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Time-derivative of ParameterizedInterpolationΒ #397

@jqfeld

Description

@jqfeld

Describe the bug 🐞

I have a model where I use the ParameterizedInterpolation block as input (with the intention to optimize the parameters later to fit experimental data). In my model, the interpolation appears under a time-derivative, which leads to the error described below.

Expected behavior

ParameterizedInterpolation can be differentiated in respect to time. Especially, if the input is just t.

Minimal Reproducible Example πŸ‘‡

Slightly modified example from the doc. The change is f to D(f) in ddx * 10 ~ k * x + d * dx + D(f). The original example works fine. This MWE gives the same stack trace as my original model.

using ModelingToolkit
using ModelingToolkit: t_nounits as t, D_nounits as D
using ModelingToolkitStandardLibrary.Blocks
using DataInterpolations
using OrdinaryDiffEq
using DataFrames
using Plots

function MassSpringDamper(; name)
  @named input = RealInput()
  vars = @variables f(t) x(t) = 0 dx(t) [guess = 0] ddx(t)
  pars = @parameters m = 10 k = 1000 d = 1

  eqs = [f ~ input.u
    ddx * 10 ~ k * x + d * dx + D(f)
    D(x) ~ dx
    D(dx) ~ ddx]

  ODESystem(eqs, t, vars, pars; name, systems=[input])
end

function MassSpringDamperSystem(data, time; name)
  @named src = ParametrizedInterpolation(LinearInterpolation, data, time)
  @named clk = ContinuousClock()
  @named model = MassSpringDamper()

  eqs = [connect(model.input, src.output)
    connect(clk.output, src.input)]

  ODESystem(eqs, t; name, systems=[src, clk, model])
end

function generate_data()
  dt = 4e-4
  time = 0:dt:0.1
  data = sin.(2 * pi * time * 100)

  return DataFrame(; time, data)
end

df = generate_data() # example data

@named system = MassSpringDamperSystem(df.data, df.time)
sys = structural_simplify(system)
prob = ODEProblem(sys, [], (0, df.time[end]))
sol = solve(prob)

Error & Stacktrace ⚠️

ERROR: MethodError: Cannot `convert` an object of type
  MTKParameters{Array{Float64,1},Array{Num,1},Tuple,Tuple,Tuple{Array{UnionAll,1}},Tuple} to an object of type
  MTKParameters{Array{Float64,1},Array{Float64,1},Tuple,Tuple,Tuple{Array{UnionAll,1}},Tuple}
The function `convert` exists, but no method is defined for this combination of argument types.

Closest candidates are:
  (::Type{MTKParameters{T, I, D, C, N, H}} where {T, I, D, C, N, H})(::Any, ::Any, ::Any, ::Any, ::Any, ::Any)
   @ ModelingToolkit ~/.julia/packages/ModelingToolkit/Z9mEq/src/systems/parameter_buffer.jl:7
  convert(::Type{T}, ::T) where T
   @ Base Base.jl:126

Stacktrace:
  [1] setproperty!(x::OrdinaryDiffEqCore.ODEIntegrator{…}, f::Symbol, v::MTKParameters{…})
    @ Base ./Base.jl:52
  [2] _initialize_dae!(integrator::OrdinaryDiffEqCore.ODEIntegrator{…}, prob::ODEProblem{…}, alg::SciMLBase.OverrideInit{…}, isinplace::Val{…})
    @ OrdinaryDiffEqCore ~/.julia/packages/OrdinaryDiffEqCore/AYNr9/src/initialize_dae.jl:162
  [3] _initialize_dae!
    @ ~/.julia/packages/OrdinaryDiffEqCore/AYNr9/src/initialize_dae.jl:50 [inlined]
  [4] initialize_dae! (repeats 2 times)
    @ ~/.julia/packages/OrdinaryDiffEqCore/AYNr9/src/initialize_dae.jl:40 [inlined]
  [5] __init(prob::ODEProblem{…}, alg::CompositeAlgorithm{…}, timeseries_init::Tuple{}, ts_init::Tuple{}, ks_init::Tuple{}, recompile::Type{…}; saveat::Tup
le{}, tstops::Tuple{}, d_discontinuities::Tuple{}, save_idxs::Nothing, save_everystep::Bool, save_on::Bool, save_start::Bool, save_end::Nothing, callback::
Nothing, dense::Bool, calck::Bool, dt::Float64, dtmin::Float64, dtmax::Float64, force_dtmin::Bool, adaptive::Bool, gamma::Rational{…}, abstol::Nothing, rel
tol::Nothing, qmin::Rational{…}, qmax::Int64, qsteady_min::Int64, qsteady_max::Int64, beta1::Nothing, beta2::Nothing, qoldinit::Rational{…}, controller::No
thing, fullnormalize::Bool, failfactor::Int64, maxiters::Int64, internalnorm::typeof(DiffEqBase.ODE_DEFAULT_NORM), internalopnorm::typeof(LinearAlgebra.opn
orm), isoutofdomain::typeof(DiffEqBase.ODE_DEFAULT_ISOUTOFDOMAIN), unstable_check::typeof(DiffEqBase.ODE_DEFAULT_UNSTABLE_CHECK), verbose::Bool, timeseries
_errors::Bool, dense_errors::Bool, advance_to_tstop::Bool, stop_at_next_tstop::Bool, initialize_save::Bool, progress::Bool, progress_steps::Int64, progress
_name::String, progress_message::typeof(DiffEqBase.ODE_DEFAULT_PROG_MESSAGE), progress_id::Symbol, userdata::Nothing, allow_extrapolation::Bool, initialize
_integrator::Bool, alias::ODEAliasSpecifier, initializealg::OrdinaryDiffEqCore.DefaultInit, kwargs::@Kwargs{…})
    @ OrdinaryDiffEqCore ~/.julia/packages/OrdinaryDiffEqCore/AYNr9/src/solve.jl:565
  [6] __init (repeats 5 times)
    @ ~/.julia/packages/OrdinaryDiffEqCore/AYNr9/src/solve.jl:11 [inlined]
  [7] #__solve#62
    @ ~/.julia/packages/OrdinaryDiffEqCore/AYNr9/src/solve.jl:6 [inlined]
  [8] __solve
    @ ~/.julia/packages/OrdinaryDiffEqCore/AYNr9/src/solve.jl:1 [inlined]
  [9] #__solve#3
    @ ~/.julia/packages/OrdinaryDiffEqDefault/7CaO0/src/default_alg.jl:48 [inlined]
 [10] __solve
    @ ~/.julia/packages/OrdinaryDiffEqDefault/7CaO0/src/default_alg.jl:47 [inlined]
 [11] #__solve#64
    @ ~/.julia/packages/DiffEqBase/5hvMq/src/solve.jl:1538 [inlined]
 [12] __solve
    @ ~/.julia/packages/DiffEqBase/5hvMq/src/solve.jl:1529 [inlined]
 [13] #solve_call#36
    @ ~/.julia/packages/DiffEqBase/5hvMq/src/solve.jl:667 [inlined]
 [14] solve_call(::ODEProblem{Vector{…}, Tuple{…}, true, MTKParameters{…}, ODEFunction{…}, @Kwargs{}, SciMLBase.StandardODEProblem})
    @ DiffEqBase ~/.julia/packages/DiffEqBase/5hvMq/src/solve.jl:624
 [15] solve_up(::ODEProblem{…}, ::Nothing, ::Vector{…}, ::MTKParameters{…}; kwargs::@Kwargs{})
    @ DiffEqBase ~/.julia/packages/DiffEqBase/5hvMq/src/solve.jl:1183
 [16] solve_up
    @ ~/.julia/packages/DiffEqBase/5hvMq/src/solve.jl:1177 [inlined]
 [17] solve(::ODEProblem{…}; sensealg::Nothing, u0::Nothing, p::Nothing, wrap::Val{…}, kwargs::@Kwargs{})
    @ DiffEqBase ~/.julia/packages/DiffEqBase/5hvMq/src/solve.jl:1089
 [18] solve(::ODEProblem{Vector{…}, Tuple{…}, true, MTKParameters{…}, ODEFunction{…}, @Kwargs{}, SciMLBase.StandardODEProblem})
    @ DiffEqBase ~/.julia/packages/DiffEqBase/5hvMq/src/solve.jl:1079
 [19] top-level scope
    @ REPL[107]:1
Some type information was truncated. Use `show(err)` to see complete types.

Environment (please complete the following information):

  • Output of using Pkg; Pkg.status()
Status `~/Scratch/mwe/Project.toml`
  [a93c6f00] DataFrames v1.7.0
  [82cc6244] DataInterpolations v8.0.1
βŒ… [961ee093] ModelingToolkit v9.80.5
βŒƒ [16a59e39] ModelingToolkitStandardLibrary v2.21.1
  [1dea7af3] OrdinaryDiffEq v6.98.0
Info Packages marked with βŒƒ and βŒ… have new versions available. Those with βŒƒ may be upgradable, but those with βŒ… are restricted by compatibility constraints from upgrading. To see why use `status --outdated`
  • Output of using Pkg; Pkg.status(; mode = PKGMODE_MANIFEST)
Status `~/Scratch/mwe/Manifest.toml`
  [47edcb42] ADTypes v1.14.0
  [1520ce14] AbstractTrees v0.4.5
  [7d9f7c33] Accessors v0.1.42
  [79e6a3ab] Adapt v4.3.0
  [66dad0bd] AliasTables v1.1.3
  [ec485272] ArnoldiMethod v0.4.0
  [4fba245c] ArrayInterface v7.19.0
  [4c555306] ArrayLayouts v1.11.1
βŒ… [e2ed5e7c] Bijections v0.1.10
  [62783981] BitTwiddlingConvenienceFunctions v0.1.6
  [8e7c35d0] BlockArrays v1.6.3
  [70df07ce] BracketingNonlinearSolve v1.3.0
  [2a0fbf3d] CPUSummary v0.2.6
  [d360d2e6] ChainRulesCore v1.25.1
  [fb6a15b2] CloseOpenIntervals v0.1.13
  [861a8166] Combinatorics v1.0.3
  [a80b9123] CommonMark v0.9.1
  [38540f10] CommonSolve v0.2.4
  [bbf7d656] CommonSubexpressions v0.3.1
  [f70d9fcc] CommonWorldInvalidations v1.0.0
  [34da2185] Compat v4.16.0
  [b152e2b5] CompositeTypes v0.1.4
  [a33af91c] CompositionsBase v0.1.2
  [2569d6c7] ConcreteStructs v0.2.3
  [187b0558] ConstructionBase v1.6.0
  [adafc99b] CpuId v0.3.1
  [a8cc5b0e] Crayons v4.1.1
  [9a962f9c] DataAPI v1.16.0
  [a93c6f00] DataFrames v1.7.0
  [82cc6244] DataInterpolations v8.0.1
  [864edb3b] DataStructures v0.18.22
  [e2d170a0] DataValueInterfaces v1.0.0
  [2b5f629d] DiffEqBase v6.176.0
  [459566f4] DiffEqCallbacks v4.6.0
  [77a26b50] DiffEqNoiseProcess v5.24.1
  [163ba53b] DiffResults v1.1.0
  [b552c78f] DiffRules v1.15.1
βŒ… [a0c0ee7d] DifferentiationInterface v0.6.54
  [8d63f2c5] DispatchDoctor v0.4.19
  [31c24e10] Distributions v0.25.120
  [ffbed154] DocStringExtensions v0.9.5
  [5b8099bc] DomainSets v0.7.15
  [7c1d4256] DynamicPolynomials v0.6.2
  [06fc5a27] DynamicQuantities v1.8.0
  [4e289a0a] EnumX v1.0.5
  [f151be2c] EnzymeCore v0.8.11
  [d4d017d3] ExponentialUtilities v1.27.0
  [e2ba6199] ExprTools v0.1.10
  [55351af7] ExproniconLite v0.10.14
  [7034ab61] FastBroadcast v0.3.5
  [9aa1b823] FastClosures v0.3.2
  [442a2c76] FastGaussQuadrature v1.0.2
  [a4df4552] FastPower v1.1.2
  [1a297f60] FillArrays v1.13.0
  [64ca27bc] FindFirstFunctions v1.4.1
  [6a86dc24] FiniteDiff v2.27.0
  [1fa38f19] Format v1.3.7
βŒ… [f6369f11] ForwardDiff v0.10.38
  [069b7b12] FunctionWrappers v1.1.3
  [77dc65aa] FunctionWrappersWrappers v0.1.3
  [d9f16b24] Functors v0.5.2
  [46192b85] GPUArraysCore v0.2.0
  [c145ed77] GenericSchur v0.5.5
  [c27321d9] Glob v1.3.1
  [86223c79] Graphs v1.13.0
  [34004b35] HypergeometricFunctions v0.3.28
  [615f187c] IfElse v0.1.1
  [d25df0c9] Inflate v0.1.5
  [842dd82b] InlineStrings v1.4.3
  [18e54dd8] IntegerMathUtils v0.1.2
  [8197267c] IntervalSets v0.7.11
  [3587e190] InverseFunctions v0.1.17
  [41ab1584] InvertedIndices v1.3.1
  [92d709cd] IrrationalConstants v0.2.4
  [82899510] IteratorInterfaceExtensions v1.0.0
  [692b3bcd] JLLWrappers v1.7.0
  [ae98c720] Jieko v0.2.1
  [98e50ef6] JuliaFormatter v2.1.2
βŒ… [70703baa] JuliaSyntax v0.4.10
  [ccbc3e58] JumpProcesses v9.16.0
  [ba0b0d4f] Krylov v0.10.1
  [b964fa9f] LaTeXStrings v1.4.0
  [23fbe1c1] Latexify v0.16.8
  [10f19ff3] LayoutPointers v0.1.17
  [5078a376] LazyArrays v2.6.1
  [87fe0de2] LineSearch v0.1.4
  [d3d80556] LineSearches v7.4.0
  [7ed4a6bd] LinearSolve v3.17.0
  [2ab3a3ac] LogExpFunctions v0.3.29
  [d8e11817] MLStyle v0.4.17
  [1914dd2f] MacroTools v0.5.16
  [d125e4d3] ManualMemory v0.1.8
  [bb5d69b7] MaybeInplace v0.1.4
  [e1d29d7a] Missings v1.2.0
βŒ… [961ee093] ModelingToolkit v9.80.5
βŒƒ [16a59e39] ModelingToolkitStandardLibrary v2.21.1
  [2e0e35c7] Moshi v0.3.5
  [46d2c3a1] MuladdMacro v0.2.4
  [102ac46a] MultivariatePolynomials v0.5.9
  [d8a4904e] MutableArithmetics v1.6.4
  [d41bc354] NLSolversBase v7.10.0
  [77ba4419] NaNMath v1.1.3
  [8913a72c] NonlinearSolve v4.9.0
  [be0214bd] NonlinearSolveBase v1.12.0
  [5959db7a] NonlinearSolveFirstOrder v1.5.0
  [9a2c21bd] NonlinearSolveQuasiNewton v1.6.0
  [26075421] NonlinearSolveSpectralMethods v1.2.0
  [6fe1bfb0] OffsetArrays v1.17.0
  [429524aa] Optim v1.13.2
  [bac558e1] OrderedCollections v1.8.1
  [1dea7af3] OrdinaryDiffEq v6.98.0
  [89bda076] OrdinaryDiffEqAdamsBashforthMoulton v1.2.0
  [6ad6398a] OrdinaryDiffEqBDF v1.6.0
  [bbf590c4] OrdinaryDiffEqCore v1.26.1
  [50262376] OrdinaryDiffEqDefault v1.4.0
  [4302a76b] OrdinaryDiffEqDifferentiation v1.10.0
  [9286f039] OrdinaryDiffEqExplicitRK v1.1.0
  [e0540318] OrdinaryDiffEqExponentialRK v1.4.0
  [becaefa8] OrdinaryDiffEqExtrapolation v1.5.0
  [5960d6e9] OrdinaryDiffEqFIRK v1.12.0
  [101fe9f7] OrdinaryDiffEqFeagin v1.1.0
  [d3585ca7] OrdinaryDiffEqFunctionMap v1.1.1
  [d28bc4f8] OrdinaryDiffEqHighOrderRK v1.1.0
  [9f002381] OrdinaryDiffEqIMEXMultistep v1.3.0
  [521117fe] OrdinaryDiffEqLinear v1.3.0
  [1344f307] OrdinaryDiffEqLowOrderRK v1.2.0
  [b0944070] OrdinaryDiffEqLowStorageRK v1.3.0
  [127b3ac7] OrdinaryDiffEqNonlinearSolve v1.10.0
  [c9986a66] OrdinaryDiffEqNordsieck v1.1.0
  [5dd0a6cf] OrdinaryDiffEqPDIRK v1.3.1
  [5b33eab2] OrdinaryDiffEqPRK v1.1.0
  [04162be5] OrdinaryDiffEqQPRK v1.1.0
  [af6ede74] OrdinaryDiffEqRKN v1.1.0
  [43230ef6] OrdinaryDiffEqRosenbrock v1.11.0
  [2d112036] OrdinaryDiffEqSDIRK v1.3.0
  [669c94d9] OrdinaryDiffEqSSPRK v1.3.0
  [e3e12d00] OrdinaryDiffEqStabilizedIRK v1.3.0
  [358294b1] OrdinaryDiffEqStabilizedRK v1.1.0
  [fa646aed] OrdinaryDiffEqSymplecticRK v1.3.0
  [b1df2697] OrdinaryDiffEqTsit5 v1.1.0
  [79d7bb75] OrdinaryDiffEqVerner v1.2.0
  [90014a1f] PDMats v0.11.35
  [d96e819e] Parameters v0.12.3
  [e409e4f3] PoissonRandom v0.4.4
  [f517fe37] Polyester v0.7.18
  [1d0040c9] PolyesterWeave v0.2.2
  [2dfb63ee] PooledArrays v1.4.3
  [85a6dd25] PositiveFactorizations v0.2.4
  [d236fae5] PreallocationTools v0.4.27
βŒ… [aea7be01] PrecompileTools v1.2.1
  [21216c6a] Preferences v1.4.3
  [08abe8d2] PrettyTables v2.4.0
  [27ebfcd6] Primes v0.5.7
  [43287f4e] PtrArrays v1.3.0
  [1fd47b50] QuadGK v2.11.2
  [74087812] Random123 v1.7.1
  [e6cf234a] RandomNumbers v1.6.0
  [3cdcf5f2] RecipesBase v1.3.4
  [731186ca] RecursiveArrayTools v3.33.0
  [189a3867] Reexport v1.2.2
  [ae029012] Requires v1.3.1
  [ae5879a3] ResettableStacks v1.1.1
  [79098fc4] Rmath v0.8.0
  [7e49a35a] RuntimeGeneratedFunctions v0.5.15
  [9dfe8606] SCCNonlinearSolve v1.2.0
  [94e857df] SIMDTypes v0.1.0
  [0bca4576] SciMLBase v2.101.0
  [19f34311] SciMLJacobianOperators v0.1.6
  [c0aeaf25] SciMLOperators v1.3.1
  [53ae85a6] SciMLStructures v1.7.0
  [91c51154] SentinelArrays v1.4.8
  [efcf1570] Setfield v1.1.2
  [727e6d20] SimpleNonlinearSolve v2.5.0
  [699a6c99] SimpleTraits v0.9.4
  [ce78b400] SimpleUnPack v1.1.0
  [a2af1166] SortingAlgorithms v1.2.1
  [0a514795] SparseMatrixColorings v0.4.20
  [276daf66] SpecialFunctions v2.5.1
  [aedffcd0] Static v1.2.0
  [0d7ed370] StaticArrayInterface v1.8.0
  [90137ffa] StaticArrays v1.9.13
  [1e83bf80] StaticArraysCore v1.4.3
  [10745b16] Statistics v1.11.1
  [82ae8749] StatsAPI v1.7.1
  [2913bbd2] StatsBase v0.34.5
  [4c63d2b9] StatsFuns v1.5.0
  [7792a7ef] StrideArraysCore v0.5.7
  [892a3eda] StringManipulation v0.4.1
  [2efcf032] SymbolicIndexingInterface v0.3.40
  [19f23fe9] SymbolicLimits v0.2.2
  [d1185830] SymbolicUtils v3.29.0
  [0c5d862f] Symbolics v6.40.0
  [3783bdb8] TableTraits v1.0.1
  [bd369af6] Tables v1.12.1
  [ed4db957] TaskLocalValues v0.1.2
  [8ea1fca8] TermInterface v2.0.0
  [1c621080] TestItems v1.0.0
  [8290d209] ThreadingUtilities v0.5.5
  [a759f4b9] TimerOutputs v0.5.29
  [410a4b4d] Tricks v0.1.10
  [781d530d] TruncatedStacktraces v1.4.0
  [5c2747f8] URIs v1.5.2
  [3a884ed6] UnPack v1.0.2
  [1986cc42] Unitful v1.23.1
  [a7c27f48] Unityper v0.1.6
  [897b6980] WeakValueDicts v0.1.0
  [1d5cc7b8] IntelOpenMP_jll v2025.0.4+0
  [856f044c] MKL_jll v2025.0.1+1
  [efe28fd5] OpenSpecFun_jll v0.5.6+0
  [f50d1b31] Rmath_jll v0.5.1+0
  [1317d2d5] oneTBB_jll v2022.0.0+0
  [0dad84c5] ArgTools v1.1.2
  [56f22d72] Artifacts v1.11.0
  [2a0f44e3] Base64 v1.11.0
  [ade2ca70] Dates v1.11.0
  [8ba89e20] Distributed v1.11.0
  [f43a241f] Downloads v1.6.0
  [7b1f6079] FileWatching v1.11.0
  [9fa8497b] Future v1.11.0
  [b77e0a4c] InteractiveUtils v1.11.0
  [4af54fe1] LazyArtifacts v1.11.0
  [b27032c2] LibCURL v0.6.4
  [76f85450] LibGit2 v1.11.0
  [8f399da3] Libdl v1.11.0
  [37e2e46d] LinearAlgebra v1.11.0
  [56ddb016] Logging v1.11.0
  [d6f4376e] Markdown v1.11.0
  [a63ad114] Mmap v1.11.0
  [ca575930] NetworkOptions v1.2.0
  [44cfe95a] Pkg v1.11.0
  [de0858da] Printf v1.11.0
  [9a3f8284] Random v1.11.0
  [ea8e919c] SHA v0.7.0
  [9e88b42a] Serialization v1.11.0
  [1a1011a3] SharedArrays v1.11.0
  [6462fe0b] Sockets v1.11.0
  [2f01184e] SparseArrays v1.11.0
  [4607b0f0] SuiteSparse
  [fa267f1f] TOML v1.0.3
  [a4e569a6] Tar v1.10.0
  [8dfed614] Test v1.11.0
  [cf7118a7] UUIDs v1.11.0
  [4ec0a83e] Unicode v1.11.0
  [e66e0078] CompilerSupportLibraries_jll v1.1.1+0
  [deac9b47] LibCURL_jll v8.6.0+0
  [e37daf67] LibGit2_jll v1.7.2+0
  [29816b5a] LibSSH2_jll v1.11.0+1
  [c8ffd9c3] MbedTLS_jll v2.28.6+0
  [14a3606d] MozillaCACerts_jll v2023.12.12
  [4536629a] OpenBLAS_jll v0.3.27+1
  [05823500] OpenLibm_jll v0.8.5+0
  [bea87d4a] SuiteSparse_jll v7.7.0+0
  [83775a58] Zlib_jll v1.2.13+1
  [8e850b90] libblastrampoline_jll v5.11.0+0
  [8e850ede] nghttp2_jll v1.59.0+0
  [3f19e933] p7zip_jll v17.4.0+2
  • Output of versioninfo()
Julia Version 1.11.5
Commit 760b2e5b739 (2025-04-14 06:53 UTC)
Build Info:
  Official https://julialang.org/ release
Platform Info:
  OS: Linux (x86_64-linux-gnu)
  CPU: 32 Γ— AMD Ryzen 9 7950X3D 16-Core Processor
  WORD_SIZE: 64
  LLVM: libLLVM-16.0.6 (ORCJIT, znver4)
Threads: 32 default, 0 interactive, 16 GC (on 32 virtual cores)

Additional context

For the Interpolation block I get a similar stack trace if it appears under a derivative.

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