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SUBROUTINE MC01TD( DICO, DP, P, STABLE, NZ, DWORK, IWARN, 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 determine whether or not a given polynomial P(x) with real
C coefficients is stable, either in the continuous-time or discrete-
C time case.
C
C A polynomial is said to be stable in the continuous-time case
C if all its zeros lie in the left half-plane, and stable in the
C discrete-time case if all its zeros lie inside the unit circle.
C
C ARGUMENTS
C
C Mode Parameters
C
C DICO CHARACTER*1
C Indicates whether the stability test to be applied to
C P(x) is in the continuous-time or discrete-time case as
C follows:
C = 'C': Continuous-time case;
C = 'D': Discrete-time case.
C
C Input/Output Parameters
C
C DP (input/output) INTEGER
C On entry, the degree of the polynomial P(x). DP >= 0.
C On exit, if P(DP+1) = 0.0 on entry, then DP contains the
C index of the highest power of x for which P(DP+1) <> 0.0.
C
C P (input) DOUBLE PRECISION array, dimension (DP+1)
C This array must contain the coefficients of P(x) in
C increasing powers of x.
C
C STABLE (output) LOGICAL
C Contains the value .TRUE. if P(x) is stable and the value
C .FALSE. otherwise (see also NUMERICAL ASPECTS).
C
C NZ (output) INTEGER
C If INFO = 0, contains the number of unstable zeros - that
C is, the number of zeros of P(x) in the right half-plane if
C DICO = 'C' or the number of zeros of P(x) outside the unit
C circle if DICO = 'D' (see also NUMERICAL ASPECTS).
C
C Workspace
C
C DWORK DOUBLE PRECISION array, dimension (2*DP+2)
C The leading (DP+1) elements of DWORK contain the Routh
C coefficients, if DICO = 'C', or the constant terms of
C the Schur-Cohn transforms, if DICO = 'D'.
C
C Warning Indicator
C
C IWARN INTEGER
C = 0: no warning;
C = k: if the degree of the polynomial P(x) has been
C reduced to (DB - k) because P(DB+1-j) = 0.0 on entry
C for j = 0, 1,..., k-1 and P(DB+1-k) <> 0.0.
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: if on entry, P(x) is the zero polynomial;
C = 2: if the polynomial P(x) is most probably unstable,
C although it may be stable with one or more zeros
C very close to either the imaginary axis if
C DICO = 'C' or the unit circle if DICO = 'D'.
C The number of unstable zeros (NZ) is not determined.
C
C METHOD
C
C The stability of the real polynomial
C 2 DP
C P(x) = p(0) + p(1) * x + p(2) * x + ... + p(DP) x
C
C is determined as follows.
C
C In the continuous-time case (DICO = 'C') the Routh algorithm
C (see [1]) is used. The routine computes the Routh coefficients and
C if they are non-zero then the number of sign changes in the
C sequence of the coefficients is equal to the number of zeros with
C positive imaginary part.
C
C In the discrete-time case (DICO = 'D') the Schur-Cohn
C algorithm (see [2] and [3]) is applied to the reciprocal
C polynomial
C 2 DP
C Q(x) = p(DP) + p(DP-1) * x + p(DP-2) * x + ... + p(0) x .
C
C The routine computes the constant terms of the Schur transforms
C and if all of them are non-zero then the number of zeros of P(x)
C with modulus greater than unity is obtained from the sequence of
C constant terms.
C
C REFERENCES
C
C [1] Gantmacher, F.R.
C Applications of the Theory of Matrices.
C Interscience Publishers, New York, 1959.
C
C [2] Kucera, V.
C Discrete Linear Control. The Algorithmic Approach.
C John Wiley & Sons, Chichester, 1979.
C
C [3] Henrici, P.
C Applied and Computational Complex Analysis (Vol. 1).
C John Wiley & Sons, New York, 1974.
C
C NUMERICAL ASPECTS
C
C The algorithm used by the routine is numerically stable.
C
C Note that if some of the Routh coefficients (DICO = 'C') or
C some of the constant terms of the Schur-Cohn transforms (DICO =
C 'D') are small relative to EPS (the machine precision), then
C the number of unstable zeros (and hence the value of STABLE) may
C be incorrect.
C
C CONTRIBUTORS
C
C Release 3.0: V. Sima, Katholieke Univ. Leuven, Belgium, Mar. 1997.
C Supersedes Release 2.0 routine MC01HD by F. Delebecque and
C A.J. Geurts.
C
C REVISIONS
C
C -
C
C KEYWORDS
C
C Elementary polynomial operations, polynomial operations,
C stability, stability criteria, zeros.
C
C ******************************************************************
C
C .. Parameters ..
DOUBLE PRECISION ZERO, ONE
PARAMETER ( ZERO = 0.0D0, ONE = 1.0D0 )
C .. Scalar Arguments ..
CHARACTER DICO
LOGICAL STABLE
INTEGER DP, INFO, IWARN, NZ
C .. Array Arguments ..
DOUBLE PRECISION DWORK(*), P(*)
C .. Local Scalars ..
LOGICAL DICOC
INTEGER I, K, K1, K2, SIGNUM
DOUBLE PRECISION ALPHA, P1, PK1
C .. External Functions ..
INTEGER IDAMAX
LOGICAL LSAME
EXTERNAL IDAMAX, LSAME
C .. External Subroutines ..
EXTERNAL DCOPY, DRSCL, XERBLA
C .. Intrinsic Functions ..
INTRINSIC SIGN
C .. Executable Statements ..
C
IWARN = 0
INFO = 0
DICOC = LSAME( DICO, 'C' )
C
C Test the input scalar arguments.
C
IF( .NOT.DICOC .AND. .NOT.LSAME( DICO, 'D' ) ) THEN
INFO = -1
ELSE IF( DP.LT.0 ) THEN
INFO = -2
END IF
C
IF ( INFO.NE.0 ) THEN
C
C Error return.
C
CALL XERBLA( 'MC01TD', -INFO )
RETURN
END IF
C
C WHILE (DP >= 0 and P(DP+1) = 0 ) DO
20 IF ( DP.GE.0 ) THEN
IF ( P(DP+1).EQ.ZERO ) THEN
DP = DP - 1
IWARN = IWARN + 1
GO TO 20
END IF
END IF
C END WHILE 20
C
IF ( DP.EQ.-1 ) THEN
INFO = 1
RETURN
END IF
C
C P(x) is not the zero polynomial and its degree is exactly DP.
C
IF ( DICOC ) THEN
C
C Continuous-time case.
C
C Compute the Routh coefficients and the number of sign changes.
C
CALL DCOPY( DP+1, P, 1, DWORK, 1 )
NZ = 0
K = DP
C WHILE ( K > 0 and DWORK(K) non-zero) DO
40 IF ( K.GT.0 ) THEN
IF ( DWORK(K).EQ.ZERO ) THEN
INFO = 2
ELSE
ALPHA = DWORK(K+1)/DWORK(K)
IF ( ALPHA.LT.ZERO ) NZ = NZ + 1
K = K - 1
C
DO 60 I = K, 2, -2
DWORK(I) = DWORK(I) - ALPHA*DWORK(I-1)
60 CONTINUE
C
GO TO 40
END IF
END IF
C END WHILE 40
ELSE
C
C Discrete-time case.
C
C To apply [3], section 6.8, on the reciprocal of polynomial
C P(x) the elements of the array P are copied in DWORK in
C reverse order.
C
CALL DCOPY( DP+1, P, 1, DWORK, -1 )
C K-1
C DWORK(K),...,DWORK(DP+1), are the coefficients of T P(x)
C scaled with a factor alpha(K) in order to avoid over- or
C underflow,
C i-1
C DWORK(i), i = 1,...,K, contains alpha(i) * T P(0).
C
SIGNUM = ONE
NZ = 0
K = 1
C WHILE ( K <= DP and DWORK(K) non-zero ) DO
80 IF ( ( K.LE.DP ) .AND. ( INFO.EQ.0 ) ) THEN
C K
C Compute the coefficients of T P(x).
C
K1 = DP - K + 2
K2 = DP + 2
ALPHA = DWORK(K-1+IDAMAX( K1, DWORK(K), 1 ))
IF ( ALPHA.EQ.ZERO ) THEN
INFO = 2
ELSE
CALL DCOPY( K1, DWORK(K), 1, DWORK(K2), 1 )
CALL DRSCL( K1, ALPHA, DWORK(K2), 1 )
P1 = DWORK(K2)
PK1 = DWORK(K2+K1-1)
C
DO 100 I = 1, K1 - 1
DWORK(K+I) = P1*DWORK(DP+1+I) - PK1*DWORK(K2+K1-I)
100 CONTINUE
C
C Compute the number of unstable zeros.
C
K = K + 1
IF ( DWORK(K).EQ.ZERO ) THEN
INFO = 2
ELSE
SIGNUM = SIGNUM*SIGN( ONE, DWORK(K) )
IF ( SIGNUM.LT.ZERO ) NZ = NZ + 1
END IF
GO TO 80
END IF
C END WHILE 80
END IF
END IF
C
IF ( ( INFO.EQ.0 ) .AND. ( NZ.EQ.0 ) ) THEN
STABLE = .TRUE.
ELSE
STABLE = .FALSE.
END IF
C
RETURN
C *** Last line of MC01TD ***
END
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