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* SB10DD EXAMPLE PROGRAM TEXT
*
* .. Parameters ..
INTEGER NIN, NOUT
PARAMETER ( NIN = 5, NOUT = 6 )
INTEGER NMAX, MMAX, PMAX
PARAMETER ( NMAX = 10, MMAX = 10, PMAX = 10 )
INTEGER LDA, LDB, LDC, LDD, LDAK, LDBK, LDCK, LDDK, LDX,
$ LDZ
PARAMETER ( LDA = NMAX, LDB = NMAX, LDC = PMAX, LDD = PMAX,
$ LDAK = NMAX, LDBK = NMAX, LDCK = PMAX,
$ LDDK = PMAX, LDX = NMAX, LDZ = NMAX )
INTEGER LIWORK
PARAMETER ( LIWORK = MAX( 2*MAX( MMAX, NMAX ),
$ MMAX + PMAX, NMAX*NMAX ) )
INTEGER MPMX
PARAMETER ( MPMX = MAX( MMAX, PMAX ) )
INTEGER LDWORK
PARAMETER ( LDWORK =
$ MAX( ( NMAX + MPMX )*( NMAX + MPMX + 6 ),
$ 13*NMAX*NMAX + MMAX*MMAX + 2*MPMX*MPMX +
$ NMAX*( MMAX + MPMX ) +
$ MAX( MMAX*( MMAX + 7*NMAX ),
$ 2*MPMX*( 8*NMAX + MMAX + 2*MPMX ) )
$ + 6*NMAX +
$ MAX( 14*NMAX + 23, 16*NMAX,
$ 2*NMAX + MAX( MMAX, 2*MPMX ),
$ 3*MAX( MMAX, 2*MPMX ) ) ) )
* .. Local Scalars ..
DOUBLE PRECISION GAMMA, TOL
INTEGER I, INFO, J, M, N, NCON, NMEAS, NP
* .. Local Arrays ..
LOGICAL BWORK(2*NMAX)
INTEGER IWORK(LIWORK)
DOUBLE PRECISION A(LDA,NMAX), AK(LDA,NMAX), B(LDB,MMAX),
$ BK(LDBK,PMAX), C(LDC,NMAX), CK(LDCK,NMAX),
$ D(LDD,MMAX), DK(LDDK,PMAX), X(LDX,NMAX),
$ Z(LDZ,NMAX), DWORK(LDWORK), RCOND( 8 )
* .. External Subroutines ..
EXTERNAL SB10DD
* .. 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, NCON, NMEAS
IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
WRITE ( NOUT, FMT = 99990 ) N
ELSE IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
WRITE ( NOUT, FMT = 99989 ) M
ELSE IF ( NP.LT.0 .OR. NP.GT.PMAX ) THEN
WRITE ( NOUT, FMT = 99988 ) NP
ELSE IF ( NCON.LT.0 .OR. NCON.GT.MMAX ) THEN
WRITE ( NOUT, FMT = 99987 ) NCON
ELSE IF ( NMEAS.LT.0 .OR. NMEAS.GT.PMAX ) THEN
WRITE ( NOUT, FMT = 99986 ) NMEAS
ELSE
READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,NP )
READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,NP )
READ ( NIN, FMT = * ) GAMMA, TOL
CALL SB10DD( N, M, NP, NCON, NMEAS, GAMMA, A, LDA, B, LDB,
$ C, LDC, D, LDD, AK, LDAK, BK, LDBK, CK, LDCK,
$ DK, LDDK, X, LDX, Z, LDZ, RCOND, TOL, IWORK,
$ DWORK, LDWORK, BWORK, INFO )
IF ( INFO.EQ.0 ) THEN
WRITE ( NOUT, FMT = 99997 )
DO 10 I = 1, N
WRITE ( NOUT, FMT = 99992 ) ( AK(I,J), J = 1,N )
10 CONTINUE
WRITE ( NOUT, FMT = 99996 )
DO 20 I = 1, N
WRITE ( NOUT, FMT = 99992 ) ( BK(I,J), J = 1,NMEAS )
20 CONTINUE
WRITE ( NOUT, FMT = 99995 )
DO 30 I = 1, NCON
WRITE ( NOUT, FMT = 99992 ) ( CK(I,J), J = 1,N )
30 CONTINUE
WRITE ( NOUT, FMT = 99994 )
DO 40 I = 1, NCON
WRITE ( NOUT, FMT = 99992 ) ( DK(I,J), J = 1,NMEAS )
40 CONTINUE
WRITE( NOUT, FMT = 99993 )
WRITE( NOUT, FMT = 99991 ) ( RCOND(I), I = 1, 8 )
ELSE
WRITE( NOUT, FMT = 99998 ) INFO
END IF
END IF
STOP
*
99999 FORMAT (' SB10DD EXAMPLE PROGRAM RESULTS',/1X)
99998 FORMAT (/' INFO on exit from SB10DD =',I2)
99997 FORMAT (/' The controller state matrix AK is'/)
99996 FORMAT (/' The controller input matrix BK is'/)
99995 FORMAT (/' The controller output matrix CK is'/)
99994 FORMAT (/' The controller matrix DK is'/)
99993 FORMAT (/' The estimated condition numbers are'/)
99992 FORMAT (10(1X,F8.4))
99991 FORMAT ( 5(1X,D12.5))
99990 FORMAT (/' N is out of range.',/' N = ',I5)
99989 FORMAT (/' M is out of range.',/' M = ',I5)
99988 FORMAT (/' NP is out of range.',/' NP = ',I5)
99987 FORMAT (/' NCON is out of range.',/' NCON = ',I5)
99986 FORMAT (/' NMEAS is out of range.',/' NMEAS = ',I5)
END
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