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function [y,xf]=flts(u,sl,x0)
// Copyright INRIA
[lhs,rhs]=argn(0)
if type(u)<>1 then error(53,1),end
if rhs<=1 then error(39),end
[nu,mu]=size(u)
if type(sl)<>16 then error(97,2),end
flag=sl(1);
select flag(1)
case 'lss' then
if rhs==2 then x0=sl(6),end
[nb,mb]=size(sl(3))
if mb<>nu then
error(60),
end;
select sl(7)
case 'c' then error(94,2),
end;
np=maxi(degree(sl(5)))
[xf,x]=ltitr(sl(2),sl(3),u(:,1:(mu-np)),x0)
if type(sl(5))==1 then
y=sl(4)*x+sl(5)*u
else
y=sl(4)*x+rtitr(sl(5),eye(sl(5)),u)
end
case 'r' then
if lhs>1 then error('flts: invalid lhs'),end
[num,den]=sl(['num','den']);[ns,ne]=size(num)
select sl('dt')
case 'c' then error(94,2),
end;
if ne<>nu then error(60), end;
for l=1:1:ns,
pp=den(l,1);
for k=2:ne,[pg,uu]=bezout(pp,den(l,k)),pp=pp*uu(1,2),end
nden(l)=pp
for k=1:ne,nnum(l,k)=num(l,k)*pdiv(pp,den(l,k)),end,
end;
for l=1:ns, nm(l)=degree(nden(l))-maxi(degree(nnum(l,:))),end
ly=mu+mini(nm)
if rhs==3 then
[mx,nx]=size(x0);maxdgd=maxi(degree(nden))
if nx<maxdgd then
error('AT LEAST '+string(maxdgd)+' PAST VALUES!')
end;
if mx<>ns+ne then error(60),end
end;
y=0*ones(ns,ly);
for l=1:ns
ddl=degree(nden(l))
dnl=maxi(degree(nnum(l,:)))
lent=ly-ddl+dnl
select rhs
case 2 then yl=rtitr(nnum(l,:),nden(l),u(:,1:lent));
[nn,mm]=size(yl);
y(l,1:mm)=yl;
// y=y(:,1:lent);
case 3 then
up=x0(1:ne,maxdgd-ddl+1:maxdgd);
yp=x0(ne+l,maxdgd-ddl+1:maxdgd);
y(l,:)=rtitr(nnum(l,:),nden(l),u(:,1:lent),up,yp);
end;
end,
l=size(y,2);
y=y(:,1:min(mu,l));
else error(97,2)
end;
endfunction
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