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subroutine rslti(t,x,nx,z,nz,u,nu,rpar,nrpar,ipar,nipar,nclock,
& out,nout,flag)
double precision t,x(*),u(*),rpar(*),out(*),z(*)
integer ipar(*),flag,nclock
c
c ipar(1)=number of inputs
c first ipar(1) inputs are normal inputs
c the rest are used to reset the internal states
c rpar(1:nx*nx)=A
c rpar(nx*nx+1:nx*nx+nx*ipar(1))=B
c rpar(nx*nx+nx*ipar(1)+1:nx*nx+nx*ipar(1)+nx*ny)=C
c rpar(nx*nx+nx*ipar(1)+nx*ny+1:nx*nx+nx*ipar(1)+nx*ny+ny*ipar(1))=D
c
integer i
c
common /dbcos/ idb
c
if(idb.eq.1) then
write(6,'(''rslti t='',e10.3,'' flag='',i1)') t,flag
endif
la=1
lb=nx*nx+la
lc=lb+nx*ipar(1)
goto(10,20) flag
return
10 continue
c out=c*x+d*u
ld=lc+nx*nout
call dmmul(rpar(lc),nout,x,nx,out,nout,nout,nx,1)
call dmmul1(rpar(ld),nout,u,ipar(1),out,nout,nout,ipar(1),1)
return
c
20 continue
c
if (nclock.gt.0)then
c Resets states
do 25 i=1,nx
out(i)=u(i+ipar(1)+(nclock-1)*nx)
25 continue
else
c out=a*x+b*u
call dmmul(rpar(la),nx,x,nx,out,nx,nx,nx,1)
call dmmul1(rpar(lb),nx,u,ipar(1),out,nx,nx,ipar(1),1)
endif
return
end
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