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Errors in using input_nonlinearity with newpem #156

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anchal-physics opened this issue Aug 16, 2024 · 2 comments
Closed

Errors in using input_nonlinearity with newpem #156

anchal-physics opened this issue Aug 16, 2024 · 2 comments

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@anchal-physics
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Hi

I have simple SISO system which is slighlty non-linear and I wanted to see if I can fit a Hammerstein-Wiener form non-linear system to it using newpem method. Unfortunately, it is giving me intractable errors. I think the error originates in functions of other libraries but maybe you can shed some light on how to properly define input_nonlinearity function?

I can't show the data here but it is a failry simple SISO and following runs without errors:

newpem(id_data, 2)
Output (Click to expand): Iter Function value Gradient norm 0 1.303796e-01 1.252132e+01 * time: 9.584426879882812e-5 (sys = ControlSystemIdentification.PredictionStateSpace{ControlSystemsBase.Discrete{Float64}, StateSpace{ControlSystemsBase.Discrete{Float64}, Float64}, Matrix{Float64}, Matrix{Float64}, Matrix{Float64}, Matrix{Float64}} A = 0.952510834582067 -0.37171223660279223 0.0012212299487706242 0.9884628684643999 B = -0.03076361699634558 -0.0029576156945034823 C = 0.10795214583161879 -1.4966601166648088 D = 0.0

Sample Time: 0.001 (seconds)
Discrete-time state-space model, x0 = [0.11360903072925647, 0.009137177133436751], res = * Status: success

  • Candidate solution
    Final objective value: 9.228208e-02

  • Found with
    Algorithm: BFGS

  • Convergence measures
    |x - x'| = 1.56e-09 ≰ 0.0e+00
    |x - x'|/|x'| = 1.65e-10 ≰ 0.0e+00
    |f(x) - f(x')| = 0.00e+00 ≤ 1.0e-16
    |f(x) - f(x')|/|f(x')| = 0.00e+00 ≤ 0.0e+00
    |g(x)| = 5.81e-09 ≰ 1.0e-12

  • Work counters
    Seconds run: 0 (vs limit 100)
    Iterations: 45
    f(x) calls: 79
    ∇f(x) calls: 46
    , nlp = Float64[])

Then, if I try to give it a simple quadratic non-linearity, first I got this

function inp_nl(u::AbstractArray{T}, p::AbstractArray{U}) where {T,U}
    u .= u .+ p[1] .* u .^ 2
end
newpem(id_data, 2; input_nonlinearity=inp_nl, nlp=Float64[0.00001])

Output (Click to expand):

MethodError: no method matching Float64(::ForwardDiff.Dual{ForwardDiff.Tag{... ┌ Error: Optimization failed, call `newpem(...; safe=true) to exit gracefully returning the initial estimate. └ @ ControlSystemIdentification /Users/gupta/.julia/packages/ControlSystemIdentification/La3Ei/src/pem.jl:267 { "name": "MethodError", "message": "MethodError: no method matching Float64(::ForwardDiff.Dual{ForwardDiff.Tag{ControlSystemIdentification.var\"#predloss#43\"{Bool, Int64, Nothing, typeof(inp_nl), ControlSystemIdentification.PredictionStateSpace{ControlSystemsBase.Discrete{Float64}, StateSpace{ControlSystemsBase.Discrete{Float64}, Float64}, Matrix{Float64}, LinearAlgebra.Hermitian{Float64, Matrix{Float64}}, LinearAlgebra.Hermitian{Float64, Matrix{Float64}}, Nothing}, typeof(abs2), ControlSystemIdentification.var\"#42#46\", ControlSystemIdentification.InputOutputData{LinearAlgebra.Transpose{Float64, Vector{Float64}}, LinearAlgebra.Transpose{Float64, Vector{Float64}}, Float64}, Int64, Matrix{Float64}, ControlSystemIdentification.InputOutputData{LinearAlgebra.Transpose{Float64, Vector{Float64}}, Matrix{Float64}, Float64}, Bool, Matrix{Float64}, Int64, Int64, Int64}, Float64}, Float64, 12})

Closest candidates are:
(::Type{T})(::Real, !Matched::RoundingMode) where T<:AbstractFloat
@ Base rounding.jl:207
(::Type{T})(::T) where T<:Number
@ Core boot.jl:792
Float64(!Matched::IrrationalConstants.Logtwo)
@ IrrationalConstants ~/.julia/packages/IrrationalConstants/vp5v4/src/macro.jl:112
...
",
"stack": "MethodError: no method matching Float64(::ForwardDiff.Dual{ForwardDiff.Tag{ControlSystemIdentification.var"#predloss#43"{Bool, Int64, Nothing, typeof(inp_nl), ControlSystemIdentification.PredictionStateSpace{ControlSystemsBase.Discrete{Float64}, StateSpace{ControlSystemsBase.Discrete{Float64}, Float64}, Matrix{Float64}, LinearAlgebra.Hermitian{Float64, Matrix{Float64}}, LinearAlgebra.Hermitian{Float64, Matrix{Float64}}, Nothing}, typeof(abs2), ControlSystemIdentification.var"#42#46", ControlSystemIdentification.InputOutputData{LinearAlgebra.Transpose{Float64, Vector{Float64}}, LinearAlgebra.Transpose{Float64, Vector{Float64}}, Float64}, Int64, Matrix{Float64}, ControlSystemIdentification.InputOutputData{LinearAlgebra.Transpose{Float64, Vector{Float64}}, Matrix{Float64}, Float64}, Bool, Matrix{Float64}, Int64, Int64, Int64}, Float64}, Float64, 12})

Closest candidates are:
(::Type{T})(::Real, !Matched::RoundingMode) where T<:AbstractFloat
@ Base rounding.jl:207
(::Type{T})(::T) where T<:Number
@ Core boot.jl:792
Float64(!Matched::IrrationalConstants.Logtwo)
@ IrrationalConstants ~/.julia/packages/IrrationalConstants/vp5v4/src/macro.jl:112
...

Stacktrace:
[1] convert(::Type{Float64}, x::ForwardDiff.Dual{ForwardDiff.Tag{ControlSystemIdentification.var"#predloss#43"{Bool, Int64, Nothing, typeof(inp_nl), ControlSystemIdentification.PredictionStateSpace{ControlSystemsBase.Discrete{Float64}, StateSpace{ControlSystemsBase.Discrete{Float64}, Float64}, Matrix{Float64}, LinearAlgebra.Hermitian{Float64, Matrix{Float64}}, LinearAlgebra.Hermitian{Float64, Matrix{Float64}}, Nothing}, typeof(abs2), ControlSystemIdentification.var"#42#46", ControlSystemIdentification.InputOutputData{LinearAlgebra.Transpose{Float64, Vector{Float64}}, LinearAlgebra.Transpose{Float64, Vector{Float64}}, Float64}, Int64, Matrix{Float64}, ControlSystemIdentification.InputOutputData{LinearAlgebra.Transpose{Float64, Vector{Float64}}, Matrix{Float64}, Float64}, Bool, Matrix{Float64}, Int64, Int64, Int64}, Float64}, Float64, 12})
@ Base ./number.jl:7
[2] setindex!(A::Vector{Float64}, x::ForwardDiff.Dual{ForwardDiff.Tag{ControlSystemIdentification.var"#predloss#43"{Bool, Int64, Nothing, typeof(inp_nl), ControlSystemIdentification.PredictionStateSpace{ControlSystemsBase.Discrete{Float64}, StateSpace{ControlSystemsBase.Discrete{Float64}, Float64}, Matrix{Float64}, LinearAlgebra.Hermitian{Float64, Matrix{Float64}}, LinearAlgebra.Hermitian{Float64, Matrix{Float64}}, Nothing}, typeof(abs2), ControlSystemIdentification.var"#42#46", ControlSystemIdentification.InputOutputData{LinearAlgebra.Transpose{Float64, Vector{Float64}}, LinearAlgebra.Transpose{Float64, Vector{Float64}}, Float64}, Int64, Matrix{Float64}, ControlSystemIdentification.InputOutputData{LinearAlgebra.Transpose{Float64, Vector{Float64}}, Matrix{Float64}, Float64}, Bool, Matrix{Float64}, Int64, Int64, Int64}, Float64}, Float64, 12}, i1::Int64)
@ Base ./array.jl:1021
[3] setindex!
@ ~/.julia/juliaup/julia-1.10.4+0.aarch64.apple.darwin14/share/julia/stdlib/v1.10/LinearAlgebra/src/adjtrans.jl:330 [inlined]
[4] _setindex!
@ ./abstractarray.jl:1419 [inlined]
[5] setindex!
@ ./abstractarray.jl:1396 [inlined]
[6] macro expansion
@ ./broadcast.jl:1004 [inlined]
[7] macro expansion
@ ./simdloop.jl:77 [inlined]
[8] copyto!
@ ./broadcast.jl:1003 [inlined]
[9] copyto!
@ ./broadcast.jl:956 [inlined]
[10] materialize!
@ ./broadcast.jl:914 [inlined]
[11] materialize!
@ ./broadcast.jl:911 [inlined]
[12] inp_nl(u::LinearAlgebra.Transpose{Float64, Vector{Float64}}, p::Vector{ForwardDiff.Dual{ForwardDiff.Tag{ControlSystemIdentification.var"#predloss#43"{Bool, Int64, Nothing, typeof(inp_nl), ControlSystemIdentification.PredictionStateSpace{ControlSystemsBase.Discrete{Float64}, StateSpace{ControlSystemsBase.Discrete{Float64}, Float64}, Matrix{Float64}, LinearAlgebra.Hermitian{Float64, Matrix{Float64}}, LinearAlgebra.Hermitian{Float64, Matrix{Float64}}, Nothing}, typeof(abs2), ControlSystemIdentification.var"#42#46", ControlSystemIdentification.InputOutputData{LinearAlgebra.Transpose{Float64, Vector{Float64}}, LinearAlgebra.Transpose{Float64, Vector{Float64}}, Float64}, Int64, Matrix{Float64}, ControlSystemIdentification.InputOutputData{LinearAlgebra.Transpose{Float64, Vector{Float64}}, Matrix{Float64}, Float64}, Bool, Matrix{Float64}, Int64, Int64, Int64}, Float64}, Float64, 12}})
@ Main ~/Git/ProjectTorreyPines/Controllers/Julia/density_control/jl_notebook_cell_df34fa98e69747e1a8f8a730347b8e2f_Y226sZmlsZQ==.jl:2
[13] (::ControlSystemIdentification.var"#predloss#43"{Bool, Int64, Nothing, typeof(inp_nl), ControlSystemIdentification.PredictionStateSpace{ControlSystemsBase.Discrete{Float64}, StateSpace{ControlSystemsBase.Discrete{Float64}, Float64}, Matrix{Float64}, LinearAlgebra.Hermitian{Float64, Matrix{Float64}}, LinearAlgebra.Hermitian{Float64, Matrix{Float64}}, Nothing}, typeof(abs2), ControlSystemIdentification.var"#42#46", ControlSystemIdentification.InputOutputData{LinearAlgebra.Transpose{Float64, Vector{Float64}}, LinearAlgebra.Transpose{Float64, Vector{Float64}}, Float64}, Int64, Matrix{Float64}, ControlSystemIdentification.InputOutputData{LinearAlgebra.Transpose{Float64, Vector{Float64}}, Matrix{Float64}, Float64}, Bool, Matrix{Float64}, Int64, Int64, Int64})(p::Vector{ForwardDiff.Dual{ForwardDiff.Tag{ControlSystemIdentification.var"#predloss#43"{Bool, Int64, Nothing, typeof(inp_nl), ControlSystemIdentification.PredictionStateSpace{ControlSystemsBase.Discrete{Float64}, StateSpace{ControlSystemsBase.Discrete{Float64}, Float64}, Matrix{Float64}, LinearAlgebra.Hermitian{Float64, Matrix{Float64}}, LinearAlgebra.Hermitian{Float64, Matrix{Float64}}, Nothing}, typeof(abs2), ControlSystemIdentification.var"#42#46", ControlSystemIdentification.InputOutputData{LinearAlgebra.Transpose{Float64, Vector{Float64}}, LinearAlgebra.Transpose{Float64, Vector{Float64}}, Float64}, Int64, Matrix{Float64}, ControlSystemIdentification.InputOutputData{LinearAlgebra.Transpose{Float64, Vector{Float64}}, Matrix{Float64}, Float64}, Bool, Matrix{Float64}, Int64, Int64, Int64}, Float64}, Float64, 12}})
@ ControlSystemIdentification ~/.julia/packages/ControlSystemIdentification/La3Ei/src/pem.jl:219
[14] vector_mode_dual_eval!
@ ~/.julia/packages/ForwardDiff/PcZ48/src/apiutils.jl:24 [inlined]
[15] vector_mode_gradient!(result::DiffResults.MutableDiffResult{1, Float64, Tuple{Vector{Float64}}}, f::ControlSystemIdentification.var"#predloss#43"{Bool, Int64, Nothing, typeof(inp_nl), ControlSystemIdentification.PredictionStateSpace{ControlSystemsBase.Discrete{Float64}, StateSpace{ControlSystemsBase.Discrete{Float64}, Float64}, Matrix{Float64}, LinearAlgebra.Hermitian{Float64, Matrix{Float64}}, LinearAlgebra.Hermitian{Float64, Matrix{Float64}}, Nothing}, typeof(abs2), ControlSystemIdentification.var"#42#46", ControlSystemIdentification.InputOutputData{LinearAlgebra.Transpose{Float64, Vector{Float64}}, LinearAlgebra.Transpose{Float64, Vector{Float64}}, Float64}, Int64, Matrix{Float64}, ControlSystemIdentification.InputOutputData{LinearAlgebra.Transpose{Float64, Vector{Float64}}, Matrix{Float64}, Float64}, Bool, Matrix{Float64}, Int64, Int64, Int64}, x::Vector{Float64}, cfg::ForwardDiff.GradientConfig{ForwardDiff.Tag{ControlSystemIdentification.var"#predloss#43"{Bool, Int64, Nothing, typeof(inp_nl), ControlSystemIdentification.PredictionStateSpace{ControlSystemsBase.Discrete{Float64}, StateSpace{ControlSystemsBase.Discrete{Float64}, Float64}, Matrix{Float64}, LinearAlgebra.Hermitian{Float64, Matrix{Float64}}, LinearAlgebra.Hermitian{Float64, Matrix{Float64}}, Nothing}, typeof(abs2), ControlSystemIdentification.var"#42#46", ControlSystemIdentification.InputOutputData{LinearAlgebra.Transpose{Float64, Vector{Float64}}, LinearAlgebra.Transpose{Float64, Vector{Float64}}, Float64}, Int64, Matrix{Float64}, ControlSystemIdentification.InputOutputData{LinearAlgebra.Transpose{Float64, Vector{Float64}}, Matrix{Float64}, Float64}, Bool, Matrix{Float64}, Int64, Int64, Int64}, Float64}, Float64, 12, Vector{ForwardDiff.Dual{ForwardDiff.Tag{ControlSystemIdentification.var"#predloss#43"{Bool, Int64, Nothing, typeof(inp_nl), ControlSystemIdentification.PredictionStateSpace{ControlSystemsBase.Discrete{Float64}, StateSpace{ControlSystemsBase.Discrete{Float64}, Float64}, Matrix{Float64}, LinearAlgebra.Hermitian{Float64, Matrix{Float64}}, LinearAlgebra.Hermitian{Float64, Matrix{Float64}}, Nothing}, typeof(abs2), ControlSystemIdentification.var"#42#46", ControlSystemIdentification.InputOutputData{LinearAlgebra.Transpose{Float64, Vector{Float64}}, LinearAlgebra.Transpose{Float64, Vector{Float64}}, Float64}, Int64, Matrix{Float64}, ControlSystemIdentification.InputOutputData{LinearAlgebra.Transpose{Float64, Vector{Float64}}, Matrix{Float64}, Float64}, Bool, Matrix{Float64}, Int64, Int64, Int64}, Float64}, Float64, 12}}})
@ ForwardDiff ~/.julia/packages/ForwardDiff/PcZ48/src/gradient.jl:96
[16] gradient!
@ ~/.julia/packages/ForwardDiff/PcZ48/src/gradient.jl:37 [inlined]
[17] gradient!
@ ~/.julia/packages/ForwardDiff/PcZ48/src/gradient.jl:35 [inlined]
[18] (::NLSolversBase.var"#14#18"{Float64, ControlSystemIdentification.var"#predloss#43"{Bool, Int64, Nothing, typeof(inp_nl), ControlSystemIdentification.PredictionStateSpace{ControlSystemsBase.Discrete{Float64}, StateSpace{ControlSystemsBase.Discrete{Float64}, Float64}, Matrix{Float64}, LinearAlgebra.Hermitian{Float64, Matrix{Float64}}, LinearAlgebra.Hermitian{Float64, Matrix{Float64}}, Nothing}, typeof(abs2), ControlSystemIdentification.var"#42#46", ControlSystemIdentification.InputOutputData{LinearAlgebra.Transpose{Float64, Vector{Float64}}, LinearAlgebra.Transpose{Float64, Vector{Float64}}, Float64}, Int64, Matrix{Float64}, ControlSystemIdentification.InputOutputData{LinearAlgebra.Transpose{Float64, Vector{Float64}}, Matrix{Float64}, Float64}, Bool, Matrix{Float64}, Int64, Int64, Int64}, ForwardDiff.GradientConfig{ForwardDiff.Tag{ControlSystemIdentification.var"#predloss#43"{Bool, Int64, Nothing, typeof(inp_nl), ControlSystemIdentification.PredictionStateSpace{ControlSystemsBase.Discrete{Float64}, StateSpace{ControlSystemsBase.Discrete{Float64}, Float64}, Matrix{Float64}, LinearAlgebra.Hermitian{Float64, Matrix{Float64}}, LinearAlgebra.Hermitian{Float64, Matrix{Float64}}, Nothing}, typeof(abs2), ControlSystemIdentification.var"#42#46", ControlSystemIdentification.InputOutputData{LinearAlgebra.Transpose{Float64, Vector{Float64}}, LinearAlgebra.Transpose{Float64, Vector{Float64}}, Float64}, Int64, Matrix{Float64}, ControlSystemIdentification.InputOutputData{LinearAlgebra.Transpose{Float64, Vector{Float64}}, Matrix{Float64}, Float64}, Bool, Matrix{Float64}, Int64, Int64, Int64}, Float64}, Float64, 12, Vector{ForwardDiff.Dual{ForwardDiff.Tag{ControlSystemIdentification.var"#predloss#43"{Bool, Int64, Nothing, typeof(inp_nl), ControlSystemIdentification.PredictionStateSpace{ControlSystemsBase.Discrete{Float64}, StateSpace{ControlSystemsBase.Discrete{Float64}, Float64}, Matrix{Float64}, LinearAlgebra.Hermitian{Float64, Matrix{Float64}}, LinearAlgebra.Hermitian{Float64, Matrix{Float64}}, Nothing}, typeof(abs2), ControlSystemIdentification.var"#42#46", ControlSystemIdentification.InputOutputData{LinearAlgebra.Transpose{Float64, Vector{Float64}}, LinearAlgebra.Transpose{Float64, Vector{Float64}}, Float64}, Int64, Matrix{Float64}, ControlSystemIdentification.InputOutputData{LinearAlgebra.Transpose{Float64, Vector{Float64}}, Matrix{Float64}, Float64}, Bool, Matrix{Float64}, Int64, Int64, Int64}, Float64}, Float64, 12}}}})(out::Vector{Float64}, x::Vector{Float64})
@ NLSolversBase ~/.julia/packages/NLSolversBase/kavn7/src/objective_types/oncedifferentiable.jl:70
[19] value_gradient!!(obj::NLSolversBase.OnceDifferentiable{Float64, Vector{Float64}, Vector{Float64}}, x::Vector{Float64})
@ NLSolversBase ~/.julia/packages/NLSolversBase/kavn7/src/interface.jl:82
[20] initial_state(method::Optim.BFGS{LineSearches.InitialStatic{Float64}, LineSearches.BackTracking{Float64, Int64}, Nothing, Nothing, Optim.Flat}, options::Optim.Options{Float64, Nothing}, d::NLSolversBase.OnceDifferentiable{Float64, Vector{Float64}, Vector{Float64}}, initial_x::Vector{Float64})
@ Optim ~/.julia/packages/Optim/ZhuZN/src/multivariate/solvers/first_order/bfgs.jl:94
[21] optimize
@ ~/.julia/packages/Optim/ZhuZN/src/multivariate/optimize/optimize.jl:36 [inlined]
[22] #optimize#91
@ ~/.julia/packages/Optim/ZhuZN/src/multivariate/optimize/interface.jl:143 [inlined]
[23] optimize
@ ~/.julia/packages/Optim/ZhuZN/src/multivariate/optimize/interface.jl:139 [inlined]
[24] newpem(d::ControlSystemIdentification.InputOutputData{LinearAlgebra.Transpose{Float64, Vector{Float64}}, LinearAlgebra.Transpose{Float64, Vector{Float64}}, Float64}, nx::Int64; zeroD::Bool, focus::Symbol, h::Int64, stable::Bool, output_nonlinearity::Nothing, input_nonlinearity::typeof(inp_nl), nlp::Vector{Float64}, sys0::ControlSystemIdentification.N4SIDStateSpace{StateSpace{ControlSystemsBase.Discrete{Float64}, Float64}, LinearAlgebra.Hermitian{Float64, Matrix{Float64}}, LinearAlgebra.Hermitian{Float64, Matrix{Float64}}, Matrix{Float64}, Matrix{Float64}, Matrix{Float64}, Vector{Float64}, LinearAlgebra.SVD{Float64, Float64, Matrix{Float64}, Vector{Float64}}, Float64}, metric::typeof(abs2), regularizer::ControlSystemIdentification.var"#42#46", optimizer::Optim.BFGS{LineSearches.InitialStatic{Float64}, LineSearches.BackTracking{Float64, Int64}, Nothing, Nothing, Optim.Flat}, store_trace::Bool, show_trace::Bool, show_every::Int64, iterations::Int64, allow_f_increases::Bool, time_limit::Int64, x_tol::Int64, f_abstol::Float64, g_tol::Float64, f_calls_limit::Int64, g_calls_limit::Int64, safe::Bool)
@ ControlSystemIdentification ~/.julia/packages/ControlSystemIdentification/La3Ei/src/pem.jl:253
[25] top-level scope
@ ~/Git/ProjectTorreyPines/Controllers/Julia/density_control/jl_notebook_cell_df34fa98e69747e1a8f8a730347b8e2f_Y226sZmlsZQ==.jl:4"
}

I read in your documentation that optimizer = Optim.NelderMead() can give better results, so I tried it. It gives another kind of error which is weird. Somewhere inside when lsim is called, state vector is reduced in length by 1.

newpem(id_data, 2; input_nonlinearity=inp_nl, nlp=Float64[0.00001], optimizer = Optim.NelderMead())

Output (Click to expand):

x0 must have length 2: got length 1 ┌ Error: Optimization failed, call `newpem(...; safe=true) to exit gracefully returning the initial estimate. └ @ ControlSystemIdentification /Users/gupta/.julia/packages/ControlSystemIdentification/La3Ei/src/pem.jl:267

{
"name": "ErrorException",
"message": "x0 must have length 2: got length 1",
"stack": "x0 must have length 2: got length 1

Stacktrace:
[1] error(s::String)
@ Base ./error.jl:35
[2] lsim(sys::StateSpace{ControlSystemsBase.Discrete{Float64}, Float64}, u::Matrix{Float64}, t::StepRangeLen{Float64, Base.TwicePrecision{Float64}, Base.TwicePrecision{Float64}, Int64}; x0::Vector{Float64}, method::Symbol)
@ ControlSystemsBase ~/.julia/packages/ControlSystemsBase/kvrre/src/timeresp.jl:182
[3] lsim
@ ~/.julia/packages/ControlSystemsBase/kvrre/src/timeresp.jl:176 [inlined]
[4] #lsim#238
@ ~/.julia/packages/ControlSystemsBase/kvrre/src/timeresp.jl:235 [inlined]
[5] lsim
@ ~/.julia/packages/ControlSystemsBase/kvrre/src/timeresp.jl:223 [inlined]
[6] lsim(sys::StateSpace{ControlSystemsBase.Discrete{Float64}, Float64}, d::ControlSystemIdentification.InputOutputData{LinearAlgebra.Transpose{Float64, Vector{Float64}}, Matrix{Float64}, Float64}; x0::Vector{Float64})
@ ControlSystemIdentification ~/.julia/packages/ControlSystemIdentification/La3Ei/src/ControlSystemIdentification.jl:238
[7] (::ControlSystemIdentification.var"#predloss#43"{Bool, Int64, Nothing, typeof(inp_nl), ControlSystemIdentification.PredictionStateSpace{ControlSystemsBase.Discrete{Float64}, StateSpace{ControlSystemsBase.Discrete{Float64}, Float64}, Matrix{Float64}, LinearAlgebra.Hermitian{Float64, Matrix{Float64}}, LinearAlgebra.Hermitian{Float64, Matrix{Float64}}, Nothing}, typeof(abs2), ControlSystemIdentification.var"#42#46", ControlSystemIdentification.InputOutputData{LinearAlgebra.Transpose{Float64, Vector{Float64}}, LinearAlgebra.Transpose{Float64, Vector{Float64}}, Float64}, Int64, Matrix{Float64}, ControlSystemIdentification.InputOutputData{LinearAlgebra.Transpose{Float64, Vector{Float64}}, Matrix{Float64}, Float64}, Bool, Matrix{Float64}, Int64, Int64, Int64})(p::Vector{Float64})
@ ControlSystemIdentification ~/.julia/packages/ControlSystemIdentification/La3Ei/src/pem.jl:223
[8] value!!(obj::NLSolversBase.NonDifferentiable{Float64, Vector{Float64}}, x::Vector{Float64})
@ NLSolversBase ~/.julia/packages/NLSolversBase/kavn7/src/interface.jl:9
[9] initial_state(method::Optim.NelderMead{Optim.AffineSimplexer, Optim.AdaptiveParameters}, options::Optim.Options{Float64, Nothing}, d::NLSolversBase.NonDifferentiable{Float64, Vector{Float64}}, initial_x::Vector{Float64})
@ Optim ~/.julia/packages/Optim/ZhuZN/src/multivariate/solvers/zeroth_order/nelder_mead.jl:171
[10] optimize
@ ~/.julia/packages/Optim/ZhuZN/src/multivariate/optimize/optimize.jl:36 [inlined]
[11] #optimize#91
@ ~/.julia/packages/Optim/ZhuZN/src/multivariate/optimize/interface.jl:143 [inlined]
[12] optimize
@ ~/.julia/packages/Optim/ZhuZN/src/multivariate/optimize/interface.jl:139 [inlined]
[13] newpem(d::ControlSystemIdentification.InputOutputData{LinearAlgebra.Transpose{Float64, Vector{Float64}}, LinearAlgebra.Transpose{Float64, Vector{Float64}}, Float64}, nx::Int64; zeroD::Bool, focus::Symbol, h::Int64, stable::Bool, output_nonlinearity::Nothing, input_nonlinearity::typeof(inp_nl), nlp::Vector{Float64}, sys0::ControlSystemIdentification.N4SIDStateSpace{StateSpace{ControlSystemsBase.Discrete{Float64}, Float64}, LinearAlgebra.Hermitian{Float64, Matrix{Float64}}, LinearAlgebra.Hermitian{Float64, Matrix{Float64}}, Matrix{Float64}, Matrix{Float64}, Matrix{Float64}, Vector{Float64}, LinearAlgebra.SVD{Float64, Float64, Matrix{Float64}, Vector{Float64}}, Float64}, metric::typeof(abs2), regularizer::ControlSystemIdentification.var"#42#46", optimizer::Optim.NelderMead{Optim.AffineSimplexer, Optim.AdaptiveParameters}, store_trace::Bool, show_trace::Bool, show_every::Int64, iterations::Int64, allow_f_increases::Bool, time_limit::Int64, x_tol::Int64, f_abstol::Float64, g_tol::Float64, f_calls_limit::Int64, g_calls_limit::Int64, safe::Bool)
@ ControlSystemIdentification ~/.julia/packages/ControlSystemIdentification/La3Ei/src/pem.jl:253
[14] top-level scope
@ ~/Git/ProjectTorreyPines/Controllers/Julia/density_control/jl_notebook_cell_df34fa98e69747e1a8f8a730347b8e2f_Y245sZmlsZQ==.jl:1"
}

Please let me know if you know why this is happening?
@baggepinnen
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baggepinnen commented Aug 16, 2024 •
edited
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Hello 👋

The first error looks like u have been of type Float64 and p of type Dual, causing an error while writing into u. That's an issue I need to fix in the package.

This PR should fix this issue

The second issue is harder for me to figure out without being able to reproduce the error.

@baggepinnen baggepinnen mentioned this issue Aug 16, 2024
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@baggepinnen
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I think I found the second issue as well, #157 should solve that too

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@baggepinnen @anchal-physics