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subroutine csslti(flag,nevprt,t,xd,x,nx,z,nz,tvec,ntvec,
& rpar,nrpar,ipar,nipar,u,nu,y,ny)
c Copyright INRIA
c Scicos block simulator
c continuous state space linear system simulator
c rpar(1:nx*nx)=A
c rpar(nx*nx+1:nx*nx+nx*nu)=B
c rpar(nx*nx+nx*nu+1:nx*nx+nx*nu+nx*ny)=C
c rpar(nx*nx+nx*nu+nx*ny+1:nx*nx+nx*nu+nx*ny+ny*nu)=D
c
double precision t,xd(*),x(*),z(*),tvec(*),rpar(*),u(*),y(*)
integer flag,nevprt,nx,nz,ntvec,nrpar,ipar(*)
integer nipar,nu,ny
c
common /dbcos/ idb
c
if(idb.eq.1) then
write(6,'(''Csslti t='',e10.3,'' flag='',i1)') t,flag
endif
la=1
lb=nx*nx+la
lc=lb+nx*nu
if(flag.eq.1.or.flag.eq.6) then
c y=c*x+d*u
ld=lc+nx*ny
call dmmul(rpar(lc),ny,x,nx,y,ny,ny,nx,1)
call dmmul1(rpar(ld),ny,u,nu,y,ny,ny,nu,1)
c if(t.gt.64.0) write(6,'(e15.8,10(e10.3,x))') t,x(1),x(2),
c $ u(1),y(1)
elseif(flag.eq.0) then
c xd=a*x+b*u
call dmmul(rpar(la),nx,x,nx,xd,nx,nx,nx,1)
call dmmul1(rpar(lb),nx,u,nu,xd,nx,nx,nu,1)
c if(t.gt.64.0) write(6,'(e15.8,10(e10.3,x))') t,x(1),x(2),
c $ xd(1),xd(2),u(1)
endif
return
end
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