Use LinearizationOpPoint for trajectory_ss#82
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Replace manual operating point extraction in `trajectory_ss` with MTK's `LinearizationOpPoint` API (SciML/ModelingToolkit.jl#4443). This removes the fragile `robust_sol_getindex` helper and simplifies the implementation. - Use `_build_op_from_solution` to extract differential states + parameters - Supplement with linearization system unknowns from the solution - Remove `robust_sol_getindex` (no longer needed) - Bump version to 2.7.0, require MTK >= 11.7 - Update docs narrative for trajectory_ss Closes SciML/ModelingToolkit.jl#4159 Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
…nOpPoint directly trajectory_ss now delegates entirely to MTK's linearize with LinearizationOpPoint(sol, t) — no manual op construction needed. Removed ControlSystemsMTK.fuzz and all references to it. Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
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Summary
trajectory_sswith MTK'sLinearizationOpPointAPI (feat: [AI] allow passing an operating point tolinearizeusing a solution SciML/ModelingToolkit.jl#4443)robust_sol_getindexhelper function (~40 lines)Details
trajectory_sspreviously usedrobust_sol_getindexto manually extract operating points from ODE solutions. This was brittle and hard to maintain (SciML/ModelingToolkit.jl#4159). The new approach uses_build_op_from_solution(LinearizationOpPoint(sol, t))to let MTK handle the extraction, supplemented with linearization system unknowns from the solution for completeness.Note: The MTK PR has a dispatch ambiguity bug in the vector
_build_op_from_solutionpath, so we use the scalar path in a loop as a workaround. The vector path inlinearizealso has initialization issues withloop_openings— we work around this by passinginitialize=falsesince the operating points are fully specified from the solution.Test plan
test/test_batchlin.jlpasses (batch_ss, GainScheduledStateSpace, trajectory_ss)batch_linearization.mdtrajectory_ss calls succeed🤖 Generated with Claude Code