D02NEF (PDF version)
D02 Chapter Contents
D02 Chapter Introduction
NAG Library Manual

NAG Library Routine Document

D02NEF

Note:  before using this routine, please read the Users' Note for your implementation to check the interpretation of bold italicised terms and other implementation-dependent details.

 Contents

    1  Purpose
    7  Accuracy

1  Purpose

D02NEF is a routine for integrating stiff systems of implicit ordinary differential equations coupled with algebraic equations.

2  Specification

SUBROUTINE D02NEF ( NEQ, T, TOUT, Y, YDOT, RTOL, ATOL, ITASK, RES, JAC, ICOM, COM, LCOM, IUSER, RUSER, IFAIL)
INTEGER  NEQ, ITASK, ICOM(50+NEQ), LCOM, IUSER(*), IFAIL
REAL (KIND=nag_wp)  T, TOUT, Y(NEQ), YDOT(NEQ), RTOL(*), ATOL(*), COM(LCOM), RUSER(*)
EXTERNAL  RES, JAC

3  Description

D02NEF is a general purpose routine for integrating the initial value problem for a stiff system of implicit ordinary differential equations with coupled algebraic equations written in the form
F t,y,y = 0 .  
D02NEF uses the DASSL implementation of the Backward Differentiation Formulae (BDF) of orders one to five to solve a system of the above form for y (Y) and y (YDOT). Values for Y and YDOT at the initial time must be given as input. These values must be consistent, (i.e., if T, Y, YDOT are the given initial values, they must satisfy FT,Y,YDOT=0). The routine solves the system from t=T to t=TOUT.
An outline of a typical calling program for D02NEF is given below. It calls the DASSL implementation of the BDF integrator setup routine D02MWF and the banded matrix setup routine D02NPF (if required), and, if the integration needs to proceed, calls D02MCF before continuing the integration.
!     Declarations

      EXTERNAL RES, JAC
             .
             .
             .
!     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

None.

5  Arguments

1:     NEQ – INTEGERInput
On entry: the number of differential-algebraic equations to be solved.
Constraint: NEQ1.
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: TOUTT.
4:     YNEQ – 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=TOUT).
5:     YDOTNEQ – REAL (KIND=nag_wp) arrayInput/Output
On initial entry: YDOT must contain approximations to the time derivatives y' of the vector y evaluated at the initial value of the independent variable.
On exit: the time derivatives y' 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 NEQ if ITOL=.TRUE. and at least 1 if ITOL=.FALSE..
On entry: the relative local error tolerance.
Constraint: RTOLi0.0, for i=1,2,,n
where n=NEQ when ITOL=.TRUE. and n=1 otherwise.
On exit: RTOL remains unchanged unless D02NEF exits with IFAIL=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 NEQ if ITOL=.TRUE. and at least 1 if ITOL=.FALSE..
On entry: the absolute local error tolerance.
Constraint: ATOLi0.0, for i=1,2,,n
where n=NEQ when ITOL=.TRUE. and n=1 otherwise.
On exit: ATOL remains unchanged unless D02NEF exits with IFAIL=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.
ITASK=2
The integration to TOUT was successfully completed (T=TOUT) by stepping exactly to TOUT.
ITASK=3
The integration to TOUT was successfully completed (T=TOUT) by stepping past TOUT. Y and YDOT are obtained by interpolation.
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 t,y,y .  
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:     YNEQ – REAL (KIND=nag_wp) arrayInput
On entry: yi, for i=1,2,,NEQ, the current solution component.
4:     YDOTNEQ – REAL (KIND=nag_wp) arrayInput
On entry: the derivative of the solution at the current point t.
5:     RNEQ – REAL (KIND=nag_wp) arrayOutput
On exit: Ri must contain the ith component of R, for i=1,2,,NEQ where
R = F T,Y,YDOT .  
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 IFAIL=23.
7:     IUSER* – INTEGER arrayUser Workspace
8:     RUSER* – REAL (KIND=nag_wp) arrayUser Workspace
RES is called with the arguments IUSER and RUSER as supplied to D02NEF. You should use the arrays IUSER and RUSER to supply information to RES.
RES must either be a module subprogram USEd by, or declared as EXTERNAL in, the (sub)program from which D02NEF is called. Arguments 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 = Fi yj + CJ × Fi yj ,  i,j=1,2,,NEQ .  
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 argument 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:     YNEQ – REAL (KIND=nag_wp) arrayInput
On entry: yi, for i=1,2,,NEQ, the current solution component.
4:     YDOTNEQ – 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 PDj-1×NEQ+i=Jij, for i=1,2,,NEQ and j=1,2,,NEQ; if the Jacobian is banded then PDj-1×2ML+MU+1+ML+MU+i-j+1=Jij, for max1,j-MUiminn,j+ML; (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 arguments IUSER and RUSER as supplied to D02NEF. You should use the arrays IUSER and RUSER to supply information to JAC.
JAC must either be a module subprogram USEd by, or declared as EXTERNAL in, the (sub)program from which D02NEF is called. Arguments denoted as Input must not be changed by this procedure.
11:   ICOM50+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:
ICOM22
The order of the method to be attempted on the next step.
ICOM23
The order of the method used on the last step.
ICOM26
The number of steps taken so far.
ICOM27
The number of calls to RES so far.
ICOM28
The number of evaluations of the matrix of partial derivatives needed so far.
ICOM29
The total number of error test failures so far.
ICOM30
The total number of convergence test failures so far.
12:   COMLCOM – 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:
COM3
The step size to be attempted on the next step.
COM4
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 (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: LCOM40+maxorder+4×NEQ+NEQ×p+q where maxorder is the maximum order that can be used by the integration method (see MAXORD in D02MWF); p=NEQ when the Jacobian is full and p=2×ML+MU+1 when the Jacobian is banded; and, q=NEQ/ML+MU+1+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 should be used to pass information to these routines.
16:   IFAIL – INTEGERInput/Output
On entry: IFAIL must be set to 0, -1​ or ​1. If you are unfamiliar with this argument you should refer to Section 3.4 in How to Use the NAG Library and its Documentation for details.
For environments where it might be inappropriate to halt program execution when an error is detected, the value -1​ 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 arguments may be useful even if IFAIL0 on exit, the recommended value is -1. When the value -1​ or ​1 is used it is essential to test the value of IFAIL on exit.
On exit: IFAIL=0 unless the routine detects an error or a warning has been flagged (see Section 6).

6  Error Indicators and Warnings

If on entry IFAIL=0 or -1, explanatory error messages are output on the current error message unit (as defined by X04AAF).
Note: D02NEF may return useful information for one or more of the following detected errors or warnings.
Errors or warnings detected by the routine:
IFAIL=1
On entry, NEQ=value.
Constraint: NEQ1.
IFAIL=3
On entry, T=value.
Constraint: TOUTT.
TOUT is behind T in the direction of h: TOUT-T=value, h=value.
TOUT is too close to T to start integration: TOUT-T=value: hmin=value.
IFAIL=6
Some element of RTOL is less than zero.
IFAIL=7
Some element of ATOL is less than zero.
IFAIL=8
A previous call to this routine returned with ITASK=value and no appropriate action was taken.
IFAIL=11
Either the initialization routine has not been called prior to the first call of this routine or a communication array has become corrupted.
IFAIL=12
Either the initialization routine has not been called prior to the first call of this routine or a communication array has become corrupted.
IFAIL=13
COM array is of insufficient length; length required =value; actual length LCOM=value.
IFAIL=14
All elements of RTOL and ATOL are zero.
IFAIL=15
Maximum number of steps taken on this call before reaching TOUT: T=value, maximum number of steps =value.
IFAIL=16
Too much accuracy requested for precision of machine. RTOL and ATOL were increased by scale factor R. Try running again with these scaled tolerances. T=value, R=value.
IFAIL=17
A solution component has become zero when a purely relative tolerance (zero absolute tolerance) was selected for that component. T=value, YI=value for component I=value.
IFAIL=18
The error test failed repeatedly with h=hmin. T=value. Stepsize h=value.
IFAIL=19
The corrector repeatedly failed to converge with h=hmin. T=value. Stepsize h=value.
IFAIL=20
The iteration matrix is singular. T=value. Stepsize h=value.
IFAIL=21
The corrector could not converge and the error test failed repeatedly. T=value. Stepsize h=value.
IFAIL=22
IRES was set to -1 during a call to RES and could not be resolved. T=value. Stepsize h=value.
IFAIL=23
IRES was set to -2 during a call to RES. T=value. Stepsize =value.
IFAIL=24
The initial YDOT could not be computed. T=value. Stepsize h=value.
IFAIL=25
Repeated occurrences of input constraint violations have been detected. This could result in a potential infinite loop: ITASK=value. Current violation corresponds to exit with IFAIL=value.
IFAIL=-99
An unexpected error has been triggered by this routine. Please contact NAG.
See Section 3.9 in How to Use the NAG Library and its Documentation for further information.
IFAIL=-399
Your licence key may have expired or may not have been installed correctly.
See Section 3.8 in How to Use the NAG Library and its Documentation for further information.
IFAIL=-999
Dynamic memory allocation failed.
See Section 3.7 in How to Use the NAG Library and its Documentation for further information.

7  Accuracy

The accuracy of the numerical solution may be controlled by a careful choice of the arguments RTOL and ATOL. You are advised to use scalar error control unless the components of the solution are expected to be poorly scaled. For the type of decaying solution typical of many stiff problems, relative error control with a small absolute error threshold will be most appropriate (that is, you are advised to choose ITOL=0 with ATOL1 small but positive).

8  Parallelism and Performance

D02NEF is threaded by NAG for parallel execution in multithreaded implementations of the NAG Library.
D02NEF makes calls to BLAS and/or LAPACK routines, which may be threaded within the vendor library used by this implementation. Consult the documentation for the vendor library for further information.
Please consult the X06 Chapter Introduction for information on how to control and interrogate the OpenMP environment used within this routine. Please also consult the Users' Note for your implementation for any additional implementation-specific information.

9  Further Comments

The cost of computing a solution depends critically on the size of the differential system and to a lesser extent on the degree of stiffness of the problem. For banded systems the cost is proportional to NEQ× ML+ MU+1 2 , while for full systems the cost is proportional to NEQ3. Note however that for moderately sized problems which are only mildly nonlinear the cost may be dominated by factors proportional to NEQ×ML+MU+1 and NEQ2 respectively.

10  Example

For this routine two examples are presented. There is a single example program for D02NEF, with a main program and the code to solve the two example problems given in Example 1 (EX1) and Example 2 (EX2).
Example 1 (EX1)
This example solves the well-known stiff Robertson problem written in implicit form
r1 = -0.04a + 1.0E4bc - a r2 = 0.04a - 1.0E4bc - 3.0E7b2 - b r3 = 3.0E7b2 - c  
with initial conditions a=1.0 and b=c=0.0 over the range 0,0.1 the BDF method (setup routine D02MWF and D02NPF).
Example 2 (EX2)
This example illustrates the use of D02NEF to solve a simple algebraic problem by continuation. The equation 4-2y+0.1eyt=0 from t=0 (where y=2) to t=1.

10.1  Program Text

Program Text (d02nefe.f90)

10.2  Program Data

Program Data (d02nefe.d)

10.3  Program Results

Program Results (d02nefe.r)


D02NEF (PDF version)
D02 Chapter Contents
D02 Chapter Introduction
NAG Library Manual

© The Numerical Algorithms Group Ltd, Oxford, UK. 2016