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* SB01BD EXAMPLE PROGRAM TEXT
*
* .. Parameters ..
INTEGER NIN, NOUT
PARAMETER ( NIN = 5, NOUT = 6 )
INTEGER NMAX, MMAX
PARAMETER ( NMAX = 20, MMAX = 20 )
INTEGER LDA, LDB, LDF, LDZ
PARAMETER ( LDA = NMAX, LDB = NMAX, LDF = MMAX,
$ LDZ = NMAX )
INTEGER LDWORK
PARAMETER ( LDWORK = MAX( 5*MMAX,5*NMAX,2*NMAX+4*MMAX ) )
DOUBLE PRECISION ZERO, ONE
PARAMETER ( ZERO = 0.0D0, ONE = 1.0D0 )
* .. Local Scalars ..
DOUBLE PRECISION ALPHA, ANORM, NRM, TOL
INTEGER I, INFO, IWARN, J, M, N, NAP, NFP, NP, NUP
CHARACTER*1 DICO
* .. Local Arrays ..
DOUBLE PRECISION A(LDA,NMAX), AIN(LDA,NMAX), B(LDB,MMAX),
$ DWORK(LDWORK), F(LDF,NMAX), WI(NMAX), WR(NMAX),
$ Z(LDZ,NMAX), ZTA(LDZ,NMAX)
C .. External Functions ..
LOGICAL LSAME
DOUBLE PRECISION DLAMCH, DLANGE
EXTERNAL DLAMCH, DLANGE, LSAME
* .. External Subroutines ..
EXTERNAL DGEMM, DLACPY, MB03QX, SB01BD
* .. Intrinsic Functions ..
INTRINSIC MAX
* .. 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, NP, ALPHA, TOL, DICO
IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
WRITE ( NOUT, FMT = 99994 ) 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 = 99993 ) M
ELSE
READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
IF( NP.LT.0 .OR. NP.GT.NMAX ) THEN
WRITE ( NOUT, FMT = 99992 ) NP
ELSE
DO 10 I = 1, NP
READ ( NIN, FMT = * ) WR(I), WI(I)
10 CONTINUE
* Perform "eigenvalue assignment" to compute F.
CALL DLACPY( 'G', N, N, A, LDA, AIN, LDA )
CALL SB01BD( DICO, N, M, NP, ALPHA, A, LDA, B, LDB,
$ WR, WI, NFP, NAP, NUP, F, LDF, Z, LDZ,
$ TOL, DWORK, LDWORK, IWARN, INFO )
*
IF ( INFO.NE.0 .AND. INFO.LT.3 ) THEN
WRITE ( NOUT, FMT = 99997 ) INFO
ELSE
IF ( INFO .NE. 0 ) WRITE ( NOUT, FMT = 99997 ) INFO
IF ( IWARN .NE. 0 ) WRITE ( NOUT, FMT = 99991 ) IWARN
WRITE ( NOUT, FMT = 99990 ) NAP
WRITE ( NOUT, FMT = 99989 ) NFP
WRITE ( NOUT, FMT = 99988 ) NUP
WRITE ( NOUT, FMT = 99996 )
DO 60 I = 1, M
WRITE ( NOUT, FMT = 99995 ) ( F(I,J), J = 1,N )
60 CONTINUE
CALL MB03QX( N, A, LDA, WR, WI, INFO )
WRITE ( NOUT, FMT = 99998 ) ( WR(I), WI(I), I = 1,N )
* Compute NORM (Z*Aout*Z'-(A+B*F)) / (eps*NORM(A))
ANORM = DLANGE( 'F', N, N, AIN, LDA, DWORK )
CALL DGEMM( 'N', 'N', N, N, M, ONE, B, LDB, F, LDF,
$ ONE, AIN, LDA )
CALL DGEMM( 'N', 'N', N, N, N, ONE, Z, LDZ, A, LDA,
$ ZERO, ZTA, LDZ )
CALL DGEMM( 'N', 'T', N, N, N, ONE, ZTA, LDZ, Z, LDZ,
$ -ONE, AIN, LDA )
NRM = DLANGE( 'F', N, N, AIN, LDA, DWORK ) /
$ ( DLAMCH( 'E' )*ANORM )
WRITE ( NOUT, FMT = 99987 ) NRM
END IF
END IF
END IF
END IF
STOP
*
99999 FORMAT (' SB01BD EXAMPLE PROGRAM RESULTS',/1X)
99998 FORMAT (/,' The eigenvalues of closed-loop matrix A+B*F',/
$ ( ' ( ',F8.4,',',F8.4,' )' ) )
99997 FORMAT (' INFO on exit from SB01BD = ',I2)
99996 FORMAT (/,' The state feedback matrix F is ')
99995 FORMAT (20(1X,F8.4))
99994 FORMAT (/' N is out of range.',/' N = ',I5)
99993 FORMAT (/' M is out of range.',/' M = ',I5)
99992 FORMAT (/' NP is out of range.',/' NP = ',I5)
99991 FORMAT (/' IWARN on exit from SB01BD = ', I2)
99990 FORMAT ( ' Number of assigned eigenvalues: NAP = ', I2 )
99989 FORMAT ( ' Number of fixed eigenvalues: NFP = ', I2)
99988 FORMAT ( ' Number of uncontrollable poles: NUP = ', I2)
99987 FORMAT (/,' NORM(A+B*F - Z*Aout*Z'') / (eps*NORM(A)) =',1PD12.5)
END
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