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SUBROUTINE TD03AY( MWORK, PWORK, INDEX, DCOEFF, LDDCOE, UCOEFF,
$ LDUCO1, LDUCO2, N, A, LDA, B, LDB, C, LDC, D,
$ LDD, 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 Calculates a state-space representation for a (PWORK x MWORK)
C transfer matrix given in the form of polynomial row vectors over
C common denominators (not necessarily lcd's). Such a description
C is simply the polynomial matrix representation
C
C T(s) = inv(D(s)) * U(s),
C
C where D(s) is diagonal with (I,I)-th element D:I(s) of degree
C INDEX(I); applying Wolovich's Observable Structure Theorem to
C this left matrix fraction then yields an equivalent state-space
C representation in observable companion form, of order
C N = sum(INDEX(I)). As D(s) is diagonal, the PWORK ordered
C 'non-trivial' columns of C and A are very simply calculated, these
C submatrices being diagonal and (INDEX(I) x 1) - block diagonal,
C respectively: finding B and D is also somewhat simpler than for
C general P(s) as dealt with in TC04AD. Finally, the state-space
C representation obtained here is not necessarily controllable
C (as D(s) and U(s) are not necessarily relatively left prime), but
C it is theoretically completely observable: however, its
C observability matrix may be poorly conditioned, so it is safer
C not to assume observability either.
C
C REVISIONS
C
C May 13, 1998.
C
C KEYWORDS
C
C Coprime matrix fraction, elementary polynomial operations,
C polynomial matrix, state-space representation, transfer matrix.
C
C ******************************************************************
C
DOUBLE PRECISION ZERO, ONE
PARAMETER ( ZERO = 0.0D0, ONE = 1.0D0 )
C .. Scalar Arguments ..
INTEGER INFO, LDA, LDB, LDC, LDD, LDDCOE, LDUCO1,
$ LDUCO2, MWORK, N, PWORK
C .. Array Arguments ..
INTEGER INDEX(*)
DOUBLE PRECISION A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
$ DCOEFF(LDDCOE,*), UCOEFF(LDUCO1,LDUCO2,*)
C .. Local Scalars ..
INTEGER I, IA, IBIAS, INDCUR, JA, JMAX1, K
DOUBLE PRECISION ABSDIA, ABSDMX, BIGNUM, DIAG, SMLNUM, UMAX1,
$ TEMP
C .. External Functions ..
INTEGER IDAMAX
DOUBLE PRECISION DLAMCH
EXTERNAL DLAMCH, IDAMAX
C .. External Subroutines ..
EXTERNAL DAXPY, DCOPY, DLASET, DSCAL
C .. Intrinsic Functions ..
INTRINSIC ABS
C .. Executable Statements ..
C
INFO = 0
C
C Initialize A and C to be zero, apart from 1's on the subdiagonal
C of A.
C
CALL DLASET( 'Upper', N, N, ZERO, ZERO, A, LDA )
IF ( N.GT.1 ) CALL DLASET( 'Lower', N-1, N-1, ZERO, ONE, A(2,1),
$ LDA )
C
CALL DLASET( 'Full', PWORK, N, ZERO, ZERO, C, LDC )
C
C Calculate B and D, as well as 'non-trivial' elements of A and C.
C Check if any leading coefficient of D(s) nearly zero: if so, exit.
C Caution is taken to avoid overflow.
C
SMLNUM = DLAMCH( 'Safe minimum' ) / DLAMCH( 'Precision' )
BIGNUM = ONE / SMLNUM
C
IBIAS = 2
JA = 0
C
DO 20 I = 1, PWORK
ABSDIA = ABS( DCOEFF(I,1) )
JMAX1 = IDAMAX( MWORK, UCOEFF(I,1,1), LDUCO1 )
UMAX1 = ABS( UCOEFF(I,JMAX1,1) )
IF ( ( ABSDIA.LT.SMLNUM ) .OR.
$ ( ABSDIA.LT.ONE .AND. UMAX1.GT.ABSDIA*BIGNUM ) ) THEN
C
C Error return.
C
INFO = I
RETURN
END IF
DIAG = ONE/DCOEFF(I,1)
INDCUR = INDEX(I)
IF ( INDCUR.NE.0 ) THEN
IBIAS = IBIAS + INDCUR
JA = JA + INDCUR
IF ( INDCUR.GE.1 ) THEN
JMAX1 = IDAMAX( INDCUR, DCOEFF(I,2), LDDCOE )
ABSDMX = ABS( DCOEFF(I,JMAX1) )
IF ( ABSDIA.GE.ONE ) THEN
IF ( UMAX1.GT.ONE ) THEN
IF ( ( ABSDMX/ABSDIA ).GT.( BIGNUM/UMAX1 ) ) THEN
C
C Error return.
C
INFO = I
RETURN
END IF
END IF
ELSE
IF ( UMAX1.GT.ONE ) THEN
IF ( ABSDMX.GT.( BIGNUM*ABSDIA )/UMAX1 ) THEN
C
C Error return.
C
INFO = I
RETURN
END IF
END IF
END IF
END IF
C
C I-th 'non-trivial' sub-vector of A given from coefficients
C of D:I(s), while I-th row block of B given from this and
C row I of U(s).
C
DO 10 K = 2, INDCUR + 1
IA = IBIAS - K
TEMP = -DIAG*DCOEFF(I,K)
A(IA,JA) = TEMP
C
CALL DCOPY( MWORK, UCOEFF(I,1,K), LDUCO1, B(IA,1), LDB )
CALL DAXPY( MWORK, TEMP, UCOEFF(I,1,1), LDUCO1, B(IA,1),
$ LDB )
10 CONTINUE
C
IF ( JA.LT.N ) A(JA+1,JA) = ZERO
C
C Finally, I-th 'non-trivial' entry of C and row of D obtained
C also.
C
C(I,JA) = DIAG
END IF
C
CALL DCOPY( MWORK, UCOEFF(I,1,1), LDUCO1, D(I,1), LDD )
CALL DSCAL( MWORK, DIAG, D(I,1), LDD )
20 CONTINUE
C
RETURN
C *** Last line of TD03AY ***
END
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