
    return mse

Thank you, @contradict, but it doesn’t work.

I have target_var:

julia> target_var
Model C with 4 (6) equations
States (6):
  v(t) [defaults to 0.0]
  i(t) [defaults to 0.0]
  p₊v(t) [defaults to 1.0]
  p₊i(t) [defaults to 1.0]
Parameters (1):
  C [defaults to 0.6]
julia> target_var.v

I can do pred_sol[target_var.v] without problems (in any place out of loss function). But inside of the loss function, I get the above error.

Hmm, perhaps your ModelingToolkit is out of date? The loss function I posted works as far as I can tell.
Note that I redefined the variables in the loss function.

I updated all my packages, but the error remains the same.
It seems something related to the autograd - AutoZygote…

deps = ["AbstractTrees", "ArrayInterfaceCore", "Combinatorics", "ConstructionBase", "DataStructures", "DiffEqBase", "DiffEqCallbacks", "DiffRules", "Distributed", "Distributions", "DocStringExtensions", "DomainSets", "ForwardDiff", "Graphs", "IfElse", "InteractiveUtils", "JuliaFormatter", "JumpProcesses", "LabelledArrays", "Latexify", "Libdl", "LinearAlgebra", "MacroTools", "NaNMath", "NonlinearSolve", "RecursiveArrayTools", "Reexport", "RuntimeGeneratedFunctions", "SciMLBase", "Serialization", "Setfield", "SparseArrays", "SpecialFunctions", "StaticArrays", "SymbolicUtils", "Symbolics", "UnPack", "Unitful"]
git-tree-sha1 = "8766e01941f35f1f50c4ddf815d5eccab8d4c794"
uuid = "961ee093-0014-501f-94e3-6117800e7a78"
version = "8.16.0"

deps = ["IfElse", "ModelingToolkit", "OffsetArrays", "OrdinaryDiffEq", "Symbolics"]
git-tree-sha1 = "7ea10c396479260034d0ab2ffe11e3d597a97d32"
uuid = "16a59e39-deab-5bd0-87e4-056b12336739"
version = "1.4.0"

I see a similar issue here:

@lamorton did you find the solution?

I’ve created the issue here

I created the minimum working example to reproduce it:

I haven’t worked on this in a while. IIRC my work-around was sorta awkward. I had a higher-order function that would take a tuple of parameters I wanted to hold constant & build a loss function that only exposed the other parameters, while leaving the fixed parameters at their default values.

I would just like to chime in that this kind or problem is really important for gray box modelling and data reconciliation, something that the Julia language is really good at doing. For this toolkit to be useful for this, we need a standard way to:

(1) Define a set of states for a model as a vector
(2) Define the likelihood function of these states
(3) Use the vector to populate the ODEs to make predictions of a future state based on this state
(4) Predict observations from these predicted states
(5) Compare these predictions to actual observations as a loss function (given as a likelihood)
(6) Find the best-fitting initial state by optimizing over the likelihood parameter vector (considering both prior likelihood and observation likelihood)
(7) Calculate the Hessian of the optimal solution to help figure out the prior distribution for the next optimization exercise

This is essentially dynamic data reconciliation or some advanced form of Kalman filtering. I don’t know if this is an intended use case of ModelingToolkit.jl but it has all the components. This use case would be a very powerful example of how to compose ModelingToolkit.jl to achieve something that’s greater than the sum of its parts.

1 Like

@RGon Yeah, I think that’s the end goal. It’s possible to use MTK that way right now (I’ve done it to some approximation) but it requires a fair amount of hacking. For starters, you need to avoid using symbolic indexing in the loss function, which means that you need to have a loss function factory that finds the index of the state variables that you want to derive the loss from, and then capture that indexer in the loss function. (See the FAQ). Also, if you need an observed variable, you have to get the observation function and capture it too. Finally, if you want some parameters to be adjustable & others not, you need to do more indexing tricks to interpolate the values of the adjustable subset into the full parameter vector & fill the rest with the default values. More indexing is required if you want to override the default value of a parameter.

I think the plan for the future involves fixing at least some of those inconveniences. For instance, to toggle the adjustability of a parameter, there’s going to be a metadata flag that will tell optimizers not to adjust a parameter. There may also be some work on getting observed variables more efficiently. IDK if that will help with automatic differentiation though.

use AutoFiniteDiff,it work