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SUBROUTINE AB09HY( N, M, P, A, LDA, B, LDB, C, LDC, D, LDD,
$ SCALEC, SCALEO, S, LDS, R, LDR, IWORK,
$ DWORK, LDWORK, BWORK, INFO )
C
C SLICOT RELEASE 5.0.
C
C Copyright (c) 2002-2009 NICONET e.V.
C
C This program is free software: you can redistribute it and/or
C modify it under the terms of the GNU General Public License as
C published by the Free Software Foundation, either version 2 of
C the License, or (at your option) any later version.
C
C This program is distributed in the hope that it will be useful,
C but WITHOUT ANY WARRANTY; without even the implied warranty of
C MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
C GNU General Public License for more details.
C
C You should have received a copy of the GNU General Public License
C along with this program. If not, see
C <http://www.gnu.org/licenses/>.
C
C PURPOSE
C
C To compute the Cholesky factors Su and Ru of the controllability
C Grammian P = Su*Su' and observability Grammian Q = Ru'*Ru,
C respectively, satisfying
C
C A*P + P*A' + scalec^2*B*B' = 0, (1)
C
C A'*Q + Q*A + scaleo^2*Cw'*Cw = 0, (2)
C
C where
C Cw = Hw - Bw'*X,
C Hw = inv(Dw)*C,
C Bw = (B*D' + P*C')*inv(Dw'),
C D*D' = Dw*Dw' (Dw upper triangular),
C
C and, with Aw = A - Bw*Hw, X is the stabilizing solution of the
C Riccati equation
C
C Aw'*X + X*Aw + Hw'*Hw + X*Bw*Bw'*X = 0. (3)
C
C The P-by-M matrix D must have full row rank. Matrix A must be
C stable and in a real Schur form.
C
C ARGUMENTS
C
C Input/Output Parameters
C
C N (input) INTEGER
C The order of state-space representation, i.e.,
C the order of the matrix A. N >= 0.
C
C M (input) INTEGER
C The number of system inputs. M >= 0.
C
C P (input) INTEGER
C The number of system outputs. M >= P >= 0.
C
C A (input) DOUBLE PRECISION array, dimension (LDA,N)
C The leading N-by-N part of this array must contain the
C stable state dynamics matrix A in a real Schur canonical
C form.
C
C LDA INTEGER
C The leading dimension of array A. LDA >= MAX(1,N).
C
C B (input) DOUBLE PRECISION array, dimension (LDB,M)
C The leading N-by-M part of this array must contain the
C input/state matrix B, corresponding to the Schur matrix A.
C
C LDB INTEGER
C The leading dimension of array B. LDB >= MAX(1,N).
C
C C (input) DOUBLE PRECISION array, dimension (LDC,N)
C The leading P-by-N part of this array must contain the
C state/output matrix C, corresponding to the Schur
C matrix A.
C
C LDC INTEGER
C The leading dimension of array C. LDC >= MAX(1,P).
C
C D (input) DOUBLE PRECISION array, dimension (LDD,M)
C The leading P-by-M part of this array must
C contain the full row rank input/output matrix D.
C
C LDD INTEGER
C The leading dimension of array D. LDD >= MAX(1,P).
C
C SCALEC (output) DOUBLE PRECISION
C Scaling factor for the controllability Grammian in (1).
C
C SCALEO (output) DOUBLE PRECISION
C Scaling factor for the observability Grammian in (2).
C
C S (output) DOUBLE PRECISION array, dimension (LDS,N)
C The leading N-by-N upper triangular part of this array
C contains the Cholesky factor Su of the cotrollability
C Grammian P = Su*Su' satisfying (1).
C
C LDS INTEGER
C The leading dimension of array S. LDS >= MAX(1,N).
C
C R (output) DOUBLE PRECISION array, dimension (LDR,N)
C The leading N-by-N upper triangular part of this array
C contains the Cholesky factor Ru of the observability
C Grammian Q = Ru'*Ru satisfying (2).
C
C LDR INTEGER
C The leading dimension of array R. LDR >= MAX(1,N).
C
C Workspace
C
C IWORK INTEGER array, dimension 2*N
C
C DWORK DOUBLE PRECISION array, dimension (LDWORK)
C On exit, if INFO = 0, DWORK(1) returns the optimal value
C of LDWORK and DWORK(2) contains RCOND, the reciprocal
C condition number of the U11 matrix from the expression
C used to compute X = U21*inv(U11). A small value RCOND
C indicates possible ill-conditioning of the Riccati
C equation (3).
C
C LDWORK INTEGER
C The length of the array DWORK.
C LDWORK >= MAX( 2, N*(MAX(N,M,P)+5),
C 2*N*P+MAX(P*(M+2),10*N*(N+1) ) ).
C For optimum performance LDWORK should be larger.
C
C BWORK LOGICAL array, dimension 2*N
C
C Error Indicator
C
C INFO INTEGER
C = 0: successful exit;
C < 0: if INFO = -i, the i-th argument had an illegal
C value;
C = 1: the state matrix A is not stable or is not in a
C real Schur form;
C = 2: the reduction of Hamiltonian matrix to real Schur
C form failed;
C = 3: the reordering of the real Schur form of the
C Hamiltonian matrix failed;
C = 4: the Hamiltonian matrix has less than N stable
C eigenvalues;
C = 5: the coefficient matrix U11 in the linear system
C X*U11 = U21, used to determine X, is singular to
C working precision;
C = 6: the feedthrough matrix D has not a full row rank P.
C
C CONTRIBUTORS
C
C A. Varga, German Aerospace Center, Oberpfaffenhofen, May 2000.
C D. Sima, University of Bucharest, May 2000.
C V. Sima, Research Institute for Informatics, Bucharest, May 2000.
C Based on the RASP routines SRGRO and SRGRO1, by A. Varga, 1992.
C
C REVISIONS
C
C V. Sima, Research Institute for Informatics, Bucharest, Oct. 2001.
C
C KEYWORDS
C
C Minimal realization, model reduction, multivariable system,
C state-space model, state-space representation,
C stochastic balancing.
C
C ******************************************************************
C
C .. Parameters ..
DOUBLE PRECISION ZERO, ONE, TWO
PARAMETER ( ZERO = 0.0D0, ONE = 1.0D0, TWO = 2.0D0 )
C .. Scalar Arguments ..
INTEGER INFO, LDA, LDB, LDC, LDD, LDR, LDS, LDWORK, M, N,
$ P
DOUBLE PRECISION SCALEC, SCALEO
C .. Array Arguments ..
INTEGER IWORK(*)
DOUBLE PRECISION A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
$ DWORK(*), R(LDR,*), S(LDS,*)
LOGICAL BWORK(*)
C .. Local Scalars ..
INTEGER I, IERR, KBW, KCW, KD, KDW, KG, KQ, KS, KTAU, KU,
$ KW, KWI, KWR, LW, N2, WRKOPT
DOUBLE PRECISION RCOND, RTOL
C .. External Functions ..
DOUBLE PRECISION DLANGE, DLAMCH
EXTERNAL DLANGE, DLAMCH
C .. External Subroutines ..
EXTERNAL DGEMM, DGERQF, DLACPY, DORGRQ, DSYRK, DTRMM,
$ DTRSM, SB02MD, SB03OU, XERBLA
C .. Intrinsic Functions ..
INTRINSIC ABS, DBLE, INT, MAX, MIN
C .. Executable Statements ..
C
INFO = 0
LW = MAX( 2, N*( MAX( N, M, P ) + 5 ),
$ 2*N*P + MAX( P*(M + 2), 10*N*(N + 1) ) )
C
IF( N.LT.0 ) THEN
INFO = -1
ELSE IF( M.LT.0 ) THEN
INFO = -2
ELSE IF( P.LT.0 .OR. P.GT.M ) THEN
INFO = -3
ELSE IF( LDA.LT.MAX( 1, N ) ) THEN
INFO = -5
ELSE IF( LDB.LT.MAX( 1, N ) ) THEN
INFO = -7
ELSE IF( LDC.LT.MAX( 1, P ) ) THEN
INFO = -9
ELSE IF( LDD.LT.MAX( 1, P ) ) THEN
INFO = -11
ELSE IF( LDS.LT.MAX( 1, N ) ) THEN
INFO = -15
ELSE IF( LDR.LT.MAX( 1, N ) ) THEN
INFO = -17
ELSE IF( LDWORK.LT.LW ) THEN
INFO = -20
END IF
C
IF( INFO.NE.0 ) THEN
C
C Error return.
C
CALL XERBLA( 'AB09HY', -INFO )
RETURN
END IF
C
C Quick return if possible.
C
SCALEC = ONE
SCALEO = ONE
IF( MIN( N, M, P ).EQ.0 ) THEN
DWORK(1) = TWO
DWORK(2) = ONE
RETURN
END IF
C
C Solve for Su the Lyapunov equation
C 2
C A*(Su*Su') + (Su*Su')*A' + scalec *B*B' = 0 .
C
C Workspace: need N*(MAX(N,M) + 5);
C prefer larger.
C
KU = 1
KTAU = KU + N*MAX( N, M )
KW = KTAU + N
C
CALL DLACPY( 'Full', N, M, B, LDB, DWORK(KU), N )
CALL SB03OU( .FALSE., .TRUE., N, M, A, LDA, DWORK(KU), N,
$ DWORK(KTAU), S, LDS, SCALEC, DWORK(KW),
$ LDWORK - KW + 1, IERR )
IF( IERR.NE.0 ) THEN
INFO = 1
RETURN
ENDIF
WRKOPT = INT( DWORK(KW) ) + KW - 1
C
C Allocate workspace for Bw' (P*N), Cw (P*N), Q2 (P*M),
C where Q2 = inv(Dw)*D.
C Workspace: need 2*N*P + P*M.
C
KBW = 1
KCW = KBW + P*N
KD = KCW + P*N
KDW = KD + P*(M - P)
KTAU = KD + P*M
KW = KTAU + P
C
C Compute an upper-triangular Dw such that D*D' = Dw*Dw', using
C the RQ-decomposition of D: D = [0 Dw]*( Q1 ).
C ( Q2 )
C Additional workspace: need 2*P; prefer P + P*NB.
C
CALL DLACPY( 'F', P, M, D, LDD, DWORK(KD), P )
CALL DGERQF( P, M, DWORK(KD), P, DWORK(KTAU), DWORK(KW),
$ LDWORK-KW+1, IERR )
WRKOPT = MAX( WRKOPT, INT( DWORK(KW) ) + KW - 1 )
C
C Check the full row rank of D.
C
RTOL = DBLE( M ) * DLAMCH( 'E' ) *
$ DLANGE( '1', P, M, D, LDD, DWORK )
DO 10 I = KDW, KDW+P*P-1, P+1
IF( ABS( DWORK(I) ).LE.RTOL ) THEN
INFO = 6
RETURN
END IF
10 CONTINUE
C -1
C Compute Hw = Dw *C.
C
CALL DLACPY( 'F', P, N, C, LDC, DWORK(KCW), P )
CALL DTRSM( 'Left', 'Upper', 'No-transpose', 'Non-unit', P, N,
$ ONE, DWORK(KDW), P, DWORK(KCW), P )
C
C Compute Bw' = inv(Dw)*(D*B' + C*Su*Su').
C
C Compute first Hw*Su*Su' in Bw'.
C
CALL DLACPY( 'F', P, N, DWORK(KCW), P, DWORK(KBW), P )
CALL DTRMM( 'Right', 'Upper', 'No-transpose', 'Non-unit', P, N,
$ ONE, S, LDS, DWORK(KBW), P )
CALL DTRMM( 'Right', 'Upper', 'Transpose', 'Non-unit', P, N,
$ ONE, S, LDS, DWORK(KBW), P )
C
C Compute Q2 = inv(Dw)*D, as the last P lines of the orthogonal
C matrix ( Q1 ) from the RQ decomposition of D.
C ( Q2 )
C Additional workspace: need P; prefer P*NB.
C
CALL DORGRQ( P, M, P, DWORK(KD), P, DWORK(KTAU), DWORK(KW),
$ LDWORK-KW+1, IERR )
WRKOPT = MAX( WRKOPT, INT( DWORK(KW) ) + KW - 1 )
C
C Compute Bw' <- Bw' + Q2*B'.
C
CALL DGEMM( 'No-transpose', 'Transpose', P, N, M, ONE,
$ DWORK(KD), P, B, LDB, ONE, DWORK(KBW), P )
C
C Compute Aw = A - Bw*Hw in R.
C
CALL DLACPY( 'F', N, N, A, LDA, R, LDR )
CALL DGEMM( 'Transpose', 'No-transpose', N, N, P, -ONE,
$ DWORK(KBW), P, DWORK(KCW), P, ONE, R, LDR )
C
C Allocate storage to solve the Riccati equation (3) for
C G(N*N), Q(N*N), WR(2N), WI(2N), S(2N*2N), U(2N*2N).
C
N2 = N + N
KG = KD
KQ = KG + N*N
KWR = KQ + N*N
KWI = KWR + N2
KS = KWI + N2
KU = KS + N2*N2
KW = KU + N2*N2
C
C Compute G = -Bw*Bw'.
C
CALL DSYRK( 'Upper', 'Transpose', N, P, -ONE, DWORK(KBW), P, ZERO,
$ DWORK(KG), N )
C
C Compute Q = Hw'*Hw.
C
CALL DSYRK( 'Upper', 'Transpose', N, P, ONE, DWORK(KCW), P, ZERO,
$ DWORK(KQ), N )
C
C Solve
C
C Aw'*X + X*Aw + Q - X*G*X = 0,
C
C with Q = Hw'*Hw and G = -Bw*Bw'.
C Additional workspace: need 6*N;
C prefer larger.
C
CALL SB02MD( 'Continuous', 'None', 'Upper', 'General', 'Stable',
$ N, R, LDR, DWORK(KG), N, DWORK(KQ), N, RCOND,
$ DWORK(KWR), DWORK(KWI), DWORK(KS), N2,
$ DWORK(KU), N2, IWORK, DWORK(KW), LDWORK-KW+1,
$ BWORK, INFO )
IF( INFO.NE.0 )
$ RETURN
WRKOPT = MAX( WRKOPT, INT( DWORK(KW) ) + KW - 1 )
C
C Compute Cw = Hw - Bw'*X.
C
CALL DGEMM ( 'No-transpose', 'No-transpose', P, N, N, -ONE,
$ DWORK(KBW), P, DWORK(KQ), N, ONE, DWORK(KCW), P )
C
C Solve for Ru the Lyapunov equation
C 2
C A'*(Ru'*Ru) + (Ru'*Ru)*A + scaleo * Cw'*Cw = 0 .
C
C Workspace: need N*(MAX(N,P) + 5);
C prefer larger.
C
KTAU = KCW + N*MAX( N, P )
KW = KTAU + N
C
CALL SB03OU( .FALSE., .FALSE., N, P, A, LDA, DWORK(KCW), P,
$ DWORK(KTAU), R, LDR, SCALEO, DWORK(KW),
$ LDWORK - KW + 1, IERR )
WRKOPT = MAX( WRKOPT, INT( DWORK(KW) ) + KW - 1 )
C
C Save optimal workspace and RCOND.
C
DWORK(1) = WRKOPT
DWORK(2) = RCOND
C
RETURN
C *** Last line of AB09HY ***
END
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