# Enforcing Physical Constraints via Universal Differential-Algebraic Equations

As shown in the stiff ODE tutorial, differential-algebraic equations (DAEs) can be used to impose physical constraints. One way to define a DAE is through an ODE with a singular mass matrix. For example, if we make `Mu' = f(u)`

where the last row of `M`

is all zeros, then we have a constraint defined by the right hand side. Using `NeuralODEMM`

, we can use this to define a neural ODE where the sum of all 3 terms must add to one. An example of this is as follows:

```
using Flux, DiffEqFlux, OrdinaryDiffEq, Optim, Test, Plots
function f!(du, u, p, t)
y₁, y₂, y₃ = u
k₁, k₂, k₃ = p
du[1] = -k₁*y₁ + k₃*y₂*y₃
du[2] = k₁*y₁ - k₃*y₂*y₃ - k₂*y₂^2
du[3] = y₁ + y₂ + y₃ - 1
return nothing
end
u₀ = [1.0, 0, 0]
M = [1. 0 0
0 1. 0
0 0 0]
tspan = (0.0,1.0)
p = [0.04, 3e7, 1e4]
stiff_func = ODEFunction(f!, mass_matrix = M)
prob_stiff = ODEProblem(stiff_func, u₀, tspan, p)
sol_stiff = solve(prob_stiff, Rodas5(), saveat = 0.1)
nn_dudt2 = FastChain(FastDense(3, 64, tanh),
FastDense(64, 2))
model_stiff_ndae = NeuralODEMM(nn_dudt2, (u, p, t) -> [u[1] + u[2] + u[3] - 1],
tspan, M, Rodas5(autodiff=false), saveat = 0.1)
model_stiff_ndae(u₀)
function predict_stiff_ndae(p)
return model_stiff_ndae(u₀, p)
end
function loss_stiff_ndae(p)
pred = predict_stiff_ndae(p)
loss = sum(abs2, Array(sol_stiff) .- pred)
return loss, pred
end
callback = function (p, l, pred) #callback function to observe training
display(l)
return false
end
l1 = first(loss_stiff_ndae(model_stiff_ndae.p))
result_stiff = DiffEqFlux.sciml_train(loss_stiff_ndae, model_stiff_ndae.p,
BFGS(initial_stepnorm = 0.001),
cb = callback, maxiters = 100)
```

## Step-by-Step Description

### Load Packages

`using Flux, DiffEqFlux, OrdinaryDiffEq, Optim, Test, Plots`

### Differential Equation

First, we define our differential equations as a highly stiff problem which makes the fitting difficult.

```
function f!(du, u, p, t)
y₁, y₂, y₃ = u
k₁, k₂, k₃ = p
du[1] = -k₁*y₁ + k₃*y₂*y₃
du[2] = k₁*y₁ - k₃*y₂*y₃ - k₂*y₂^2
du[3] = y₁ + y₂ + y₃ - 1
return nothing
end
```

### Parameters

```
u₀ = [1.0, 0, 0]
M = [1. 0 0
0 1. 0
0 0 0]
tspan = (0.0,1.0)
p = [0.04, 3e7, 1e4]
```

`u₀`

= Initial Conditions`M`

= Semi-explicit Mass Matrix (last row is the constraint equation and are therefore

all zeros)

`tspan`

= Time span over which to evaluate`p`

= parameters`k1`

,`k2`

and`k3`

of the differential equation above

### ODE Function, Problem and Solution

We define and solve our ODE problem to generate the "labeled" data which will be used to train our Neural Network.

```
stiff_func = ODEFunction(f!, mass_matrix = M)
prob_stiff = ODEProblem(stiff_func, u₀, tspan, p)
sol_stiff = solve(prob_stiff, Rodas5(), saveat = 0.1)
```

Because this is a DAE we need to make sure to use a **compatible solver**. `Rodas5`

works well for this example.

### Neural Network Layers

Next, we create our layers using `FastChain`

. We use this instead of `Chain`

because it reduces the overhead making it faster for smaller NNs of <200 layers (similarly for `FastDense`

). The input to our network will be the initial conditions fed in as `u₀`

.

```
nn_dudt2 = FastChain(FastDense(3, 64, tanh),
FastDense(64, 2))
model_stiff_ndae = NeuralODEMM(nn_dudt2, (u, p, t) -> [u[1] + u[2] + u[3] - 1],
tspan, M, Rodas5(autodiff = false), saveat = 0.1)
model_stiff_ndae(u₀)
```

Because this is a stiff problem, we have manually imposed that sum constraint via `(u,p,t) -> [u[1] + u[2] + u[3] - 1]`

, making the fitting easier.

### Prediction Function

For simplicity, we define a wrapper function that only takes in the model's parameters to make predictions.

```
function predict_stiff_ndae(p)
return model_stiff_ndae(u₀, p)
end
```

### Train Parameters

Training our network requires a **loss function**, an **optimizer** and a **callback function** to display the progress.

#### Loss

We first make our predictions based on the current parameters, then calculate the loss from these predictions. In this case, we use **least squares** as our loss.

```
function loss_stiff_ndae(p)
pred = predict_stiff_ndae(p)
loss = sum(abs2, sol_stiff .- pred)
return loss, pred
end
l1 = first(loss_stiff_ndae(model_stiff_ndae.p))
```

Notice that we are feeding the **parameters** of `model_stiff_ndae`

to the `loss_stiff_ndae`

function. `model_stiff_node.p`

are the weights of our NN and is of size *386* (4 * 64 + 65 * 2) including the biases.

#### Optimizer

The optimizer `BFGS`

is directly passed in the training step (see below).

#### Callback

The callback function displays the loss during training.

```
callback = function (p, l, pred) #callback function to observe training
display(l)
return false
end
```

### Train

Finally, training with `sciml_train`

by passing: *loss function*, *model parameters*, *optimizer*, *callback* and *maximum iteration*.

```
result_stiff = DiffEqFlux.sciml_train(loss_stiff_ndae, model_stiff_ndae.p,
BFGS(initial_stepnorm = 0.001),
cb = callback, maxiters = 100)
```