Projected explicit and implicit Taylor series methods for DAEs

The recently developed new algorithm for computing consistent initial values and Taylor coefficients for DAEs using projector-based constrained optimization opens new possibilities to apply Taylor series integration methods. In this paper, we show how corresponding projected explicit and implicit Taylor series methods can be adapted to DAEs of arbitrary index. Owing to our formulation as a projected optimization problem constrained by the derivative array, no explicit description of the inherent dynamics is necessary, and various Taylor integration schemes can be defined in a general framework. In particular, we address higher-order Padé methods that stand out due to their stability. We further discuss several aspects of our prototype implemented in Python using Automatic Differentiation. The methods have been successfully tested on examples arising from multibody systems simulation and a higher-index DAE benchmark arising from servo-constraint problems.Peer Reviewe

Differential-Algebraic Equations

Differential-Algebraic Equations (DAE) are today an independent field of research, which is gaining in importance and becoming of increasing interest for applications and mathematics itself. This workshop has drawn the balance after about 25 years investigations of DAEs and the research aims of the future were intensively discussed

Differential-Algebraic Equations and Beyond: From Smooth to Nonsmooth Constrained Dynamical Systems

The present article presents a summarizing view at differential-algebraic equations (DAEs) and analyzes how new application fields and corresponding mathematical models lead to innovations both in theory and in numerical analysis for this problem class. Recent numerical methods for nonsmooth dynamical systems subject to unilateral contact and friction illustrate the topicality of this development.Comment: Preprint of Book Chapte

Canonical Subspaces of Linear Time-Varying Differential-Algebraic Equations and Their Usefulness for Formulating Accurate Initial Conditions

Accurate initial conditions have the task of precisely capturing and fixing the free integration constants of the flow considered. This is trivial for regular ordinary differential equations, but a complex problem for differential-algebraic equations (DAEs) because, for the latter, these free constants are hidden in the flow. We deal with linear time-varying DAEs and obtain an accurate initial condition by means of applying both a reduction technique and a projector based analysis. The highlighting of two canonical subspaces plays a special role. In order to be able to apply different DAE concepts simultaneously, we first show that the very different looking rank conditions on which the regularity notions of the different concepts (elimination of unknowns, reduction, dissection, strangeness, and tractability) are based are de facto consistent. This allows an understanding of regularity independent of the methods

Dynamic Modeling and Stability Analysis of Stochastic Multi-Physical Systems Applied to Electric Power Systems

[ES] La naturaleza aleatoria que caracteriza algunos fenómenos en sistemas físicos reales (e.g., ingeniería, biología, economía, finanzas, epidemiología y otros) nos ha planteado el desafío de un cambio de paradigma del modelado matemático y el análisis de sistemas dinámicos, y a tratar los fenómenos aleatorios como variables aleatorias o procesos estocásticos. Este enfoque novedoso ha traído como consecuencia nuevas especificidades que la teoría clásica del modelado y análisis de sistemas dinámicos deterministas no ha podido cubrir. Afortunadamente, maravillosas contribuciones, realizadas sobre todo en el último siglo, desde el campo de las matemáticas por científicos como Kolmogorov, Langevin, Lévy, Itô, Stratonovich, sólo por nombrar algunos; han abierto las puertas para un estudio bien fundamentado de la dinámica de sistemas físicos perturbados por ruido. En la presente tesis se discute el uso de ecuaciones diferenciales algebraicas estocásticas (EDAEs) para el modelado de sistemas multifísicos en red afectados por perturbaciones estocásticas, así como la evaluación de su estabilidad asintótica a través de exponentes de Lyapunov (ELs). El estudio está enfocado en EDAEs d-index-1 y su reformulación como ecuaciones diferenciales estocásticas ordinarias (EDEs). Fundamentados en la teoría ergódica, es factible analizar los ELs a través de sistemas dinámicos aleatorios (SDAs) generados por EDEs subyacentes. Una vez garantizada la existencia de ELs bien definidas, hemos procedido al uso de técnicas de simulación numérica para determinar los ELs numéricamente. Hemos implementado métodos numéricos basados en descomposición QR discreta y continua para el cómputo de la matriz de solución fundamental y su uso en el cálculo de los ELs. Las características numéricas y computacionales más relevantes de ambos métodos se ilustran mediante pruebas numéricas. Toda esta investigación sobre el modelado de sistemas con EDAEs y evaluación de su estabilidad a través de ELs calculados numéricamente, tiene una interesante aplicación en ingeniería. Esta es la evaluación de la estabilidad dinámica de sistemas eléctricos de potencia. En el presente trabajo de investigación, implementamos nuestros métodos numéricos basados en descomposición QR para el test de estabilidad dinámica en dos modelos de sistemas eléctricos de potencia de una-máquina bus-infinito (OMBI) afectados por diferentes perturbaciones ruidosas. El análisis en pequeña-señal evidencia el potencial de las técnicas propuestas en aplicaciones de ingeniería.[CA] La naturalesa aleatòria que caracteritza alguns fenòmens en sistemes físics reals (e.g., enginyeria, biologia, economia, finances, epidemiologia i uns altres) ens ha plantejat el desafiament d'un canvi de paradigma del modelatge matemàtic i l'anàlisi de sistemes dinàmics, i a tractar els fenòmens aleatoris com a variables aleatòries o processos estocàstics. Aquest enfocament nou ha portat com a conseqüència noves especificitats que la teoria clàssica del modelatge i anàlisi de sistemes dinàmics deterministes no ha pogut cobrir. Afortunadament, meravelloses contribucions, realitzades sobretot en l'últim segle, des del camp de les matemàtiques per científics com Kolmogorov, Langevin, Lévy, Itô, Stratonovich, només per nomenar alguns; han obert les portes per a un estudi ben fonamentat de la dinàmica de sistemes físics pertorbats per soroll. En la present tesi es discuteix l'ús d'equacions diferencials algebraiques estocàstiques (EDAEs) per al modelatge de sistemes multifísicos en xarxa afectats per pertorbacions estocàstiques, així com l'avaluació de la seua estabilitat asimptòtica a través d'exponents de Lyapunov (ELs). L'estudi està enfocat en EDAEs d-index-1 i la seua reformulació com a equacions diferencials estocàstiques ordinàries (EDEs). Fonamentats en la teoria ergòdica, és factible analitzar els ELs a través de sistemes dinàmics aleatoris (SDAs) generats per EDEs subjacents. Una vegada garantida l'existència d'ELs ben definides, hem procedit a l'ús de tècniques de simulació numèrica per a determinar els ELs numèricament. Hem implementat mètodes numèrics basats en descomposició QR discreta i contínua per al còmput de la matriu de solució fonamental i el seu ús en el càlcul dels ELs. Les característiques numèriques i computacionals més rellevants de tots dos mètodes s'illustren mitjançant proves numèriques. Tota aquesta investigació sobre el modelatge de sistemes amb EDAEs i avaluació de la seua estabilitat a través d'ELs calculats numèricament, té una interessant aplicació en enginyeria. Aquesta és l'avaluació de l'estabilitat dinàmica de sistemes elèctrics de potència. En el present treball de recerca, implementem els nostres mètodes numèrics basats en descomposició QR per al test d'estabilitat dinàmica en dos models de sistemes elèctrics de potència d'una-màquina bus-infinit (OMBI) afectats per diferents pertorbacions sorolloses. L'anàlisi en xicotet-senyal evidencia el potencial de les tècniques proposades en aplicacions d'enginyeria.[EN] The random nature that characterizes some phenomena in the real-world physical systems (e.g., engineering, biology, economics, finance, epidemiology, and others) has posed the challenge of changing the modeling and analysis paradigm and treat these phenomena as random variables or stochastic processes. Consequently, this novel approach has brought new specificities that the classical theory of modeling and analysis for deterministic dynamical systems cannot cover. Fortunately, stunning contributions made overall in the last century from the mathematics field by scientists such as Kolmogorov, Langevin, Lévy, Itô, Stratonovich, to name a few; have opened avenues for a well-founded study of the dynamics in physical systems perturbed by noise. In the present thesis, we discuss stochastic differential-algebraic equations (SDAEs) for modeling multi-physical network systems under stochastic disturbances, and their asymptotic stability assessment via Lyapunov exponents (LEs). We focus on d-index-1 SDAEs and their reformulation as ordinary stochastic differential equations (SDEs). Supported by the ergodic theory, it is feasible to analyze the LEs via the random dynamical system (RDSs) generated by the underlying SDEs. Once the existence of well-defined LEs is guaranteed, we proceed to the use of numerical simulation techniques to determine the LEs numerically. Discrete and continuous QR decomposition-based numerical methods are implemented to compute the fundamental solution matrix and use it in the computation of the LEs. Important numerical and computational features of both methods are illustrated through numerical tests. All this investigation concerning systems modeling through SDAEs and their stability assessment via computed LEs finds an appealing engineering application in the dynamic stability assessment of power systems. In this research work, we implement our QR-based numerical methods for testing the dynamic stability in two types of single-machine infinite-bus (SMIB) power system models perturbed by different noisy disturbances. The analysis in small-signal evidences the potential of the proposed techniques in engineering applications.Mi agradecimiento al estado ecuatoriano que, a través del Programa de Becas para el Fortalecimiento y Desarrollo del Talento Humano en Ciencia y Tecnología 2012 de la Secretaría Nacional de Educación Superior, Ciencia y Tecnología (SENESCYT), han financiado mis estudios de doctorado.González Zumba, JA. (2020). Dynamic Modeling and Stability Analysis of Stochastic Multi-Physical Systems Applied to Electric Power Systems [Tesis doctoral]. Universitat Politècnica de València. https://doi.org/10.4995/Thesis/10251/158558TESI

Stability criteria for nonlinear fully implicit differential-algebraic systems

This thesis contributes to the qualitative theory of differential-algebraic equations(DAEs) by providing new stability criteria for solutions of a class of nonlinear, fully implicit DAEs with a properly stated derivative term and tractability index one and two. A generalization of the Andronov-Witt Theorem addressing orbital stability is proved. To this purpose, a state space representation of differential-algebraic systems based on the tractability index is developed which has advantageous properties, e.g. moderate smoothness requirements, commutativity with linearization and an autonomous structure in case of autonomous DAEs. It allows a suitable definition of characteristic multipliers referring to the inherent dynamics, but given in terms of the DAE. Furthermore, the fundamentals of Lyapunov's direct method with respect to diffe- rential-algebraic systems are worked out. Novel denitions of Lyapunov functions for differentiable solution components of a DAE are stated, where the monotoni- cally decreasing total time derivative of a Lyapunov function along DAE solutions is expressed in terms of the original system. The topology of the domain of the inherent dynamics turns out to be decisive for nonlocal existence of solutions given a Lyapunov function. As a result, practical stability criteria for bounded solutions of autonomous DAEs and for general solutions of DAEs with bounded partial derivatives of the constitutive function arise. Known contractivity denitions for DAEs can be interpreted in the context of this approach

A Dissection concept for DAEs

Diese Arbeit befasst sich mit Differential-algebraischen Gleichungen (DAEs). DAEs spielen eine wichtige Rolle in der Modellierung, der Simulation und der Optimierung von Netzwerken und gekoppelten Problemen in vielen Anwendungsgebieten. Es werden in Bezug auf die Modellierung und die numerische Simulation von DAEs bereits bestehende Ergebnisse diskutiert und erweitert. Des Weiteren wird die globale eindeutige Lösbarkeit und die Sensitivität der Lösungen mit Hinsicht auf Störungen der DAEs untersucht. Häufig wird die Modellierung von multiphysikalischen Anwendungen durch die Kopplung mehrerer einzelner DAE Systeme realisiert. Diese Herangehensweise kann hochdimensionale DAEs erzeugen, welche aufgrund von Instabilitäten nicht von klassischen numerischen Methoden, simuliert werden können. Angesichts dieser Herausforderungen werden drei Ziele formuliert: Erstens wird ein globales Lösungstheorem formuliert und bewiesen, welches auf gekoppelte Systeme angewandt werden kann, um deren Kopplungsansatz mathematisch zu rechtfertigen. Zweitens werden numerische Methoden vorgestellt, welche unter wesentlich schwächeren Strukturannahmen stabil sind und sich daher für die Simulation von gekoppelten Systemen eignen. Drittens wird eine Strategie präsentiert, die es ermöglicht, explizite Methoden auf gekoppelte Systeme anzuwenden. Um diese Ziele zu erreichen, braucht man ein Entkopplungsverfahren für DAEs, welches die folgenden drei Eigenschaften erfüllt: Die Komplexität des Entkopplungsverfahrens sollte nicht die Komplexität der DAE überschreiten. Das Entkopplungsverfahren sollte Eigenschaften wie Symmetrie, Monotonie und positive Definitheit erhalten. Das Entkopplungsverfahren sollte durch einen Schritt-für-Schritt Ansatz mit unabhängigen Schritten realisiert werden. Sowohl das Konzept des Tractability Index als auch das des Strangeness Index liefert kein solches Entkopplungsverfahren. Daher wird hier ein neues Index Konzept eingeführt, das diesen Anforderungen entspricht.This thesis addresses differential-algebraic equations (DAEs). They play an important role in the modeling, simulation and optimization of networks and coupled problems in various applications. The main application in this thesis are coupled problems in electric circuit simulation. We discuss and extend existing results regarding the modeling and numerical simulation of DAEs. Furthermore, we investigate the global unique solvability and the sensitivity of solutions with respect to perturbations of DAEs. Nowadays the modeling of multi-physical applications is often realized by coupling systems of DAEs together with the help of additional coupling terms. This approach may yield high dimensional DAEs which cannot be simulated, due to instabilities, by standard numerical methods. Regarding these challenges we formulate three objectives: First we provide a global solvability theorem which can be applied to coupled systems to mathematically justify their coupling approach. Second we introduce numerical methods which are stable without needing any structural assumptions. Third we provide a way to apply explicit methods to coupled systems to be able to handle the size of the coupled systems by parallelizing the algorithms. To achieve these objectives, we need a decoupling procedure which fulfills the following three properties: The complexity of the decoupling procedure has to reflect the complexity of the DAE, i.e. the decoupling procedure should be state-independent if possible. The decoupling procedure should preserve properties like symmetry, monotonicity and positive definiteness. The decoupling procedure should be realized by a step-by-step approach with independent stages. Both the Tractability Index concept and the Strangeness Index concept do not provide such a decoupling procedure. For this reason we introduce a new index concept which provides such a decoupling procedure

Reduced realizations and model reduction for switched linear systems:a time-varying approach

In the last decades, switched systems gained much interest as a modeling framework in many applications. Due to a large number of subsystems and their high-dimensional dynamics, such systems result in high complexity and challenges. This motivates to find suitable reduction methods that produce simplified models which can be used in simulation and optimization instead of the original (large) system. In general, the study aims to find a reduced model for a given switched system with a fixed switching signal and known mode sequence. This thesis concerns first the reduced realization of switched systems with known mode sequence which has the same input-output behavior as original switched systems. It is conjectured that the proposed reduced system has the smallest order for almost all switching time duration. Secondly, a model reduction method is proposed for switched systems with known switching signals which provide a good model with suitable thresholds for the given switched system. The quantitative information for each mode is carried out by defining suitable Gramians and, these Gramians are exploited at the midpoint of the given switching time duration. Finally, balanced truncation leads to a modewise reduction. Later, a model reduction method for switched differential-algebraic equations in continuous time is proposed. Thereto, a switched linear system with jumps and impulses is constructed which has the identical input-output behavior as original systems. Finally, a model reduction approach for singular linear switched systems in discrete time is studied. The choice of initial/final values of the reachability and observability Gramians are also investigated