I have a system of non-linear multivariate equations. I am only interested in the roots of the system in an interval of each variable.
For example,
F = #(x,y,z) [...
sin((x*y)/100 + (y*z)/5)/10 + sin((y*z)/10)/10 + (y*cos((y*z)/10)*(x/10 + z))/100 + (y*cos((x*y)/100 + (y*z)/5)*(x/5 + z))/50 = 0
(z*cos((y*z)/10)*(x/10 + z))/100 + (cos((x*y)/100 + (y*z)/5)*(x/5 + z)*(x/100 + z/5))/10 = 0
sin((x*y)/100 + (y*z)/5)/50 + sin((y*z)/10)/100 + (y*cos((x*y)/100 + (y*z)/5)*(x/5 + z))/1000 = 0
];
and I am only interested in the interval of x in [0 10] and y in [-10 10] and z in [-5, 10].
My question is:
is there any method that can find 'all' the roots in these interval?
is there any solution that can tell me only number of roots in these intervals ?
If there is no general solution for question 1 and 2 (which I think there is not), then under what condition I can find all the roots (e.x. linear equations or polynomial are clearly solvable, but I want something more general such as Trigonometric equations).
Related
I cant get matlab to output an answer for me when I do x=A^-1*b or linsolve (A,b)
I have four equations and 4 variables to solve. It involves sin and cos.
ra=.15; r1=.15;r2=.1;rb=.15; //Radius
syms Wa Wb %weight
W1=45;W2=90;
syms tA tB %theta
t1=90;t2=0;
aA=.03;a1=.18;a2=.33;aB=.43; %radius
%Trying to solve for Wa,Wb,tA,tB
mrcos=Wa*ra*cos(tA) + W1*r1*cos(t1) + W2*r2*cos(t2) + Wb*rb*cos(tB)==0; %mrcos
mrsin=Wa*ra*sin(tA) + W1*r1*sin(t1) + W2*r2*sin(t2) + Wb*rb*sin(tB)==0; %mrsin
macos=Wa*aA*cos(tA) + W1*a1*cos(t1) + W2*a2*cos(t2) + Wb*aB*cos(tB)==0; %macos
masin=Wa*aA*sin(tA) + W1*a1*sin(t1) + W2*a2*sin(t2) + Wb*aB*sin(tB)==0; %masin
A=[Wa*ra*cos(tA) W1*r1*cos(t1) W2*r2*cos(t2) Wb*rb*cos(tB);
Wa*ra*sin(tA) W1*r1*sin(t1) W2*r2*sin(t2) Wb*rb*sin(tB);
Wa*aA*cos(tA) W1*a1*cos(t1) W2*a2*cos(t2) Wb*aB*cos(tB);
Wa*aA*sin(tA) W1*a1*sin(t1) W2*a2*sin(t2) Wb*aB*sin(tB)];
b=[0 0 0 0]';
x=inv(A)*b
it just gives me the following when im trying to solve for Wa,Wb,tA,tB
x=
[0
0
0
0]
im expecting not these values... ik they arent 0
a(x) here is a type of equation used in signal
Let
y(x) = x^3 + x^2 + x + 1
a(x) is inputed by the user so for example if user inputs
a(x) = D2 + D + 6
y(x)*a(x) = D2(x^3 + x^2 + x + 1) + D(x^3 + x^2 + x + 1) + 6(x^3 + x^2 + x + 1)
here D2(x^3 + x^2 + x + 1) = 6x + 2 and D(x^3 + x^2 + x + 1) = 3x^2 + 2x + 1
So D is differentiation and D2 is double differential
So i want to know how i would do something like this on MATLAB
Use Matlab symbolic computation toolbox https://www.mathworks.com/products/symbolic.html
Calculus
Evaluate exact analytical solutions for definite or indefinite integral,
calculate derivatives of symbolic expressions or functions,
and approximate functions using series expansions.
Currently I am using the vpasolve command to solve a system of 3 equations with 3 unknowns in it. These 3 equations are being used to model the kinematic motion of a robot manipulator, and the unknowns are either the lengths of the links of the robot or the angles of rotation of the joints. The vpasolve command manages to solve the equations correctly, the problem is that the solutions that I get are not close. What do I mean by not close? If I get a solution of 1.5, 0.3, -0.4 [rad] for one of the angles, the next solution for the next step of the motion would be any other random angle that may solve it, but in reality is not useful, so it could be something like -0.8 -1.5 2 [rad]. Of course it would be pointless for a robot to jump from 1.5 rad to -0.8 rad just to move its end point by 1 cm. Instead I would like to get a solution that is as close as possible to the angles from the previous solution.
The equations look something like this:
x == 1*cos(theta1)*cos(0) + 1*cos(theta1 + theta2)*cos(0 + 0) + 1*cos(theta1 + theta2 + theta3)*cos(0 + 0 + 0)
y == 1*cos(theta1)*sin(0) + 1*cos(theta1 + theta2)*sin(0 + 0) + 1*cos(theta1 + theta2 + theta3)*sin(0 + 0 + 0)
z == 1*sin(theta1) + 1*sin(theta1 + theta2) + 1*sin(theta1 + theta2 + theta3)
I give them different values for x y and z and solve the thetas for these values. For example:
t = 0:0.1:1;
x = 2 * t;
y = 0;
z = 1;
So here we have 10 different positions, I know that there are "consecutive" solutions, I just dont know how to make vpasolve give me these solutions, here is how I use it:
syms x y z theta1 theta2 theta3
xEquation = 'x == 1*cos(theta1)*cos(0) + 1*cos(theta1 + theta2)*cos(0 + 0) + 1*cos(theta1 + theta2 + theta3)*cos(0 + 0 + 0)';
yEquation = 'y == 1*cos(theta1)*sin(0) + 1*cos(theta1 + theta2)*sin(0 + 0) + 1*cos(theta1 + theta2 + theta3)*sin(0 + 0 + 0)';
zEquation = 'z == 1*sin(theta1) + 1*sin(theta1 + theta2) + 1*sin(theta1 + theta2 + theta3)';
t = 0:0.1:1;
x = 2 * t;
y = 0;
z = 1;
xEquationEv = eval(xEquation);
yEquationEv = eval(yEquation);
zEquationEv = eval(zEquation);
for f = 1:size(x, 2)
sol(f) = vpasolve([xEquationEv(f), yEquationEv, zEquationEv], [theta1, theta2, theta3], [-pi pi; -pi pi; -pi pi]);
end
sol.theta1
sol.theta2
sol.theta3
You will see how the values are not smoothly incrementing or decrementing all the time, but sometimes they make big jumps.
Note: I am starting off with strings and eval, because the equations may change, I have another algorithm that is generating them.
Sounds like you have already solved this, but you might also try using the unwrap function on your original result.
For non-polynomials, vpasolve only returns one answer (of two, in your case) to the equations. unwrap should tend to reduce the number of times that the variables jump between the different solutions to your equations, though you will need to reduce the default tolerance (as that was set up to catch 2*pi jumps).
I would try plotting unwrap(sol.theta1,pi/2), for example, and see if that looks more like what you were expecting.
I think I managed to solve it by recalculating the limits after obtaining the first solution. Something like:
limits = [previousTheta1 - step previousTheta1 + step;
previousTheta2 - step previousTheta2 + step;
previousTheta3 - step previousTheta3 + step];
That gave me much smoother motion (solutions).
Good afternoon!
First things first, I looked for similar questions for a while, but (probably because of my inexperience) I've found nothing similar to what I'm going to ask.
I'm using matlab for the first time to solve this kind of problems, so I'm not sure of what to do. A brief explenation:
I'm doing a project for my Optimal Control course: I have to replicate the results of a paper about employment, and I'm stuck with the plots. I have the following data:
five variable functions (U(t), T(t), R(t), V1(t) and V2(t))
four control functions(u1(t), u2(t), u3(t), u4(t))
constraints on the control variables (each u must be between 0 and 1)
initial values for U, T, R, V1 and V2 (in t=0, in particular V1 and V2 are constant over time)
final values for the λ coefficients in the hamiltonian
(note: for the controls, I've already found the optimal expression, which is in this form: ui = min{1, max{0,"expression"}}. If needed, I can give also the four expressions, neglected to
synthesize a little)
Under professor's suggestions, I've tried to use fmincon, that theoretically should give me directly the information that I need to plot some result using only the cost function of the problem. But in this case I have some issues involving time in the calculations. Below, the code that I used for fmincon:
syms u
%note: u(5) corresponds to U(t), but this is the only way I've found to get
%a result, the other u(i) are in ascending order (u(1) = u1 and so on...)
g = #(u) 30*u(5) + (20/2)*(u(1))^2 + (20/2)*(u(2))^2 + (10/2)*(u(3))^2 + (40/2)*(u(4))^2;
%initial guesses
u0 = [0 0 0 0 100000]; %
A = [];
b = [];
Aeq = [];
beq = [];
lb = 0.0 * ones(1,2,3,4);
ub = 1.0 * ones(1,2,3,4);
[x,fval,output,lambda] = fmincon(g, u0, A, b, Aeq, beq, lb, ub);
Whit this code, i get (obviously) only one value for each variable as result, and since I've not found any method to involve time, as I said before, I start looking for other solving strategies.
I found that ode45 is a differential equation solver that has the "time iteration" already included in the algorithm, so I tried to write the code to get it work with my problem.
I took all the equations from the paper and put them in a vector as shown in the mathworks examples, and this is my matlab file:
syms u1(t) u2(t) u3(t) u4(t)
syms U(t) T(t) R(t) V1(t) V2(t)
syms lambda_u lambda_t lambda_r lambda_v1 lambda_v2
%all the parameters provided by the paper
delta = 500;
alpha1 = 0.004;
alpha2 = 0.005;
alpha3 = 0.006;
gamma1 = 0.001;
gamma2 = 0.002;
phi1 = 0.22;
phi2 = 0.20;
delta1 = 0.09;
delta2 = 0.05;
k1 = 0.000003;
k2 = 0.000002;
k3 = 0.0000045;
%these two variable are set constant
V1 = 200;
V2 = 100;
%weight values for the cost function (only A1 is used in this case, but I left them all since the unused ones are irrelevant)
A1 = 30;
A2 = 20;
A3 = 20;
A4 = 10;
A5 = 40;
%ordering the unknowns in an array
x = [U T R u1 u2 u3 u4];
%initial conditions, ordered as the x vector (for the ui are guesses)
y0 = [100000 2000 1000 0 0 0 0];
%system set up
f = #(t,x) [delta - (1 + x(4))*k1*x(1)*V1 - (1 + x(5))*k2*x(1)*V2 - alpha1*x(1) + gamma1*x(2) + gamma2*x(3);...
(1 + x(4))*k1*x(1)*V1 - k3*x(2)*V2 - alpha2*x(2) - gamma1*x(2);...
(1 + x(5))*k2*x(1)*V2 - alpha3*x(3) - gamma2*x(3) + k3*x(2)*V2;...
alpha2*x(2) + gamma1*x(2) + (1 + x(6))*phi1*x(1) + k3*x(2)*V2 - delta1*V1;...
alpha3*x(3) + gamma2*x(3) + (1 + x(7))*phi2*x(1) - delta2*V2;...
-A1 + (1 + x(4))*k1*V1*(lambda_u - lambda_t) + (1 + x(5))*k2*V2*(lambda_u - lambda_r) + lambda_u*alpha1 - lambda_v1*(1 + x(6))*phi1 - lambda_v2*(1 + x(7))*phi2;...
-lambda_u*gamma1 + (alpha2 + gamma1)*(lambda_t - lambda_v1) + k3*V2*(lambda_t - lambda_r - lambda_v1);...
-lambda_u*gamma2 + (alpha3 + gamma2)*(lambda_r - lambda_v2);...
(1 + x(4))*k1*x(1)*(lambda_u - lambda_t) + lambda_v1*delta1;...
(1 + x(5))*k2*x(1)*(lambda_u -lambda_r) + k3*x(2)*(lambda_t - lambda_r - lambda_v1) + lambda_v2*delta2];
%using ode45 to solve over the chosen time interval
[t,xa] = ode45(f,[0 10],y0);
With this code, I get the following error:
Error using odearguments (line 95)
#(T,X)[DELTA-(1+X(4))*K1*X(1)*V1-(1+X(5))*K2*X(1)*V2-ALPHA1*X(1)+GAMMA1*X(2)+GAMMA2*X(3);(1+X(4))*K1*X(1)*V1-K3*X(2)*V2-ALPHA2*X(2)-GAMMA1*X(2);(1+X(5))*K2*X(1)*V2-ALPHA3*X(3)-GAMMA2*X(3)+K3*X(2)*V2;ALPHA2*X(2)+GAMMA1*X(2)+(1+X(6))*PHI1*X(1)+K3*X(2)*V2-DELTA1*V1;ALPHA3*X(3)+GAMMA2*X(3)+(1+X(7))*PHI2*X(1)-DELTA2*V2;-A1+(1+X(4))*K1*V1*(LAMBDA_U-LAMBDA_T)+(1+X(5))*K2*V2*(LAMBDA_U-LAMBDA_R)+LAMBDA_U*ALPHA1-LAMBDA_V1*(1+X(6))*PHI1-LAMBDA_V2*(1+X(7))*PHI2;-LAMBDA_U*GAMMA1+(ALPHA2+GAMMA1)*(LAMBDA_T-LAMBDA_V1)+K3*V2*(LAMBDA_T-LAMBDA_R-LAMBDA_V1);-LAMBDA_U*GAMMA2+(ALPHA3+GAMMA2)*(LAMBDA_R-LAMBDA_V2);(1+X(4))*K1*X(1)*(LAMBDA_U-LAMBDA_T)+LAMBDA_V1*DELTA1;(1+X(5))*K2*X(1)*(LAMBDA_U-LAMBDA_R)+K3*X(2)*(LAMBDA_T-LAMBDA_R-LAMBDA_V1)+LAMBDA_V2*DELTA2]
returns a vector of length 10, but the length of initial conditions vector is 7. The vector returned by
#(T,X)[DELTA-(1+X(4))*K1*X(1)*V1-(1+X(5))*K2*X(1)*V2-ALPHA1*X(1)+GAMMA1*X(2)+GAMMA2*X(3);(1+X(4))*K1*X(1)*V1-K3*X(2)*V2-ALPHA2*X(2)-GAMMA1*X(2);(1+X(5))*K2*X(1)*V2-ALPHA3*X(3)-GAMMA2*X(3)+K3*X(2)*V2;ALPHA2*X(2)+GAMMA1*X(2)+(1+X(6))*PHI1*X(1)+K3*X(2)*V2-DELTA1*V1;ALPHA3*X(3)+GAMMA2*X(3)+(1+X(7))*PHI2*X(1)-DELTA2*V2;-A1+(1+X(4))*K1*V1*(LAMBDA_U-LAMBDA_T)+(1+X(5))*K2*V2*(LAMBDA_U-LAMBDA_R)+LAMBDA_U*ALPHA1-LAMBDA_V1*(1+X(6))*PHI1-LAMBDA_V2*(1+X(7))*PHI2;-LAMBDA_U*GAMMA1+(ALPHA2+GAMMA1)*(LAMBDA_T-LAMBDA_V1)+K3*V2*(LAMBDA_T-LAMBDA_R-LAMBDA_V1);-LAMBDA_U*GAMMA2+(ALPHA3+GAMMA2)*(LAMBDA_R-LAMBDA_V2);(1+X(4))*K1*X(1)*(LAMBDA_U-LAMBDA_T)+LAMBDA_V1*DELTA1;(1+X(5))*K2*X(1)*(LAMBDA_U-LAMBDA_R)+K3*X(2)*(LAMBDA_T-LAMBDA_R-LAMBDA_V1)+LAMBDA_V2*DELTA2]
and the initial conditions vector must have the same number of elements.
Error in ode45 (line 115)
odearguments(FcnHandlesUsed, solver_name, ode, tspan, y0, options, varargin);
Error in test (line 62)
[t,xa] = ode45(f,[0 10],y0);
For which I can't find a solution, since I have used all the initial values given in the paper. The only values that I have left are the final values for the lambda coefficients, since they are final values, and I am not sure if they can be used.
In this case, I can't also understand where I should put the bounds on the control variable.
For completeness, I will provide also the link to the paper in question:
https://www.ripublication.com/ijss17/ijssv12n3_13.pdf
Can you help me figure out what I can do to solve my problems?
P.S: I know this is a pretty bad code, but I'm basing on the basics tutorials on mathworks; for sure this should need to be refactored and ordered in various file (one for the cost function and one for the constraints for example) but firstly I would like to understand where the problem is and then I will put all in a pretty form.
Thank you so much!
Generally you confused something with Vectors. In initial conditions you declared 7 values:
%initial conditions, ordered as the x vector (for the ui are guesses)
y0 = [100000 2000 1000 0 0 0 0];
But you declared 10 ODE's:
%system set up
f = #(t,x) [delta - (1 + x(4))*k1*x(1)*V1 - (1 + x(5))*k2*x(1)*V2 - alpha1*x(1) + gamma1*x(2) + gamma2*x(3);...
(1 + x(4))*k1*x(1)*V1 - k3*x(2)*V2 - alpha2*x(2) - gamma1*x(2);...
(1 + x(5))*k2*x(1)*V2 - alpha3*x(3) - gamma2*x(3) + k3*x(2)*V2;...
alpha2*x(2) + gamma1*x(2) + (1 + x(6))*phi1*x(1) + k3*x(2)*V2 - delta1*V1;...
alpha3*x(3) + gamma2*x(3) + (1 + x(7))*phi2*x(1) - delta2*V2;...
-A1 + (1 + x(4))*k1*V1*(lambda_u - lambda_t) + (1 + x(5))*k2*V2*(lambda_u - lambda_r) + lambda_u*alpha1 - lambda_v1*(1 + x(6))*phi1 - lambda_v2*(1 + x(7))*phi2;...
-lambda_u*gamma1 + (alpha2 + gamma1)*(lambda_t - lambda_v1) + k3*V2*(lambda_t - lambda_r - lambda_v1);...
-lambda_u*gamma2 + (alpha3 + gamma2)*(lambda_r - lambda_v2);...
(1 + x(4))*k1*x(1)*(lambda_u - lambda_t) + lambda_v1*delta1;...
(1 + x(5))*k2*x(1)*(lambda_u -lambda_r) + k3*x(2)*(lambda_t - lambda_r - lambda_v1) + lambda_v2*delta2];
Every line in above code is recognized as one ODE.
But that's not all. The second problem is with your construction. You mixed symbolic math (lambda declared as syms) with numerical solving, which will be tricky. I'm not familiar with the exact scientific problem you are trying to solve, but if you can't avoid symbolic math, maybe you should try dsolve from Symbolic Math Toolbox?
I have four parameters, t1,t2, theta1, and theta2. I want to find a solution (there can potentially be infinitely many) to the following system of equations:
t1*cos(theta1) + t2*cos(theta2) + 2*t1*t2*sin(theta1 + theta2) = t1*sin(theta1) + t2*sin(theta2) + 2*t1*t2*cos(theta1 + theta2) + 1
t1*cos(theta1) + t2*cos(theta2) + t1*sin(theta1) + t2*sin(theta2) = 2*t1*t2*sin(theta1 + theta2) + 2*t1*t2*cos(theta1 + theta2) + 1
2*t1^2*t2^2 + sin(theta1)*t1*t2^2 + sin(theta1 + theta2)*t1*t2 + 1 = sin(theta2)*t1^2*t2 + t1^2 + sin(theta1)*t1 + t2^2
Since there are more parameters than equations, we have to impose further restrictions to identify a specific solution to this system. Right now I don't really care which solution is picked, as long as it isn't trivial (like all the variables equaling zero).
My current method is to set the third equation to 0.5, solving for t1 and t2 in terms of theta1 and theta2, and substituting these expressions into the first two equations to solve for theta1 and theta2. However, MATLAB is trying to do this symbolically, which is extremely time-consuming. Is there a way I can get some approximate solutions to this system? I can't exactly plot the surfaces represented by these equations and look at their intersection, because each side of the equations involves more than two parameters, which means it can't be visualized in three dimensions.
You can use fsolve to do this.
First, you need to create anonymous functions for the residuals of the three equations. I'm going to create a vector x where x = [t1; t2; theta1; theta2]. That makes the residuals:
r1 = #(x) x(1)*cos(x(3)) + x(2)*cos(x(4)) + 2*x(1)*x(2)*sin(x(3) + x(4)) - (x(1)*sin(x(3)) + x(2)*sin(x(4)) + 2*x(1)*x(2)*cos(x(3) + x(4)) + 1);
r2 = #(x) x(1)*cos(x(3)) + x(2)*cos(x(4)) + x(1)*sin(x(3)) + x(2)*sin(x(4)) - (2*x(1)*x(2)*sin(x(3) + x(4)) + 2*x(1)*x(2)*cos(x(3) + x(4)) + 1);
r3 = #(x) 2*x(1)^2*x(2)^2 + sin(x(3))*x(1)*x(2)^2 + sin(x(3) + x(4))*x(1)*x(2) + 1 - (sin(x(4))*x(1)^2*x(2) + x(1)^2 + sin(x(3))*x(1) + x(2)^2);
Then, we need to make a single function that is a vector of those three residuals, since fsolve tries to get this vector to be zero:
r = #(x) [r1(x); r2(x); r3(x)]
Now, we call fsolve. I picked an arbitrary starting point:
>> [x, fval, exitflag] = fsolve(r, [0.5,0.5,pi/4,pi/4])
Warning: Trust-region-dogleg algorithm of FSOLVE cannot handle non-square systems; using Levenberg-Marquardt algorithm instead.
> In fsolve at 287
Equation solved.
fsolve completed because the vector of function values is near zero
as measured by the default value of the function tolerance, and
the problem appears regular as measured by the gradient.
<stopping criteria details>
x =
0.9654 0.5182 0.7363 0.7344
fval =
1.0e-10 *
-0.0090
0.2743
-0.0181
exitflag =
1
You can ignore the warning. x is the four values you were looking for. fval is the value of the residuals. exitFlag == 1 means we found a root.