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HyEQ Toolbox Change Log

This file documents changes to the Hybrid Equations Toolbox between versions.

New Features in Version 3.0

Version 3.0 of the Hybrid Equations Toolbox is a substantial update to components throughout the Toolbox. This section describes changes between v2.04 and v3.0 (all code that works in version 2.04 is expected to work in v3.0 without modification).

Version 3.0 is compatible with MATLAB versions back to R2014b.

General Improvements

The following updates apply to the entire toolbox:

Easier Installation and Updates. v3.0 is packaged using MATLAB's toolbox packaging, so it can be installed and updated through MATLAB's Add-on manager.

Improved Help Files and Example. All documentation files for the HyEQ Toolbox have been redone to make them easier to access and navigate in MATLAB Help.

MATLAB-based Library

The following improvements were made to the HyEQ MATLAB Library:

Class-based Definitions of Hybrid Systems. Each hybrid system can now be defined in a single class file (namely a subclass of the new HybridSystem class) instead of spreading the definition across multiple function files (e.g., f.m, g.m, C.m, and D.m). This has numerous benefits:

  • Name conflicts are easier to avoid (instead of creating, say, eight files named f_bouncing_ball.m, f_drone.m, g_bouncing_ball.m, g_drone.m, etc. you could simply have two files, BouncingBall.m and Drone.m).
  • System parameters can be defined as class properties instead of via global variables.
  • Multiple instances of the same HybridSystem class can exist at the same time with different parameter values.
  • Each hybrid system is automatically checked to verify that it is well-defined (e.g., that the inputs and outputs of the flow and jump maps have matching dimensions). Assertion functions are provided that allow you to easily verify that given points are or are not in the flow or jump sets.

Interconnected Hybrid Systems. It is now possible in MATLAB to define several hybrid systems with inputs and outputs, such as a plant and a controller, then link them together to form a composite hybrid system.

More Informative Solutions. When a solution to a HybridSystem object is computed, the output is a HybridSolution object that includes the values of the state and the hybrid time domain plus additional information, such as the duration of each interval of flow and the reason the solution terminated. Methods in the HybridSolution class allow you to

  • select components by index,
  • apply a map to transform the state values, and
  • truncate the hybrid time domain to given intervals of discrete or continuous time.

Improved Progress Updates. A new progress bar displays the percent completed while computing hybrid solutions. The progress bar updates during both flows and at jumps (in v2.04, progress updates were printed to the command window and only at jumps, not during flows).

Improved Plotting. Plotting hybrid arcs is easier and allows more control over the appearance of plots. New features include the following:

  • easy control of the marker and line styles for flows and jumps
  • support for adding legend entries
  • ability to hide portions of hybrid arcs from plots using a filter (useful for plotting different modes in different styles)
  • automatic creation of subplots for hybrid arcs with multiple components
  • customizable default settings
  • plotting hybrid arcs with many jumps is up to 200x faster than in v2.04.

Error Checking and Code Correctness. New error-checking features help you catch programming mistakes earlier when using the toolbox. Over 350 automated tests verify the correctness of the toolbox's code.

A bug in HyEQsolver was fixed (in v2.04, HyEQsolver would sometimes generate solutions that erroneously flowed outside of the flow set C).

Code Auto-completion. The Hybrid Equations Toolbox supports MATLAB's recent code suggestion and completion feature (introduced to the MATLAB code editor in R2021b).

Simulink-based Library

The following improvements were made to the HyEQ Simulink library:

New Block: Hybrid System with External Functions and Inputs. A new Simulink block allows for a hybrid system with inputs to be defined using plain-text .m MATLAB function files to specify the hybrid system.

Block Parameters. HyEQ blocks now allow you to set block parameters without modifying anything inside the block. Parameters are set in a popup dialog that opens when each block is clicked.

Signal Sizes. HyEQ blocks now explicitly set the signal sizes for inputs and outputs based on user-provided values. This eliminates cryptic errors and cumbersome workarounds due to Simulink's automatic (and unreliable) calculations of signal sizes.

"Set Script" Blocks Two new HyEQ blocks named Set Initialization Script and Set Post-Processing Script allow you to select scripts that automatically run each time before and after the Simulink model is executed.

Block Instructions. Each block in the HyEQ Simulink library now includes instructions how to use it that can be viewed in the popup dialog that opens when the block is clicked.