add input-affine equation decomposition #3912
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baggepinnen
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src/input_affine_form.jl
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| """ | ||
| function input_affine_form(eqs, inputs) | ||
| # Extract the input matrix g(x) by taking coefficients of each input | ||
| g = [Symbolics.coeff(Symbolics.simplify(eq, expand = true), u) |
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simplify and especially expand are pretty expensive. This should ideally be done with semilinear_form or repeated application of Symbolics.linear_expansion.
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semilinear_form appeared to be buggy and not doing what I wanted
https://juliahub.slack.com/archives/C03UEC0P6G0/p1756812154880999
linear_expansion has this issue
help?> Symbolics.linear_expansion
│ Warning
│
│ The following bindings may be internal; they may change or be removed in future versions:
│
│ • Symbolics.linear_expansion
and it has failed to work for me in similar situations in the past JuliaSymbolics/Symbolics.jl#550
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I can look into semilinear_form. The linked linear_expansion issue is simply that the expression was not affine. That isn't the case if this function requires the system to be affine in the inputs.
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ChrisRackauckas-Claude
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Sep 3, 2025
Adds explicit DiffEqBase import to resolve UndefVarError that occurs when running tests in SafeTestsets environment. The error manifested in CI at line 70 where DiffEqBase.ODEFunction is called but DiffEqBase was not directly imported, only available through transitive dependencies. Fixes CI failure in PR SciML#3912 InterfaceI test group. 🤖 Generated with [Claude Code](https://claude.ai/code) Co-Authored-By: Claude <[email protected]>
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Useful for nonlinear control-systems analysis and design