@c Copyright (C) 1996-2016 John W. Eaton
@c
@c This file is part of Octave.
@c
@c Octave is free software; you can redistribute it and/or modify it
@c under the terms of the GNU General Public License as published by the
@c Free Software Foundation; either version 3 of the License, or (at
@c your option) any later version.
@c
@c Octave is distributed in the hope that it will be useful, but WITHOUT
@c ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
@c FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License
@c for more details.
@c
@c You should have received a copy of the GNU General Public License
@c along with Octave; see the file COPYING.  If not, see
@c <http://www.gnu.org/licenses/>.

@node Differential Equations
@chapter Differential Equations

Octave has built-in functions for solving ordinary differential equations,
and differential-algebraic equations.
All solvers are based on reliable ODE routines written in Fortran.

@menu
* Ordinary Differential Equations::
* Differential-Algebraic Equations::
@end menu

@cindex differential equations
@cindex ODE
@cindex DAE

@node Ordinary Differential Equations
@section Ordinary Differential Equations

The function @code{lsode} can be used to solve ODEs of the form
@tex
$$
 {dx\over dt} = f (x, t)
$$
@end tex
@ifnottex

@example
@group
dx
-- = f (x, t)
dt
@end group
@end example

@end ifnottex

@noindent
using @nospell{Hindmarsh's} ODE solver @sc{lsode}.



@DOCSTRING(lsode)

@DOCSTRING(lsode_options)

Here is an example of solving a set of three differential equations using
@code{lsode}.  Given the function

@cindex oregonator

@example
@group
## oregonator differential equation
function xdot = f (x, t)

  xdot = zeros (3,1);

  xdot(1) = 77.27 * (x(2) - x(1)*x(2) + x(1) \
            - 8.375e-06*x(1)^2);
  xdot(2) = (x(3) - x(1)*x(2) - x(2)) / 77.27;
  xdot(3) = 0.161*(x(1) - x(3));

endfunction
@end group
@end example

@noindent
and the initial condition @code{x0 = [ 4; 1.1; 4 ]}, the set of
equations can be integrated using the command

@example
@group
t = linspace (0, 500, 1000);

y = lsode ("f", x0, t);
@end group
@end example

If you try this, you will see that the value of the result changes
dramatically between @var{t} = 0 and 5, and again around @var{t} = 305.
A more efficient set of output points might be

@example
@group
t = [0, logspace(-1, log10(303), 150), \
        logspace(log10(304), log10(500), 150)];
@end group
@end example

See @nospell{Alan C. Hindmarsh},
@cite{ODEPACK, A Systematized Collection of ODE Solvers},
in Scientific Computing, @nospell{R. S. Stepleman}, editor, (1983)
for more information about the inner workings of @code{lsode}.

An m-file for the differential equation used above is included with the
Octave distribution in the examples directory under the name
@file{oregonator.m}.

@menu
* Matlab-compatible solvers::
@end menu

@node Matlab-compatible solvers
@subsection Matlab-compatible solvers

Octave also provides a set of solvers for initial value problems for Ordinary
Differential Equations that have a @sc{matlab}-compatible interface.
The options for this class of methods are set using the functions.

@itemize
  @item @code{odeset}

  @item @code{odeget}
@end itemize

Currently implemented solvers are:

@itemize
  @item @nospell{Runge-Kutta} methods

  @itemize
    @item @code{ode45} Integrates a system of non--stiff ordinary differential equations
    (non--stiff ODEs and DAEs) using second order @nospell{Dormand-Prince}
    method.  This is a fourth--order accurate integrator therefore the local
    error normally expected is @math{O(h^5)}.  This solver requires six
    function evaluations per integration step.

    @item @code{ode23} Integrates a system of non--stiff ordinary differential equations
    (non-stiff ODEs and DAEs) using second order @nospell{Bogacki-Shampine}
    method.  This is a second-order accurate integrator therefore the local
    error normally expected is @math{O(h^3)}.  This solver requires three
    function evaluations per integration step.
  @end itemize
@end itemize


@DOCSTRING(ode45)

@DOCSTRING(ode23)

@DOCSTRING(odeset)

@DOCSTRING(odeget)

@DOCSTRING(odeplot)

@node Differential-Algebraic Equations
@section Differential-Algebraic Equations

The function @code{daspk} can be used to solve DAEs of the form
@tex
$$
 0 = f (\dot{x}, x, t), \qquad x(t=0) = x_0, \dot{x}(t=0) = \dot{x}_0
$$
@end tex
@ifnottex

@example
0 = f (x-dot, x, t),    x(t=0) = x_0, x-dot(t=0) = x-dot_0
@end example

@end ifnottex

@noindent
where
@tex
$\dot{x} = {dx \over dt}$
@end tex
@ifnottex
@math{x-dot}
@end ifnottex
is the derivative of @math{x}.  The equation is solved using
@nospell{Petzold's} DAE solver @sc{daspk}.

@DOCSTRING(daspk)

@DOCSTRING(daspk_options)

Octave also includes @sc{dassl}, an earlier version of @sc{daspk},
and @sc{dasrt}, which can be used to solve DAEs with constraints
(stopping conditions).

@DOCSTRING(dassl)

@DOCSTRING(dassl_options)

@DOCSTRING(dasrt)

@DOCSTRING(dasrt_options)

See @nospell{K. E. Brenan}, et al., @cite{Numerical Solution of Initial-Value
Problems in Differential-Algebraic Equations}, North-Holland (1989) for
more information about the implementation of @sc{dassl}.
