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* SB16CD EXAMPLE PROGRAM TEXT
* Copyright (c) 2002-2010 NICONET e.V.
*
* .. Parameters ..
INTEGER NIN, NOUT
PARAMETER ( NIN = 5, NOUT = 6 )
INTEGER NMAX, MMAX, PMAX
PARAMETER ( NMAX = 20, MMAX = 20, PMAX = 20 )
INTEGER LDA, LDB, LDC, LDD, LDDC, LDF, LDG
PARAMETER ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
$ LDD = PMAX, LDDC = MMAX, LDF = MMAX, LDG = NMAX )
INTEGER LDWORK, LIWORK, MPMAX
PARAMETER ( LIWORK = 2*NMAX, MPMAX = MAX( MMAX, PMAX ) )
PARAMETER ( LDWORK = 2*NMAX*NMAX +
$ MAX( 2*NMAX*NMAX + 5*NMAX,
$ NMAX*( NMAX + MAX( NMAX, MPMAX )
$ + MIN( NMAX, MPMAX ) + 6 ) )
$ )
CHARACTER DICO, JOBCF, JOBD, JOBMR, ORDSEL
INTEGER I, INFO, IWARN, J, M, N, NCR, P
DOUBLE PRECISION TOL
* .. Local Arrays ..
DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
$ D(LDD,MMAX), DWORK(LDWORK),
$ F(LDF,NMAX), G(LDG,PMAX), HSV(NMAX)
INTEGER IWORK(LIWORK)
* .. External Subroutines ..
EXTERNAL SB16CD
* .. Intrinsic Functions ..
INTRINSIC MAX, MIN
* .. Executable Statements ..
*
WRITE ( NOUT, FMT = 99999 )
* Skip the heading in the data file and read the data.
READ ( NIN, FMT = '()' )
READ ( NIN, FMT = * ) N, M, P, NCR, TOL,
$ DICO, JOBD, JOBMR, JOBCF, ORDSEL
IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
WRITE ( NOUT, FMT = 99990 ) N
ELSE
READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
WRITE ( NOUT, FMT = 99989 ) M
ELSE
READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1, N )
IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
WRITE ( NOUT, FMT = 99988 ) P
ELSE
READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,P )
READ ( NIN, FMT = * ) ( ( F(I,J), J = 1,N ), I = 1,M )
READ ( NIN, FMT = * ) ( ( G(I,J), J = 1,P ), I = 1,N )
* Find a reduced ssr for (A,B,C,D).
CALL SB16CD( DICO, JOBD, JOBMR, JOBCF, ORDSEL, N, M, P,
$ NCR, A, LDA, B, LDB, C, LDC, D, LDD, F, LDF,
$ G, LDG, HSV, TOL, IWORK, DWORK, LDWORK,
$ IWARN, INFO )
*
IF ( INFO.NE.0 ) THEN
WRITE ( NOUT, FMT = 99998 ) INFO
ELSE
WRITE ( NOUT, FMT = 99997 ) NCR
WRITE ( NOUT, FMT = 99987 )
WRITE ( NOUT, FMT = 99995 ) ( HSV(J), J = 1,N )
IF( NCR.GT.0 ) WRITE ( NOUT, FMT = 99996 )
DO 20 I = 1, NCR
WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,NCR )
20 CONTINUE
IF( NCR.GT.0 ) WRITE ( NOUT, FMT = 99993 )
DO 40 I = 1, NCR
WRITE ( NOUT, FMT = 99995 ) ( G(I,J), J = 1,P )
40 CONTINUE
IF( NCR.GT.0 ) WRITE ( NOUT, FMT = 99992 )
DO 60 I = 1, M
WRITE ( NOUT, FMT = 99995 ) ( F(I,J), J = 1,NCR )
60 CONTINUE
END IF
END IF
END IF
END IF
STOP
*
99999 FORMAT (' SB16CD EXAMPLE PROGRAM RESULTS',/1X)
99998 FORMAT (' INFO on exit from SB16CD = ',I2)
99997 FORMAT (' The order of reduced controller = ',I2)
99996 FORMAT (/' The reduced controller state dynamics matrix Ac is ')
99995 FORMAT (20(1X,F8.4))
99993 FORMAT (/' The reduced controller input/state matrix Bc is ')
99992 FORMAT (/' The reduced controller state/output matrix Cc is ')
99990 FORMAT (/' N is out of range.',/' N = ',I5)
99989 FORMAT (/' M is out of range.',/' M = ',I5)
99988 FORMAT (/' P is out of range.',/' P = ',I5)
99987 FORMAT (/' The frequency-weighted Hankel singular values are:')
END
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