large timestep issues
DESCRIPTION
Large Timestep Issues. Lecture 12 Alessandra Nardi. Thanks to Prof. Sangiovanni, Prof. Newton, Prof. White, Deepak Ramaswamy, Michal Rewienski, and Karen Veroy. Last lecture review. Transient Analysis of dynamical circuits i.e., circuits containing C and/or L Examples - PowerPoint PPT PresentationTRANSCRIPT
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Large Timestep Issues
Lecture 12
Alessandra Nardi
Thanks to Prof. Sangiovanni, Prof. Newton, Prof. White, Deepak Ramaswamy, Michal Rewienski, and Karen Veroy
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Last lecture review
• Transient Analysis of dynamical circuits– i.e., circuits containing C and/or L
• Examples
• Solution of ODEs (IVP)– Forward Euler (FE), Backward Euler (BE) and
Trapezoidal Rule (TR)– Multistep methods– Convergence
• Consistency
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Outline
• Convergence for multistep methods– Stability
• Region of Absolute Stability• Dahlquist’s Stability Barriers
• Stiff Stability (Large timestep issues)– Examples– Analysis of FE, BE– Gear’s Method– Variable step size
• More on Implicit Methods– Solution with NR
• Application of multistep to circuit equations
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Multistep Equation:
1 1 1,l l l lx t x t t f x t u t
FE Discrete Equation: 1 11ˆ ˆ ˆ ,l l l
lx x t f x u t
0 1 0 11, 1, 1, 0, 1k
Forward-Euler Approximation:
Multistep Coefficients:
Multistep Coefficients:
BE Discrete Equation:
0 1 0 11, 1, 1, 1, 0k 1ˆ ˆ ˆ ,l l l
lx x t f x u t
Trap Discrete Equation: 1 11ˆ ˆ ˆ ˆ, ,
2l l l l
l l
tx x f x u t f x u t
0 1 0 1
1 11, 1, 1, ,
2 2k Multistep Coefficients:
0 0
ˆ ˆ ,k k
l j l jj j l j
j j
x t f x u t
Multistep Methods – Common AlgorithmsTR, BE, FE are one-step methods
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1) Local Condition: One step errors are small (consistency)
2) Global Condition: The single step errors do not grow too quickly (stability)
Typically verified using Taylor Series
All one-step methods are stable in this sense.
Multistep Methods – Convergence Analysis
Two conditions for Convergence
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We made the LTE so small, how come the Global error is so large?
10 0 1 1
l l l k lk kt E t E t E e
Multistep Method Difference Equation
Why did the “best” 2-step explicit method fail to Converge?
ˆlv l t v Global Error
LTE
Multistep Methods – StabilityDifference Equation
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Three important observations
iIf for all<1 , the m xn al jji x C u
where does not depend on C l
i >1 , If for any then there existsia bounded such th atj lu x
i i iIf for all and 1 , =1,if is d t is incti
then maxl jjx Cl u
An Aside on Solving Difference Equations
Consider a general kth order difference equation1
0 1l l l k l
ka x a x a x u
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Multistep Method Difference Equation
Definition: A multistep method is stable if and only if
Theorem: A multistep method is stable if and only if1
0 1The roots of 0 are either k kkz z
Less than one in magnitude or equal to one and distinct
10 0 1 1
l l l k lk kt E t E t E e
0, 0,max max for any l l l
T Tl l
t t
TE C e e
t
Multistep Methods – StabilityDifference Equation
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Given the Multistep Method Difference Equation
If the roots of
10 0 1 1
l l l k lk kt E t E t E e
• less than one in magnitude• equal to one in magnitude but distinct
are either
Then from the aside on difference equations
maxl llE Cl e
From which stability easily follows.
0
0k
k jj j
j
t z
Multistep Methods – StabilityStability Theorem Proof
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1-1Re
Im
0
roots of 0 for a nonzero k
k jj j
j
t z t
As 0, roots t move inward to
match polynomial 0
roots of 0k
k jj
j
z
Multistep Methods – StabilityStability Theorem Proof
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Multistep Methods – StabilityA more formal approach
)(xqxtk
j
jljj
k
j
jljj 1 0ˆ0ˆ
00
• Def: A method is stable if all the solutions of the associated difference equation obtained from (1) setting q=0 remain bounded if l
• The region of absolute stability of a method is the set of q such that all the solutions of (1) remain bounded if l
• Note that a method is stable if its region of absolute stability contains the origin (q=0)
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Multistep Methods – StabilityA more formal approach
1.ty multiplici of are modulusunit of roots that theand
roots,distinct ofnumber theis where11that
such are 0 of roots theallsuch that q ofset theis
method a ofstability absolute ofregion theshown that becan It
11
0
ppi
k
j
jkjj
k,...,k,iz
zq
Def: A method is A-stable if the region of absolute stability contains the entire left hand plane (in the space)
Re(z)
Im(z)
-1 1
Re()
Im()
-1
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• Each method is associated with two polynomials and : : associated with function past values : associated with derivative past values
• Stability: roots of must stay in |z|1 and be simple on |z|=1
• Absolute stability: roots of (q must stay in |z|1 and be simple on |z|=1 when Re(q)<0.
Multistep Methods – StabilityA more formal approach
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• First: For a stable, explicit k-step multistep method, the maximum number of exactness constraints that can be satisfied is less than or equal to k (note there are 2k coefficients). For implicit methods, the number of constraints that can be satisfied is either k+2 if k is even or k+1 if k is odd.
• Second: There are no A-stable methods of convergence order greater than 2, and the trapezoidal rule is the most accurate.
Multistep Methods – StabilityDahlquist’s Stability Barriers
TR very popular (SPICE)
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1) Local Condition: One step errors are small (consistency)
2) Global Condition: One step errors grow slowly (stability)
Exactness Constraints up to p0 (p0 must be > 0)
0
roots of 0 must be inside the unit circle k
k jj
j
z
2
0, 0,max maxl l
T Tl l
t t
TE C e
t
0 1
1 00,
max for pl
Tl
t
e C t t t
0
0,max
plT
lt
E CT t
Convergence Result:
Multistep Methods – Convergence AnalysisConditions for convergence – Consistency & Stability
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Difference EqnStability region 1-1
1z t
Im(z)
Re(z)
Im
Re
Forward Euler
ODE stability region
2
t
Region ofAbsolute Stability
Multistep MethodsFE region of absolute stability
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Difference EqnStability region 1-1
Im(z)
Re(z)
Im Backward Euler 1
1z t
Region ofAbsolute Stability
Multistep MethodsBE region of absolute stability
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Summary
• Convergence for one-step methods– Consistency for FE– Stability for FE
• Convergence for multistep methods– Consistency (Exactness Constraints)
• Selecting coefficients
– Stability• Region of Absolute Stability• Dahlquist’s Stability Barriers
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Stiff Problems (Large Timestep Issues)Example
t-λt-λ
t-λ
-eexx(t)
,λλxx
-es(t)dt
tdstsx
dt
tdx
21
2
1 :solutionExact
110 )0(
1 where)(
))(()(
0
26
10
1
Interval of interest is [0,5]Uniform step size (for accuracy)
t 10-6
5x106 steps !!!
11 5For
0 105For 2
10
6
t-λ
t-λ-
-et
ext
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Strategy (for previous example): Take 5 steps of size 10-6 for accuracy during initial phase and then 5 steps ofsize 1.
Stiff problem:1. Natural time constants2. Input time constants3. Interval of interest
If these are widely separated, then the problem is stiff
Stiff Problems (Large Timestep Issues)Example
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C1
R2
R1 R3 C2
1Ri1Ci
2Ri
2Ci3Ri
1v 2v
Application ProblemsSignal Transmission in an IC – 2x2 example
1 2 1 3 2Let 1, 10, 1C C R R R
1.1 1.0
1.0 1.1
A
dxx
dt
Eigenvectors
11 1 0.1 0 1 1
1 1 0 2.1 1 1A
Eigenvalues
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Forward-Euler Computed Solution
The Forward-Euler is accurate for small timesteps, but goes unstable when the timestep is enlarged
Stiff Problems (Large Timestep Issues)FE on two time-constant circuit
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Backward-Euler Computed Solution
With Backward-Euler it is easy to use small timesteps for the fast dynamics and then switch to large
timesteps for the slow decay
small t
large t
( ) ( )d
x t Ax tdt
( ) 2.1, 0.1eig A
Circuit Example
Stiff Problems (Large Timestep Issues)BE on two time-constant circuit
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0( ), 0d
v t v t v vdt
Scalar ODE:
Forward-Euler:
Backward-Euler: 1 1 1 1
ˆ ˆ ˆ ˆ ˆ1
l l l l lv v t v v vt
If 1 1 the solution grows even if <0t
1If 1 the solution decays even if 0
1 t
Trap Rule:
1ˆ ˆ ˆ ˆ1l l l lv v t v t v
1 1 1 1 0.5ˆ ˆ ˆ ˆ ˆ ˆ0.5
1 0.5
ll l l l ltv v t v v v v
t
Multistep Methods (Large Timestep Issues)BE, FE, TR on the scalar ODE problem
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Im
Re
ODE stability region
2
t
Region ofAbsolute Stability
Stiff Problems (Large Timestep Issues)FE on two time-constant circuit
1.2 and 1.0
1.0
21
t
Im
Re
ODE stability region
2
t
Region ofAbsolute Stability
1.2 and 1.0
1
21
t
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Im
Region ofAbsolute Stability
Stiff Problems (Large Timestep Issues)BE on two time-constant circuit
1.2 and 1.0
1.0
21
t
1.2 and 1.0
1
21
t
Im
Region ofAbsolute Stability
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Stiff Problems
• We showed that:– The analysis of stiff circuits requires the use of variable
step sizes– Not all the linear multistep methods can be efficiently used
to integrate stiff equations
• To be able to choose t based only on accuracy considerations, the region of absolute stability should allow a large t for large time constants, without being constrained by the small time constants
• Clearly A-stable methods satisfy this requirement
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Backward Differentiation Formula - BDF (Gear Methods)
0 re whe)ˆ(ˆ 000
lk
j
jlj xftx
• Note that Gear’s first order method is BE
• It can be shown that: – Gear’s methods up to order 6 are stiffly stable and are
well-suited for stiff ODEs– Gear’s methods of order higher than 6 are not stiffly
stable
• Less stringent than A-stable
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Gear’s Method region of absolute stability(outside the closed curve)
k=1 k=2
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Gear’s Method region of absolute stability(outside the closed curve)
k=3 k=4
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Variable step size
• When the step size is changed during the integration, the coefficients of the method need to be recomputed at each iteration
• Example: Gear’s method of order 2
1
002
21
1
where
0 re whe)ˆ(ˆˆˆ
lll
ll
lll
ttΔt
xftxxx
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Variable step size
)]2([
)]2([
)]2([
)(
:)constraint exactness the(usingobtain We
:Setting
:polynomial 2-orderan consider now usLet
11
10
11
2
211
21
1
12
1
2210
lll
ll
lll
l
lll
ll
llll
lll
ΔtΔtΔt
ΔtΔt
ΔtΔtΔt
Δt
ΔtΔtΔt
ΔtΔt
ΔtΔttt
Δttt
tctccx(t)
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More observations
• To minimize the computation time needed to integrate differential equations, the t must be chosen as large as possible provided that the desired accuracy is achieved– Several approximation are available. SPICE2 uses Divided
Differences
• At a certain time point, different integration methods would allow different step size– Advantageous to implement a strategy which allows a
change of method as well as of t
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Summary on Stiff Stability
• FE: timestep is limited by stability and not by accuracy
• BE: A-stable, any timestep could be used
• TR: most accurate A-stable multistep method
• Gear: stiffly stable method (up to order 6)
• The analysis of stiff circuits requires the use of variable timestep
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11 ˆ( ) (0) 0 , 0x t x x t f x u
2 1 12 1ˆ ˆ ˆ( ) ,x t x x t f x u t
1 11ˆ ˆ ˆ( ) ,L L L
L Lx t x x t f x u t
Forward-Euler
Requires just functionEvaluations
Backward-Euler
1 11 1ˆ ˆ( ) (0) ,x t x x t f x u t
2 1 22 2ˆ ˆ ˆ( ) ,x t x x t f x u t
1ˆ ˆ ˆ( ) ,L L LL Lx t x x t f x u t
Nonlinear equationsolution at each step
0Stepwise Nonlinear equation solution needed whenever 0
Multistep MethodsMore on Implicit Methods
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1 1
0 0 ˆ ˆ ,ˆ ˆ , 0l lk k
l j l jj j j
j jl lxx t f x u t f x ut t
Rewrite the multistep Equation
b ˆIndependent of lxSolve with Newton
,
, 1 , , ,0 0 0 0
ˆ ,ˆ ˆ ˆ ˆ ,
l jl l j l j l j l j
l
f x u tI t x x x t f x u t b
x
Here j is the Newton iteration index
Jacobian ,l jF x
Multistep Implicit MethodsSolution with Newton
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Newton Iteration:
,
, 1 , ,0 0
ˆ ,ˆ ˆ ( )
l jl l j l j l j
f x u tI t x x F x
x
Solution with Newton is very efficient
lt1lt 2lt 3lt l kt
Easy to generate a good initial guess using polynomial fitting
,0ˆ lx
Polynomial Predictor
ˆ lxConverged
Solution
0
,
0 0
ˆ , as 0
l jlf x u
It
I t tx
Jacobian become easy to factor for small timesteps
Multistep Implicit MethodsSolution with Newton
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Application of linear multistep methods to circuit equations
0 :unknowns as )(with
equationsnonlinear algebraic ofset aobtain we
)()(
:equation method sGear' Using
0 :form in the
equations algebraic-aldifferenti mixed ofset a have We
0
0
0
0
),t,xΔtβ
)x(tα
F(tx
t
tx
dt
tdx
,x,t)dt
dxF(
lll
k
jklj
l
l
k
jklj
l
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Transient Analysis Flow Diagram Predict values of variables at tl
Replace C and L with resistive elements via integration formula
Replace nonlinear elements with G and indep. sources via NR
Assemble linear circuit equations
Solve linear circuit equations
Did NR converge?
Test solution accuracy
Save solution if acceptable
Select new t and compute new integration formula coeff.
Done?
YES
NO
NO
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Summary• Transient Analysis of dynamical circuits• Solution of ODEs (IVP)
– FE, BE and TR– Multistep methods– Convergence
• Consistency• Stability
• Stiff Stability (Large timestep issues)– Gear’s method
• Application of multistep to circuit equations• Did not talk about:
– Runge-Kutta– Predictor-Corrector Methods
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Summary on circuit simulation
• Circuit Equation Formulation – STA, MNA
• DC Analysis of Nonlinear Circuits– Solution of Linear Equations (direct and iterative
methods)– Solution of Nonlinear Equations (Newton’s method)
• Transient Analysis of Nonlinear Circuits– Solution of Ordinary Differential Equations- IVP
(multistep methods)
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Appendix to circuit simulation Preconditioners
• The convergence rate of iterative methods depends on spectral properties of the coefficient matrix. Hence one may attempt to transform the linear system into one that is equivalent, but that has more favorable spectral properties.
• A preconditioner is a matrix that effects such a transformation:
Mx=b A-1Mx=A-1b
• The choice of a preconditioner is largely application specific