NAG Library Routine Document

D02NEF

1  Purpose

2  Specification

3  Description

!     Declarations

      EXTERNAL RES, JAC
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             .
             .
!     Initialize the integrator
      CALL D02MWF(...)
!     Is the Jacobian matrix banded?
      IF (BANDED) CALL D02NPF(...)

!     Set DT to the required temporal resolution
!     Set TEND to the final time
!     Call the integrator for each temporal value:
1000  CALL D02NEF(...,RES,JAC,...)
!     Continue integration?
      IF (TOUT.LT.TEND .AND. ITASK.GE.0) THEN
        IF (ITASK.NE.1) TOUT = MIN(TOUT+DT,TEND)
!       Print solution
        CALL D02MCF(...)
        GO TO 1000
      ENDIF
             .
             .
             .

4  References

5  Parameters

1:     NEQ – INTEGERInput

On entry: the number of differential-algebraic equations to be solved.

Constraint: $\mathbf{NEQ}\ge 1$.

2:     T – REAL (KIND=nag_wp)Input/Output

On initial entry: the initial value of the independent variable, $t$.

On intermediate exit: $t$, the current value of the independent variable.

On final exit: the value of the independent variable at which the computed solution $y$ is returned (usually at TOUT).

3:     TOUT – REAL (KIND=nag_wp)Input

On entry: the next value of $t$ at which a computed solution is desired.

On initial entry: TOUT is used to determine the direction of integration. Integration is permitted in either direction (see also ITASK).

Constraint: $\mathbf{TOUT}\ne \mathbf{T}$.

4:     Y(NEQ) – REAL (KIND=nag_wp) arrayInput/Output

On initial entry: the vector of initial values of the dependent variables $y$.

On intermediate exit: the computed solution vector, $y$, evaluated at $t=T$.

On final exit: the computed solution vector, evaluated at $t$ (usually $t=\mathbf{TOUT}$).

5:     YDOT(NEQ) – REAL (KIND=nag_wp) arrayInput/Output

On initial entry: YDOT must contain approximations to the time derivatives $y\text{'}$ of the vector $y$ evaluated at the initial value of the independent variable.

On exit: the time derivatives $y\text{'}$ of the vector $y$ at the last integration point.

6:     RTOL($*$) – REAL (KIND=nag_wp) arrayInput/Output

Note: the dimension of the array RTOL depends on the value of ITOL as set in D02MWF; it  must be at least $\mathbf{NEQ}$ if $\mathbf{ITOL}=\mathrm{.TRUE.}$ and at least $1$ if $\mathbf{ITOL}=\mathrm{.FALSE.}$.

On entry: the relative local error tolerance.

Constraint: $\mathbf{RTOL}\left(\mathit{i}\right)\ge 0.0$, for $\mathit{i}=1,2,\dots ,n$

where $n=\mathbf{NEQ}$ when $\mathbf{ITOL}=\mathrm{.TRUE.}$ and $n=1$ otherwise.

On exit: RTOL remains unchanged unless D02NEF exits with $\mathbf{IFAIL}=\mathbf{16}$ in which case the values may have been increased to values estimated to be appropriate for continuing the integration.

7:     ATOL($*$) – REAL (KIND=nag_wp) arrayInput/Output

Note: the dimension of the array ATOL depends on the value of ITOL as set in D02MWF; it  must be at least $\mathbf{NEQ}$ if $\mathbf{ITOL}=\mathrm{.TRUE.}$ and at least $1$ if $\mathbf{ITOL}=\mathrm{.FALSE.}$.

On entry: the absolute local error tolerance.

Constraint: $\mathbf{ATOL}\left(\mathit{i}\right)\ge 0.0$, for $\mathit{i}=1,2,\dots ,n$

where $n=\mathbf{NEQ}$ when $\mathbf{ITOL}=\mathrm{.TRUE.}$ and $n=1$ otherwise.

On exit: ATOL remains unchanged unless D02NEF exits with $\mathbf{IFAIL}=\mathbf{16}$ in which case the values may have been increased to values estimated to be appropriate for continuing the integration.

8:     ITASK – INTEGERInput/Output

On initial entry: need not be set.

On exit: the task performed by the integrator on successful completion or an indicator that a problem occurred during integration.

$\mathbf{ITASK}=2$

The integration to TOUT was successfully completed ($\mathbf{T}=\mathbf{TOUT}$) by stepping exactly to TOUT.

$\mathbf{ITASK}=3$

The integration to TOUT was successfully completed ($\mathbf{T}=\mathbf{TOUT}$) by stepping past TOUT. Y and YDOT are obtained by interpolation.

$\mathbf{ITASK}<0$

Different negative values of ITASK returned correspond to different failure exits. IFAIL should always be checked in such cases and the corrective action taken where appropriate.

ITASK must remain unchanged between calls to D02NEF.

9:     RES – SUBROUTINE, supplied by the user.External Procedure

RES must evaluate the residual

$$R=F\left(t,y,y^{\prime }\right)\text{.}$$

The specification of RES is:

SUBROUTINE RES ( NEQ, T, Y, YDOT, R, IRES, IUSER, RUSER) INTEGER  NEQ, IRES, IUSER(*) REAL (KIND=nag_wp)  T, Y(NEQ), YDOT(NEQ), R(NEQ), RUSER(*)

1:     NEQ – INTEGERInput

On entry: the number of differential-algebraic equations being solved.

2:     T – REAL (KIND=nag_wp)Input

On entry: $t$, the current value of the independent variable.

3:     Y(NEQ) – REAL (KIND=nag_wp) arrayInput

On entry: $y_{\mathit{i}}$, for $\mathit{i}=1,2,\dots ,\mathbf{NEQ}$, the current solution component.

4:     YDOT(NEQ) – REAL (KIND=nag_wp) arrayInput

On entry: the derivative of the solution at the current point $t$.

5:     R(NEQ) – REAL (KIND=nag_wp) arrayOutput

On exit: $\mathbf{R}\left(\mathit{i}\right)$ must contain the $\mathit{i}$th component of $R$, for $\mathit{i}=1,2,\dots ,\mathbf{NEQ}$ where

$$R=F\left(\mathbf{T},\mathbf{Y},\mathbf{YDOT}\right)\text{.}$$

6:     IRES – INTEGERInput/Output

On entry: is always equal to zero.

On exit: IRES should normally be left unchanged. However, if an illegal value of Y is encountered, IRES should be set to $-1$; D02NEF will then attempt to resolve the problem so that illegal values of Y are not encountered. IRES should be set to $-2$ if you wish to return control to the calling (sub)routine; this will cause D02NEF to exit with $\mathbf{IFAIL}=\mathbf{23}$.

7:     IUSER($*$) – INTEGER arrayUser Workspace

8:     RUSER($*$) – REAL (KIND=nag_wp) arrayUser Workspace

RES is called with the parameters IUSER and RUSER as supplied to D02NEF. You are free to use the arrays IUSER and RUSER to supply information to RES as an alternative to using COMMON global variables.

RES must either be a module subprogram USEd by, or declared as EXTERNAL in, the (sub)program from which D02NEF is called. Parameters denoted as Input must not be changed by this procedure.

10:   JAC – SUBROUTINE, supplied by the NAG Library or the user.External Procedure

Evaluates the matrix of partial derivatives, $J$, where

$$J_{ij}=\frac{\partial F_i}{\partial y_j}+\mathbf{CJ}\times \frac{\partial F_i}{\partial {y^{\prime }}_j}\text{,\hspace{1em}}i,j=1,2,\dots ,\mathbf{NEQ}\text{.}$$

If this option is not required, the actual argument for JAC must be the dummy routine D02NEZ. (D02NEZ is included in the NAG Library.) You must indicate to the integrator whether this option is to be used by setting the parameter JCEVAL appropriately in a call to the setup routine D02MWF.

The specification of JAC is:

SUBROUTINE JAC ( NEQ, T, Y, YDOT, PD, CJ, IUSER, RUSER) INTEGER  NEQ, IUSER(*) REAL (KIND=nag_wp)  T, Y(NEQ), YDOT(NEQ), PD(*), CJ, RUSER(*)

1:     NEQ – INTEGERInput

On entry: the number of differential-algebraic equations being solved.

2:     T – REAL (KIND=nag_wp)Input

On entry: $t$, the current value of the independent variable.

3:     Y(NEQ) – REAL (KIND=nag_wp) arrayInput

On entry: $y_{\mathit{i}}$, for $\mathit{i}=1,2,\dots ,\mathbf{NEQ}$, the current solution component.

4:     YDOT(NEQ) – REAL (KIND=nag_wp) arrayInput

On entry: the derivative of the solution at the current point $t$.

5:     PD($*$) – REAL (KIND=nag_wp) arrayInput/Output

On entry: PD is preset to zero before the call to JAC.

On exit: if the Jacobian is full then $\mathbf{PD}\left(\left(\mathit{i}-\mathit{j}\right)\times \mathbf{NEQ}+\mathit{i}\right)=J_{\mathit{i}\mathit{j}}$, for $\mathit{i}=1,2,\dots ,\mathbf{NEQ}$ and $\mathit{j}=1,2,\dots ,\mathbf{NEQ}$; if the Jacobian is banded then $\mathbf{PD}\left(\left(j-1\right)\times \mathbf{NEQ}+\mathbf{ML}+\mathbf{MU}+i-j\right)=J_{ij}$, for $\max \left(1,j-\mathbf{MU}\right)\le i\le \min \left(n,j+\mathbf{ML}\right)$; (see also in F07BDF (DGBTRF)).

6:     CJ – REAL (KIND=nag_wp)Input

On entry: CJ is a scalar constant which will be defined in D02NEF.

7:     IUSER($*$) – INTEGER arrayUser Workspace

8:     RUSER($*$) – REAL (KIND=nag_wp) arrayUser Workspace

JAC is called with the parameters IUSER and RUSER as supplied to D02NEF. You are free to use the arrays IUSER and RUSER to supply information to JAC as an alternative to using COMMON global variables.

JAC must either be a module subprogram USEd by, or declared as EXTERNAL in, the (sub)program from which D02NEF is called. Parameters denoted as Input must not be changed by this procedure.

11:   ICOM($50+\mathbf{NEQ}$) – INTEGER arrayCommunication Array

ICOM contains information which is usually of no interest, but is necessary for subsequent calls. However you may find the following useful:

$\mathbf{ICOM}\left(22\right)$

The order of the method to be attempted on the next step.

$\mathbf{ICOM}\left(23\right)$

The order of the method used on the last step.

$\mathbf{ICOM}\left(26\right)$

The number of steps taken so far.

$\mathbf{ICOM}\left(27\right)$

The number of calls to RES so far.

$\mathbf{ICOM}\left(28\right)$

The number of evaluations of the matrix of partial derivatives needed so far.

$\mathbf{ICOM}\left(29\right)$

The total number of error test failures so far.

$\mathbf{ICOM}\left(30\right)$

The total number of convergence test failures so far.

12:   COM(LCOM) – REAL (KIND=nag_wp) arrayCommunication Array

COM contains information which is usually of no interest, but is necessary for subsequent calls. However you may find the following useful:

$\mathbf{COM}\left(3\right)$

The step size to be attempted on the next step.

$\mathbf{COM}\left(4\right)$

The current value of the independent variable, i.e., the farthest point integration has reached. This will be different from T only when interpolation has been performed ($\mathbf{ITASK}=3$).

13:   LCOM – INTEGERInput

On entry: the dimension of the array COM as declared in the (sub)program from which D02NEF is called.

Constraint: $\mathbf{LCOM}\ge 40+\left(\mathit{maxorder}+4\right)\times \mathbf{NEQ}+\mathbf{NEQ}\times p+q$ where $\mathit{maxorder}$ is the maximum order that can be used by the integration method (see MAXORD in D02MWF); $p=\mathbf{NEQ}$ when the Jacobian is full and $p=\left(2\times \mathbf{ML}+\mathbf{MU}+1\right)$ when the Jacobian is banded; and, $q=\left(\mathbf{NEQ}/\left(\mathbf{ML}+\mathbf{MU}+1\right)\right)+1$ when the Jacobian is to be evaluated numerically and $q=0$ otherwise.

14:   IUSER($*$) – INTEGER arrayUser Workspace

15:   RUSER($*$) – REAL (KIND=nag_wp) arrayUser Workspace

IUSER and RUSER are not used by D02NEF, but are passed directly to RES and JAC and may be used to pass information to these routines as an alternative to using COMMON global variables.

16:   IFAIL – INTEGERInput/Output

On entry: IFAIL must be set to $0$, $-1\text{ or }1$. If you are unfamiliar with this parameter you should refer to Section 3.3 in the Essential Introduction for details.

For environments where it might be inappropriate to halt program execution when an error is detected, the value $-1\text{ or }1$ is recommended. If the output of error messages is undesirable, then the value $1$ is recommended. Otherwise, because for this routine the values of the output parameters may be useful even if $\mathbf{IFAIL}\ne \mathbf{0}$ on exit, the recommended value is $-1$. When the value $-\mathbf{1}\text{ or }1$ is used it is essential to test the value of IFAIL on exit.

On exit: $\mathbf{IFAIL}=\mathbf{0}$ unless the routine detects an error or a warning has been flagged (see Section 6).

6  Error Indicators and Warnings

$\mathbf{IFAIL}=1$

On entry,

$\mathbf{NEQ}<1$

$\mathbf{IFAIL}=3$

On entry,	$\mathbf{TOUT}=\mathbf{T}$,
or	TOUT is too close to T to start integration,
or	TOUT is behind T in the direction of H0 (see D02MWF),

$\mathbf{IFAIL}=6$

On entry,	$\mathbf{RTOL}\left(\mathit{i}\right)<0.0$, for $\mathit{i}=1,2,\dots ,n$, where $n=\mathbf{NEQ}$ when $\mathbf{ITOL}=1$ and $n=1$ otherwise,
or	$\mathbf{RTOL}\left(i\right)=\mathbf{ATOL}\left(i\right)=0.0$ for all relevant $i$.

$\mathbf{IFAIL}=7$

On entry,

$\mathbf{ATOL}\left(\mathit{i}\right)<0.0$, for $\mathit{i}=1,2,\dots ,n$, where $n=\mathbf{NEQ}$ when $\mathbf{ITOL}=1$ and $n=1$ otherwise.

$\mathbf{IFAIL}=8$

On entry,

a previous call to this routine returned $\mathbf{ITASK}<0$ and $\mathbf{IFAIL}\ne 0$, but no appropriate action was taken. For example, if a call returns with $\mathbf{IFAIL}=\mathbf{15}$ ($\mathbf{ITASK}=-1$) then a call to D02MCF must be made prior to making a continuation call to D02NEF.

$\mathbf{IFAIL}=12$

Either the initialization routine D02MWF has not been called prior to the first call of this routine or one of the communication arrays ICOM, COM has become corrupted.

$\mathbf{IFAIL}=13$

On entry,	$\mathbf{LCOM}<40+\left(\mathit{maxorder}+4\right)\times \mathbf{NEQ}+\mathbf{NEQ}\times \mathbf{NEQ}$, and the Jacobian is full;
or	$\mathbf{LCOM}<40+\left(\mathit{maxorder}+4\right)\times \mathbf{NEQ}+\mathbf{NEQ}\times \left(2\times \mathbf{ML}+\mathbf{MU}+1\right)+q$, and the Jacobian is banded,

where $\mathit{maxorder}$ is the maximum order of the integration method to be used, and $q=\left(\mathbf{NEQ}/\left(\mathbf{ML}+\mathbf{MU}+1\right)\right)+1$ when the Jacobian is to be evaluated numerically and $q=0$ otherwise.

$\mathbf{IFAIL}=15$

The maximum number of steps ($500$) has been taken on this call and the integration has not reached TOUT. The integration can proceed by calling D02MCF prior to calling D02NEF again; this will reset the step counter to zero.

$\mathbf{IFAIL}=16$

Too much accuracy was requested for the precision of the machine. On output RTOL and ATOL were increased by an appropriate scale factor to prevent this error exit. Try running the problem again with these scaled tolerances.

$\mathbf{IFAIL}=17$

A purely relative tolerance was selected for a given solution component, but that solution component has become zero and a pure relative error test is impossible for this component. Perhaps an absolute tolerance requirement is also necessary for this component.

$\mathbf{IFAIL}=18$

The error test failed repeatedly using the minimum stepsize and so the integration could not proceed. If a (nonzero) minimum stepsize was specified in a call to D02MWF then either a reduction in this minimum stepsize or in the specified tolerances should be considered.

$\mathbf{IFAIL}=19$

The corrector step to obtain the approximate solution at the next time step repeatedly failed to converge using the minimum stepsize. This may be due to an inconsistency between the system of equations to be solved and initial conditions.

$\mathbf{IFAIL}=20$

The iteration matrix (Jacobian) has become singular. Please check the Jacobian evaluations when this is performed analytically. Also check for invalid solution values in the call to RES; these should be flagged by returning $\mathbf{IRES}=-1$. This is probably due to an error in the analytic evaluation of the Jacobian.

$\mathbf{IFAIL}=21$

The corrector step could not converge and the error test failed repeatedly.

$\mathbf{IFAIL}=22$

IRES was set to $-1$ during a call to RES and the problem could not be resolved.

$\mathbf{IFAIL}=23$

IRES was set to $-2$ during a call to RES.

$\mathbf{IFAIL}=24$

The initial YDOT could not be computed. This could happen because the initial approximation to YDOT was very poor or because no YDOT exists that is consistent with the initial $Y$.

$\mathbf{IFAIL}=25$

Repeated occurrences of input constraint violations have been detected. This could result in a potential infinite loop.

7  Accuracy

8  Further Comments

9  Example

9.1  Program Text

Program Text (d02nefe.f90)

9.2  Program Data

Program Data (d02nefe.d)

9.3  Program Results

Program Results (d02nefe.r)