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SUBROUTINE TB01VY( APPLY, N, M, L, THETA, LTHETA, A, LDA, B, LDB,
$ C, LDC, D, LDD, X0, DWORK, LDWORK, 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 convert the linear discrete-time system given as its output
C normal form [1], with parameter vector THETA, into the state-space
C representation (A, B, C, D), with the initial state x0.
C
C ARGUMENTS
C
C Mode Parameters
C
C APPLY CHARACTER*1
C Specifies whether or not the parameter vector should be
C transformed using a bijective mapping, as follows:
C = 'A' : apply the bijective mapping to the N vectors in
C THETA corresponding to the matrices A and C;
C = 'N' : do not apply the bijective mapping.
C The transformation performed when APPLY = 'A' allows
C to get rid of the constraints norm(THETAi) < 1, i = 1:N.
C A call of the SLICOT Library routine TB01VD associated to
C a call of TB01VY must use the same value of APPLY.
C
C Input/Output Parameters
C
C N (input) INTEGER
C The order of the system. N >= 0.
C
C M (input) INTEGER
C The number of system inputs. M >= 0.
C
C L (input) INTEGER
C The number of system outputs. L >= 0.
C
C THETA (input) DOUBLE PRECISION array, dimension (LTHETA)
C The leading N*(L+M+1)+L*M part of this array must contain
C the parameter vector that defines a system (A, B, C, D),
C with the initial state x0. The parameters are:
C
C THETA(1:N*L) : parameters for A, C;
C THETA(N*L+1:N*(L+M)) : parameters for B;
C THETA(N*(L+M)+1:N*(L+M)+L*M) : parameters for D;
C THETA(N*(L+M)+L*M+1:N*(L+M+1)+L*M): parameters for x0.
C
C LTHETA INTEGER
C The length of array THETA. LTHETA >= N*(L+M+1)+L*M.
C
C A (output) DOUBLE PRECISION array, dimension (LDA,N)
C The leading N-by-N part of this array contains the system
C state matrix corresponding to the output normal form with
C parameter vector THETA.
C
C LDA INTEGER
C The leading dimension of array A. LDA >= MAX(1,N).
C
C B (output) DOUBLE PRECISION array, dimension (LDB,M)
C The leading N-by-M part of this array contains the system
C input matrix corresponding to the output normal form with
C parameter vector THETA.
C
C LDB INTEGER
C The leading dimension of array B. LDB >= MAX(1,N).
C
C C (output) DOUBLE PRECISION array, dimension (LDC,N)
C The leading L-by-N part of this array contains the system
C output matrix corresponding to the output normal form with
C parameter vector THETA.
C
C LDC INTEGER
C The leading dimension of array C. LDC >= MAX(1,L).
C
C D (output) DOUBLE PRECISION array, dimension (LDD,M)
C The leading L-by-M part of this array contains the system
C input/output matrix corresponding to the output normal
C form with parameter vector THETA.
C
C LDD INTEGER
C The leading dimension of array D. LDD >= MAX(1,L).
C
C X0 (output) DOUBLE PRECISION array, dimension (N)
C This array contains the initial state of the system, x0,
C corresponding to the output normal form with parameter
C vector THETA.
C
C Workspace
C
C DWORK DOUBLE PRECISION array, dimension (LDWORK)
C
C LDWORK INTEGER
C The length of the array DWORK.
C LDWORK >= N*(N+L+1).
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
C METHOD
C
C The parameters characterizing A and C are used to build N
C orthogonal transformations, which are then applied to recover
C these matrices.
C
C CONTRIBUTORS
C
C A. Riedel, R. Schneider, Chemnitz University of Technology,
C Oct. 2000, during a stay at University of Twente, NL.
C
C REVISIONS
C
C V. Sima, Research Institute for Informatics, Bucharest, Mar. 2001,
C Feb. 2002, Feb. 2004.
C
C KEYWORDS
C
C Asymptotically stable, output normal form, parameter estimation,
C similarity transformation.
C
C ******************************************************************
C
C .. Parameters ..
DOUBLE PRECISION ZERO, ONE, HALF
PARAMETER ( ZERO = 0.0D0, ONE = 1.0D0, HALF = 0.5D0 )
C .. Scalar Arguments ..
CHARACTER APPLY
INTEGER INFO, L, LDA, LDB, LDC, LDD, LDWORK, LTHETA, M,
$ N
C .. Array Arguments ..
DOUBLE PRECISION A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
$ DWORK(*), THETA(*), X0(*)
C .. Local Scalars ..
DOUBLE PRECISION FACTOR, RI, TI, TOBYPI
INTEGER CA, JWORK, I, IN, J, K, LDCA
LOGICAL LAPPLY
C .. External Functions ..
EXTERNAL DNRM2, LSAME
DOUBLE PRECISION DNRM2
LOGICAL LSAME
C .. External Subroutines ..
EXTERNAL DAXPY, DCOPY, DGEMV, DGER, DLACPY, DSCAL,
$ XERBLA
C .. Intrinsic Functions ..
INTRINSIC ATAN, MAX, SQRT
C ..
C .. Executable Statements ..
C
C Check the scalar input parameters.
C
LAPPLY = LSAME( APPLY, 'A' )
C
INFO = 0
IF ( .NOT.( LAPPLY .OR. LSAME( APPLY, 'N' ) ) ) THEN
INFO = -1
ELSEIF ( N.LT.0 ) THEN
INFO = -2
ELSEIF ( M.LT.0 ) THEN
INFO = -3
ELSEIF ( L.LT.0 ) THEN
INFO = -4
ELSEIF ( LTHETA.LT.( N*( L + M + 1 ) + L*M ) ) THEN
INFO = -6
ELSEIF ( LDA.LT.MAX( 1, N ) ) THEN
INFO = -8
ELSEIF ( LDB.LT.MAX( 1, N ) ) THEN
INFO = -10
ELSEIF ( LDC.LT.MAX( 1, L ) ) THEN
INFO = -12
ELSEIF ( LDD.LT.MAX( 1, L ) ) THEN
INFO = -14
ELSEIF ( LDWORK.LT.N*( N + L + 1 ) ) THEN
INFO = -17
ENDIF
C
C Return if there are illegal arguments.
C
IF( INFO.NE.0 ) THEN
CALL XERBLA( 'TB01VY', -INFO )
RETURN
ENDIF
C
C Quick return if possible.
C
IF ( MAX( N, M, L ).EQ.0 )
$ RETURN
C
IF ( M.GT.0 ) THEN
C
C Copy the matrix B from THETA.
C
CALL DLACPY( 'Full', N, M, THETA(N*L+1), N, B, LDB )
C
C Copy the matrix D.
C
CALL DLACPY( 'Full', L, M, THETA(N*(L+M)+1), L, D, LDD )
ENDIF
C
IF ( N.EQ.0 ) THEN
RETURN
ELSE IF ( L.EQ.0 ) THEN
CALL DCOPY( N, THETA(N*M+1), 1, X0, 1 )
RETURN
END IF
C
C Initialize the indices in the workspace.
C
LDCA = N + L
C
CA = 1
C
JWORK = CA + N*LDCA
TOBYPI = HALF/ATAN( ONE )
C
C Generate the matrices C and A from their parameters.
C Start with the block matrix [0; I], where 0 is a block of zeros
C of size L-by-N, and I is the identity matrix of order N.
C
DWORK(CA) = ZERO
CALL DCOPY( N*(L+N), DWORK(CA), 0, DWORK(CA), 1 )
DWORK(CA+L) = ONE
CALL DCOPY( N, DWORK(CA+L), 0, DWORK(CA+L), LDCA+1 )
C
C Now, read out THETA(1 : N*L) and perform the transformations
C defined by the parameters in THETA.
C
DO 30 I = N, 1, -1
C
C Save THETAi in the first column of C and use the copy for
C further processing.
C
CALL DCOPY( L, THETA((I-1)*L+1), 1, C, 1 )
TI = DNRM2( L, C, 1 )
IF ( LAPPLY .AND. TI.NE.ZERO ) THEN
C
C Apply the bijective mapping which guarantees that TI < 1.
C
FACTOR = TOBYPI*ATAN( TI )/TI
C
C Scale THETAi and apply the same scaling on TI.
C
CALL DSCAL( L, FACTOR, C, 1 )
TI = TI*FACTOR
END IF
C
C RI = sqrt( 1 - TI**2 ).
C
RI = SQRT( ( ONE - TI )*( ONE + TI ) )
C
C Multiply a certain part of DWORK(CA) with Ui' from the left,
C where Ui = [ -THETAi, Si; RI, THETAi' ] is (L+1)-by-(L+1), but
C Ui is not stored.
C
CALL DGEMV( 'Transpose', L, N, -ONE, DWORK(CA+N-I), LDCA, C, 1,
$ ZERO, DWORK(JWORK), 1 )
C
IF ( TI.GT.ZERO ) THEN
CALL DGER( L, N, (ONE-RI)/TI/TI, C, 1, DWORK(JWORK), 1,
$ DWORK(CA+N-I), LDCA )
ELSE
C
C The call below is for the limiting case.
C
CALL DGER( L, N, HALF, C, 1, DWORK(JWORK), 1,
$ DWORK(CA+N-I), LDCA )
ENDIF
C
CALL DGER( L, N, ONE, C, 1, DWORK(CA+N-I+L), LDCA,
$ DWORK(CA+N-I), LDCA )
CALL DAXPY( N, RI, DWORK(CA+N-I+L), LDCA, DWORK(JWORK), 1 )
C
C Move these results to their appropriate locations.
C
DO 20 J = 1, N
IN = CA + N - I + ( J - 1 )*LDCA
DO 10 K = IN + L, IN + 1, -1
DWORK(K) = DWORK(K-1)
10 CONTINUE
DWORK(IN) = DWORK(JWORK+J-1)
20 CONTINUE
C
30 CONTINUE
C
C Now, DWORK(CA) = [C; A]. Copy to C and A.
C
DO 40 I = 1, N
CALL DCOPY( L, DWORK(CA+(I-1)*LDCA), 1, C(1,I), 1 )
CALL DCOPY( N, DWORK(CA+L+(I-1)*LDCA), 1, A(1,I), 1 )
40 CONTINUE
C
C Copy the initial state x0.
C
CALL DCOPY( N, THETA(N*(L+M)+L*M+1), 1, X0, 1 )
C
RETURN
C
C *** Last line of TB01VY ***
END
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