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SUBROUTINE MB04TX( UPDATQ, UPDATZ, M, N, NBLCKS, INUK, IMUK, A,
$ LDA, E, LDE, Q, LDQ, Z, LDZ, MNEI )
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 separate the pencils s*E(eps)-A(eps) and s*E(inf)-A(inf) in
C s*E(eps,inf)-A(eps,inf) using Algorithm 3.3.3 in [1].
C
C On entry, it is assumed that the M-by-N matrices A and E have
C been obtained after applying the Algorithms 3.2.1 and 3.3.1 to
C the pencil s*E - A as described in [1], i.e.
C
C | s*E(eps,inf)-A(eps,inf) | X |
C Q'(s*E - A)Z = |-------------------------|-------------|
C | 0 | s*E(r)-A(r) |
C
C Here the pencil s*E(eps,inf)-A(eps,inf) is in staircase form.
C This pencil contains all Kronecker column indices and infinite
C elementary divisors of the pencil s*E - A.
C The pencil s*E(r)-A(r) contains all Kronecker row indices and
C finite elementary divisors of s*E - A.
C Furthermore, the submatrices having full row and column rank in
C the pencil s*E(eps,inf)-A(eps,inf) are assumed to be
C triangularized.
C
C On exit, the result then is
C
C Q'(s*E - A)Z =
C
C | s*E(eps)-A(eps) | X | X |
C |-----------------|-----------------|-------------|
C | 0 | s*E(inf)-A(inf) | X |
C |===================================|=============|
C | | |
C | 0 | s*E(r)-A(r) |
C
C Note that the pencil s*E(r)-A(r) is not reduced further.
C
C ARGUMENTS
C
C Mode Parameters
C
C UPDATQ LOGICAL
C Indicates whether the user wishes to accumulate in a
C matrix Q the orthogonal row transformations, as follows:
C = .FALSE.: Do not form Q;
C = .TRUE.: The given matrix Q is updated by the orthogonal
C row transformations used in the reduction.
C
C UPDATZ LOGICAL
C Indicates whether the user wishes to accumulate in a
C matrix Z the orthogonal column transformations, as
C follows:
C = .FALSE.: Do not form Z;
C = .TRUE.: The given matrix Z is updated by the orthogonal
C column transformations used in the reduction.
C
C Input/Output Parameters
C
C M (input) INTEGER
C Number of rows of A and E. M >= 0.
C
C N (input) INTEGER
C Number of columns of A and E. N >= 0.
C
C NBLCKS (input/output) INTEGER
C On entry, the number of submatrices having full row rank
C (possibly zero) in A(eps,inf).
C On exit, the input value has been reduced by one, if the
C last submatrix is a 0-by-0 (empty) matrix.
C
C INUK (input/output) INTEGER array, dimension (NBLCKS)
C On entry, this array contains the row dimensions nu(k),
C (k=1, 2, ..., NBLCKS) of the submatrices having full row
C rank in the pencil s*E(eps,inf)-A(eps,inf).
C On exit, this array contains the row dimensions nu(k),
C (k=1, 2, ..., NBLCKS) of the submatrices having full row
C rank in the pencil s*E(eps)-A(eps).
C
C IMUK (input/output) INTEGER array, dimension (NBLCKS)
C On entry, this array contains the column dimensions mu(k),
C (k=1, 2, ..., NBLCKS) of the submatrices having full
C column rank in the pencil s*E(eps,inf)-A(eps,inf).
C On exit, this array contains the column dimensions mu(k),
C (k=1, 2, ..., NBLCKS) of the submatrices having full
C column rank in the pencil s*E(eps)-A(eps).
C
C A (input/output) DOUBLE PRECISION array, dimension (LDA,N)
C On entry, this array contains the matrix A to be reduced.
C On exit, it contains the transformed matrix A.
C
C LDA INTEGER
C The leading dimension of array A. LDA >= MAX(1,M).
C
C E (input/output) DOUBLE PRECISION array, dimension (LDE,N)
C On entry, this array contains the matrix E to be reduced.
C On exit, it contains the transformed matrix E.
C
C LDE INTEGER
C The leading dimension of array E. LDE >= MAX(1,M).
C
C Q (input/output) DOUBLE PRECISION array, dimension (LDQ,*)
C On entry, if UPDATQ = .TRUE., then the leading M-by-M
C part of this array must contain a given matrix Q (e.g.
C from a previous call to another SLICOT routine), and on
C exit, the leading M-by-M part of this array contains the
C product of the input matrix Q and the row transformation
C matrix that has transformed the rows of the matrices A
C and E.
C If UPDATQ = .FALSE., the array Q is not referenced and
C can be supplied as a dummy array (i.e. set parameter
C LDQ = 1 and declare this array to be Q(1,1) in the calling
C program).
C
C LDQ INTEGER
C The leading dimension of array Q. If UPDATQ = .TRUE.,
C LDQ >= MAX(1,M); if UPDATQ = .FALSE., LDQ >= 1.
C
C Z (input/output) DOUBLE PRECISION array, dimension (LDZ,*)
C On entry, if UPDATZ = .TRUE., then the leading N-by-N
C part of this array must contain a given matrix Z (e.g.
C from a previous call to another SLICOT routine), and on
C exit, the leading N-by-N part of this array contains the
C product of the input matrix Z and the column
C transformation matrix that has transformed the columns of
C the matrices A and E.
C If UPDATZ = .FALSE., the array Z is not referenced and
C can be supplied as a dummy array (i.e. set parameter
C LDZ = 1 and declare this array to be Z(1,1) in the calling
C program).
C
C LDZ INTEGER
C The leading dimension of array Z. If UPDATZ = .TRUE.,
C LDZ >= MAX(1,N); if UPDATZ = .FALSE., LDZ >= 1.
C
C MNEI (output) INTEGER array, dimension (4)
C MNEI(1) = MEPS = row dimension of s*E(eps)-A(eps),
C MNEI(2) = NEPS = column dimension of s*E(eps)-A(eps),
C MNEI(3) = MINF = row dimension of s*E(inf)-A(inf),
C MNEI(4) = NINF = column dimension of s*E(inf)-A(inf).
C
C REFERENCES
C
C [1] Beelen, Th.
C New Algorithms for Computing the Kronecker structure of a
C Pencil with Applications to Systems and Control Theory.
C Ph.D.Thesis, Eindhoven University of Technology,
C The Netherlands, 1987.
C
C NUMERICAL ASPECTS
C
C The algorithm is backward stable.
C
C CONTRIBUTOR
C
C Release 3.0: V. Sima, Katholieke Univ. Leuven, Belgium, Apr. 1997.
C Supersedes Release 2.0 routine MB04FX by Th.G.J. Beelen,
C Philips Glass Eindhoven, Holland.
C
C REVISIONS
C
C June 13, 1997, V. Sima.
C November 24, 1997, A. Varga: initialization of MNEI to 0, instead
C of ZERO.
C
C KEYWORDS
C
C Generalized eigenvalue problem, Kronecker indices, orthogonal
C transformation, staircase form.
C
C ******************************************************************
C
C .. Parameters ..
DOUBLE PRECISION ZERO
PARAMETER ( ZERO = 0.0D0 )
C .. Scalar Arguments ..
LOGICAL UPDATQ, UPDATZ
INTEGER LDA, LDE, LDQ, LDZ, M, N, NBLCKS
C .. Array Arguments ..
INTEGER IMUK(*), INUK(*), MNEI(4)
DOUBLE PRECISION A(LDA,*), E(LDE,*), Q(LDQ,*), Z(LDZ,*)
C .. Local Scalars ..
INTEGER CA, CE, CJA, CJE, IP, ISMUK, ISNUK, K, MEPS,
$ MINF, MUK, MUKP1, MUP, MUP1, NEPS, NINF, NUK,
$ NUP, RA, RJE, SK1P1, TK1P1, TP1
DOUBLE PRECISION SC, SS
C .. External Subroutines ..
EXTERNAL DROTG, MB04TU
C .. Executable Statements ..
C
MNEI(1) = 0
MNEI(2) = 0
MNEI(3) = 0
MNEI(4) = 0
IF ( M.LE.0 .OR. N.LE.0 )
$ RETURN
C
C Initialisation.
C
ISMUK = 0
ISNUK = 0
C
DO 20 K = 1, NBLCKS
ISMUK = ISMUK + IMUK(K)
ISNUK = ISNUK + INUK(K)
20 CONTINUE
C
C MEPS, NEPS are the dimensions of the pencil s*E(eps)-A(eps).
C MEPS = Sum(k=1,...,nblcks) NU(k),
C NEPS = Sum(k=1,...,nblcks) MU(k).
C MINF, NINF are the dimensions of the pencil s*E(inf)-A(inf).
C
MEPS = ISNUK
NEPS = ISMUK
MINF = 0
NINF = 0
C
C MUKP1 = mu(k+1). N.B. It is assumed that mu(NBLCKS + 1) = 0.
C
MUKP1 = 0
C
DO 120 K = NBLCKS, 1, -1
NUK = INUK(K)
MUK = IMUK(K)
C
C Reduce submatrix E(k,k+1) to square matrix.
C NOTE that always NU(k) >= MU(k+1) >= 0.
C
C WHILE ( NU(k) > MU(k+1) ) DO
40 IF ( NUK.GT.MUKP1 ) THEN
C
C sk1p1 = sum(i=k+1,...,p-1) NU(i)
C tk1p1 = sum(i=k+1,...,p-1) MU(i)
C ismuk = sum(i=1,...,k) MU(i)
C tp1 = sum(i=1,...,p-1) MU(i) = ismuk + tk1p1.
C
SK1P1 = 0
TK1P1 = 0
C
DO 100 IP = K + 1, NBLCKS
C
C Annihilate the elements originally present in the last
C row of E(k,p+1) and A(k,p).
C Start annihilating the first MU(p) - MU(p+1) elements by
C applying column Givens rotations plus interchanging
C elements.
C Use original bottom diagonal element of A(k,k) as pivot.
C Start position of pivot in A = (ra,ca).
C
TP1 = ISMUK + TK1P1
RA = ISNUK + SK1P1
CA = TP1
C
MUP = IMUK(IP)
NUP = INUK(IP)
MUP1 = NUP
C
DO 60 CJA = CA, CA + MUP - NUP - 1
C
C CJA = current column index of pivot in A.
C
CALL DROTG( A(RA,CJA), A(RA,CJA+1), SC, SS )
C
C Apply transformations to A- and E-matrix.
C Interchange columns simultaneously.
C Update column transformation matrix Z, if needed.
C
CALL MB04TU( RA-1, A(1,CJA), 1, A(1,CJA+1), 1, SC,
$ SS )
A(RA,CJA+1) = A(RA,CJA)
A(RA,CJA) = ZERO
CALL MB04TU( RA, E(1,CJA), 1, E(1,CJA+1), 1, SC, SS )
IF( UPDATZ ) CALL MB04TU( N, Z(1,CJA), 1, Z(1,CJA+1),
$ 1, SC, SS )
60 CONTINUE
C
C Annihilate the remaining elements originally present in
C the last row of E(k,p+1) and A(k,p) by alternatingly
C applying row and column rotations plus interchanging
C elements.
C Use diagonal elements of E(p,p+1) and original bottom
C diagonal element of A(k,k) as pivots, respectively.
C (re,ce) and (ra,ca) are the starting positions of the
C pivots in E and A.
C
CE = TP1 + MUP
CA = CE - MUP1 - 1
C
DO 80 RJE = RA + 1, RA + MUP1
C
C (RJE,CJE) = current position pivot in E.
C
CJE = CE + 1
CJA = CA + 1
C
C Determine the row transformations.
C Apply these transformations to E- and A-matrix.
C Interchange the rows simultaneously.
C Update row transformation matrix Q, if needed.
C
CALL DROTG( E(RJE,CJE), E(RJE-1,CJE), SC, SS )
CALL MB04TU( N-CJE, E(RJE,CJE+1), LDE, E(RJE-1,CJE+1),
$ LDE, SC, SS )
E(RJE-1,CJE) = E(RJE,CJE)
E(RJE,CJE) = ZERO
CALL MB04TU( N-CJA+1, A(RJE,CJA), LDA, A(RJE-1,CJA),
$ LDA, SC, SS )
IF( UPDATQ ) CALL MB04TU( M, Q(1,RJE), 1,
$ Q(1,RJE-1), 1, SC, SS )
C
C Determine the column transformations.
C Apply these transformations to A- and E-matrix.
C Interchange the columns simultaneously.
C Update column transformation matrix Z, if needed.
C
CALL DROTG( A(RJE,CJA), A(RJE,CJA+1), SC, SS )
CALL MB04TU( RJE-1, A(1,CJA), 1, A(1,CJA+1), 1, SC,
$ SS )
A(RJE,CJA+1) = A(RJE,CJA)
A(RJE,CJA) = ZERO
CALL MB04TU( RJE, E(1,CJA), 1, E(1,CJA+1), 1, SC, SS )
IF( UPDATZ ) CALL MB04TU( N, Z(1,CJA), 1, Z(1,CJA+1),
$ 1, SC, SS )
80 CONTINUE
C
SK1P1 = SK1P1 + NUP
TK1P1 = TK1P1 + MUP
C
100 CONTINUE
C
C Reduce A=A(eps,inf) and E=E(eps,inf) by ignoring their last
C row and right most column. The row and column ignored
C belong to the pencil s*E(inf)-A(inf).
C Redefine blocks in new A and E.
C
MUK = MUK - 1
NUK = NUK - 1
ISMUK = ISMUK - 1
ISNUK = ISNUK - 1
MEPS = MEPS - 1
NEPS = NEPS - 1
MINF = MINF + 1
NINF = NINF + 1
C
GO TO 40
END IF
C END WHILE 40
C
IMUK(K) = MUK
INUK(K) = NUK
C
C Now submatrix E(k,k+1) is square.
C
C Consider next submatrix (k:=k-1).
C
ISNUK = ISNUK - NUK
ISMUK = ISMUK - MUK
MUKP1 = MUK
120 CONTINUE
C
C If mu(NBLCKS) = 0, then the last submatrix counted in NBLCKS is
C a 0-by-0 (empty) matrix. This "matrix" must be removed.
C
IF ( IMUK(NBLCKS).EQ.0 ) NBLCKS = NBLCKS - 1
C
C Store dimensions of the pencils s*E(eps)-A(eps) and
C s*E(inf)-A(inf) in array MNEI.
C
MNEI(1) = MEPS
MNEI(2) = NEPS
MNEI(3) = MINF
MNEI(4) = NINF
C
RETURN
C *** Last line of MB04TX ***
END
|
