Merge pull request #271 from AayushSabharwal/as/mtk-v9

refactor: update for compatibility with MTKv9

Author: ChrisRackauckas

Project.toml

@@ -19,7 +19,7 @@ DataInterpolations = "4"
 DiffEqBase = "6.103"
 IfElse = "0.1"
 LinearAlgebra = "1.10"
-ModelingToolkit = "8.69"
+ModelingToolkit = "9"
 OrdinaryDiffEq = "6.33"
 SafeTestsets = "0.1"
 Symbolics = "5.2"

docs/Project.toml

@@ -13,6 +13,6 @@ ControlSystemsBase = "1.1"
 DifferentialEquations = "7.6"
 Documenter = "1"
 IfElse = "0.1"
-ModelingToolkit = "8.67"
+ModelingToolkit = "9"
 OrdinaryDiffEq = "6.31"
 Plots = "1.36"

docs/src/connectors/connections.md

@@ -90,10 +90,9 @@ As can be seen, this will give a 1 equation model matching our energy dissipatio
 
 ```@example connections
 using ModelingToolkitStandardLibrary.Electrical, ModelingToolkit, DifferentialEquations
+using ModelingToolkit: t_nounits as t
 using Plots
 
-@parameters t
-
 @named resistor = Resistor(R = 1)
 @named capacitor = Capacitor(C = 1)
 @named ground = Ground()

docs/src/tutorials/custom_component.md

@@ -8,6 +8,7 @@ First, we need to make some imports.
 
 ```@example components
 using ModelingToolkit
+using ModelingToolkit: t_nounits as t
 using ModelingToolkitStandardLibrary.Electrical
 using ModelingToolkitStandardLibrary.Electrical: OnePort
 using OrdinaryDiffEq
@@ -35,8 +36,6 @@ end NonlinearResistor;
 this can almost be directly translated to the syntax of `ModelingToolkit`.
 
 ```@example components
-@parameters t
-
 function NonlinearResistor(; name, Ga, Gb, Ve)
     @named oneport = OnePort()
     @unpack v, i = oneport

docs/src/tutorials/dc_motor_pi.md

@@ -14,14 +14,13 @@ First, the needed packages are imported and the parameters of the model defined.
 
 ```@example dc_motor_pi
 using ModelingToolkit
+using ModelingToolkit: t_nounits as t
 using ModelingToolkitStandardLibrary.Electrical
 using ModelingToolkitStandardLibrary.Mechanical.Rotational
 using ModelingToolkitStandardLibrary.Blocks
 using OrdinaryDiffEq
 using Plots
 
-@parameters t
-
 R = 0.5 # [Ohm] armature resistance
 L = 4.5e-3 # [H] armature inductance
 k = 0.5 # [N.m/A] motor constant

docs/src/tutorials/input_component.md

@@ -14,13 +14,11 @@ The `ModelingToolkitStandardLibrary.Blocks.TimeVaryingFunction` component is eas
 
 ```julia
 using ModelingToolkit
+using ModelingToolkit: t_nounits as t, D_nounits as D
 using ModelingToolkitStandardLibrary.Blocks
 using DataInterpolations
 using OrdinaryDiffEq
 
-@parameters t
-D = Differential(t)
-
 function System(f; name)
     src = TimeVaryingFunction(f)
 

docs/src/tutorials/rc_circuit.md

@@ -29,7 +29,7 @@ rc_eqs = [connect(constant.output, source.V)
 @named rc_model = ODESystem(rc_eqs, t,
     systems = [resistor, capacitor, constant, source, ground])
 sys = structural_simplify(rc_model)
-prob = ODAEProblem(sys, Pair[], (0, 10.0))
+prob = ODEProblem(sys, Pair[], (0, 10.0))
 sol = solve(prob, Tsit5())
 plot(sol, idxs = [capacitor.v, resistor.i],
     title = "RC Circuit Demonstration",

docs/src/tutorials/thermal_model.md

@@ -8,8 +8,7 @@ from dividing the total initial energy in the system by the sum of the heat capa
 
 ```@example
 using ModelingToolkitStandardLibrary.Thermal, ModelingToolkit, OrdinaryDiffEq, Plots
-
-@parameters t
+using ModelingToolkit: t_nounits as t
 
 C1 = 15
 C2 = 15

src/Blocks/Blocks.jl

@@ -5,10 +5,7 @@ module Blocks
 using ModelingToolkit, Symbolics
 import IfElse: ifelse
 import ..@symcheck
-using ModelingToolkit: getdefault
-
-@parameters t
-D = Differential(t)
+using ModelingToolkit: getdefault, t_nounits as t, D_nounits as D
 
 export RealInput, RealOutput, SISO
 include("utils.jl")

src/Blocks/continuous.jl

@@ -620,6 +620,7 @@ See also [`StateSpace`](@ref) which handles MIMO systems, as well as [ControlSys
 
     x = collect(x)
     x_scaled = collect(x_scaled)
+    bb = collect(bb)
 
     sts = [x; x_scaled; y; u]