When¶

if vs. when¶

In our discussion on Hysteresis, we briefly discussed the difference between an if statement and a when statement. The statements in a when statement become active only for an instant when the triggering conditional expression becomes true. At all other times, the when statement has no effect. An if statement or if expression remains active as long as the conditional expression is true. If the if statement or if expression includes an else clause then some branch will always be active.

Expressions¶

Most of the time, the expression expr is going to be a conditional expression and usually it will involve relational operators. Typical examples of expressions frequently used with a when statement would be time>=2.0, x>=y+2, phi<=prev_phi and so on. Recall from our discussion of the Interval Measurement speed estimation algorithm that you should almost always put the pre operator around any variables in expr that also appear inside the when statement.

In the Bouncing Ball example, we saw a case where expr was not a (scalar) conditional expression, but rather a vector of conditional expressions. Recall from that discussion that the when statement becomes active if any of the conditions in the vector of expressions becomes true.

Statements¶

A when statement is used to define new values for some variables. These new values can be assigned in one of two ways. The first is by introducing an equation of the form:

var = expr;

In this case, the variable var will be given the value of expr. Within expr, the pre operator should be used when referring to the pre-event value for a variable. Any variable assigned in this way is a discrete variable. This means that its value only changes during events. In other words, it will be a piecewise constant function. Note, a variable assigned in this way cannot be continuous over any interval in the simulation.

If you want to explicitly mark a variable as discrete, you can prefix it with the discrete qualifier (as we saw in the Sample and Hold example earlier in this chapter) although this is not strictly necessary. By adding the discrete qualifier you ensure that the variable’s value must be determined within a when statement.

The other way a variable can be given a value within a when statement, as demonstrated in the Bouncing Ball example, is by using the reinit operator. In that case, the statement within the when statement will take the form:

reinit(var, expr);

When using the reinit operator, the variable, var, must be a state. In other words, its solution must arise from solving a differential equation. The use of reinit on such a variable has the effect of stopping the integration process, changing the value of the state (and any other states that have the reinit operator applied to them within the same when statement) and then resuming integration using what are effectively a new set of initial conditions. The values of all other states not re-initialized with the reinit operator remain unchanged.

algorithm Sections¶

One final note about when statements is how they interact with the “single assignment” rule in Modelica. This rule, from the specification, states that there must be exactly one equation used to determine the value of each variable. As we saw in the sections on Speed Measurement and Hysteresis, it is sometimes necessary (or at least clearer) to express behavior in terms of multiple assignments. In those cases, if all the assignments are included within a single algorithm section, they are effectively combined into a single equation. However, doing so will limit the compiler’s ability to perform symbolic manipulation and, therefore, may impact simulation performance and/or reusability of the models.

It is also worth noting that if the semantics of an algorithm section are needed during initialization, Modelica includes an initial algorithm section that is analogous to the initial equation section discussed in the previous discussion on Initialization. The initial algorithm section will be applied only during the initialization phase to determine initial conditions, just like an initial equation section, but the initial algorithm section will allow multiple assignments to the same variable. The same caveats apply with respect to symbolic manipulation.