1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
|
<HTML>
<HEAD><TITLE>AB01OD - SLICOT Library Routine Documentation</TITLE>
</HEAD>
<BODY>
<H2><A Name="AB01OD">AB01OD</A></H2>
<H3>
Staircase form for multi-input systems using orthogonal state and input transformations
</H3>
<A HREF ="#Specification"><B>[Specification]</B></A>
<A HREF ="#Arguments"><B>[Arguments]</B></A>
<A HREF ="#Method"><B>[Method]</B></A>
<A HREF ="#References"><B>[References]</B></A>
<A HREF ="#Comments"><B>[Comments]</B></A>
<A HREF ="#Example"><B>[Example]</B></A>
<P>
<B><FONT SIZE="+1">Purpose</FONT></B>
<PRE>
To reduce the matrices A and B using (and optionally accumulating)
state-space and input-space transformations U and V respectively,
such that the pair of matrices
Ac = U' * A * U, Bc = U' * B * V
are in upper "staircase" form. Specifically,
[ Acont * ] [ Bcont ]
Ac = [ ], Bc = [ ],
[ 0 Auncont ] [ 0 ]
and
[ A11 A12 . . . A1,p-1 A1p ] [ B1 ]
[ A21 A22 . . . A2,p-1 A2p ] [ 0 ]
[ 0 A32 . . . A3,p-1 A3p ] [ 0 ]
Acont = [ . . . . . . . ], Bc = [ . ],
[ . . . . . . ] [ . ]
[ . . . . . ] [ . ]
[ 0 0 . . . Ap,p-1 App ] [ 0 ]
where the blocks B1, A21, ..., Ap,p-1 have full row ranks and
p is the controllability index of the pair. The size of the
block Auncont is equal to the dimension of the uncontrollable
subspace of the pair (A, B). The first stage of the reduction,
the "forward" stage, accomplishes the reduction to the orthogonal
canonical form (see SLICOT library routine AB01ND). The blocks
B1, A21, ..., Ap,p-1 are further reduced in a second, "backward"
stage to upper triangular form using RQ factorization. Each of
these stages is optional.
</PRE>
<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
<PRE>
SUBROUTINE AB01OD( STAGES, JOBU, JOBV, N, M, A, LDA, B, LDB, U,
$ LDU, V, LDV, NCONT, INDCON, KSTAIR, TOL, IWORK,
$ DWORK, LDWORK, INFO )
C .. Scalar Arguments ..
CHARACTER JOBU, JOBV, STAGES
INTEGER INDCON, INFO, LDA, LDB, LDU, LDV, LDWORK, M, N,
$ NCONT
DOUBLE PRECISION TOL
C .. Array Arguments ..
INTEGER IWORK(*), KSTAIR(*)
DOUBLE PRECISION A(LDA,*), B(LDB,*), DWORK(*), U(LDU,*), V(LDV,*)
</PRE>
<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
<P>
<B>Mode Parameters</B>
<PRE>
STAGES CHARACTER*1
Specifies the reduction stages to be performed as follows:
= 'F': Perform the forward stage only;
= 'B': Perform the backward stage only;
= 'A': Perform both (all) stages.
JOBU CHARACTER*1
Indicates whether the user wishes to accumulate in a
matrix U the state-space transformations as follows:
= 'N': Do not form U;
= 'I': U is internally initialized to the unit matrix (if
STAGES <> 'B'), or updated (if STAGES = 'B'), and
the orthogonal transformation matrix U is
returned.
JOBV CHARACTER*1
Indicates whether the user wishes to accumulate in a
matrix V the input-space transformations as follows:
= 'N': Do not form V;
= 'I': V is initialized to the unit matrix and the
orthogonal transformation matrix V is returned.
JOBV is not referenced if STAGES = 'F'.
</PRE>
<B>Input/Output Parameters</B>
<PRE>
N (input) INTEGER
The actual state dimension, i.e. the order of the
matrix A. N >= 0.
M (input) INTEGER
The actual input dimension. M >= 0.
A (input/output) DOUBLE PRECISION array, dimension (LDA,N)
On entry, the leading N-by-N part of this array must
contain the state transition matrix A to be transformed.
If STAGES = 'B', A should be in the orthogonal canonical
form, as returned by SLICOT library routine AB01ND.
On exit, the leading N-by-N part of this array contains
the transformed state transition matrix U' * A * U.
The leading NCONT-by-NCONT part contains the upper block
Hessenberg state matrix Acont in Ac, given by U' * A * U,
of a controllable realization for the original system.
The elements below the first block-subdiagonal are set to
zero. If STAGES <> 'F', the subdiagonal blocks of A are
triangularized by RQ factorization, and the annihilated
elements are explicitly zeroed.
LDA INTEGER
The leading dimension of array A. LDA >= MAX(1,N).
B (input/output) DOUBLE PRECISION array, dimension (LDB,M)
On entry, the leading N-by-M part of this array must
contain the input matrix B to be transformed.
If STAGES = 'B', B should be in the orthogonal canonical
form, as returned by SLICOT library routine AB01ND.
On exit with STAGES = 'F', the leading N-by-M part of
this array contains the transformed input matrix U' * B,
with all elements but the first block set to zero.
On exit with STAGES <> 'F', the leading N-by-M part of
this array contains the transformed input matrix
U' * B * V, with all elements but the first block set to
zero and the first block in upper triangular form.
LDB INTEGER
The leading dimension of array B. LDB >= MAX(1,N).
U (input/output) DOUBLE PRECISION array, dimension (LDU,N)
If STAGES <> 'B' or JOBU = 'N', then U need not be set
on entry.
If STAGES = 'B' and JOBU = 'I', then, on entry, the
leading N-by-N part of this array must contain the
transformation matrix U that reduced the pair to the
orthogonal canonical form.
On exit, if JOBU = 'I', the leading N-by-N part of this
array contains the transformation matrix U that performed
the specified reduction.
If JOBU = 'N', the array U is not referenced and can be
supplied as a dummy array (i.e. set parameter LDU = 1 and
declare this array to be U(1,1) in the calling program).
LDU INTEGER
The leading dimension of array U.
If JOBU = 'I', LDU >= MAX(1,N); if JOBU = 'N', LDU >= 1.
V (output) DOUBLE PRECISION array, dimension (LDV,M)
If JOBV = 'I', then the leading M-by-M part of this array
contains the transformation matrix V.
If STAGES = 'F', or JOBV = 'N', the array V is not
referenced and can be supplied as a dummy array (i.e. set
parameter LDV = 1 and declare this array to be V(1,1) in
the calling program).
LDV INTEGER
The leading dimension of array V.
If STAGES <> 'F' and JOBV = 'I', LDV >= MAX(1,M);
if STAGES = 'F' or JOBV = 'N', LDV >= 1.
NCONT (input/output) INTEGER
The order of the controllable state-space representation.
NCONT is input only if STAGES = 'B'.
INDCON (input/output) INTEGER
The number of stairs in the staircase form (also, the
controllability index of the controllable part of the
system representation).
INDCON is input only if STAGES = 'B'.
KSTAIR (input/output) INTEGER array, dimension (N)
The leading INDCON elements of this array contain the
dimensions of the stairs, or, also, the orders of the
diagonal blocks of Acont.
KSTAIR is input if STAGES = 'B', and output otherwise.
</PRE>
<B>Tolerances</B>
<PRE>
TOL DOUBLE PRECISION
The tolerance to be used in rank determination when
transforming (A, B). If the user sets TOL > 0, then
the given value of TOL is used as a lower bound for the
reciprocal condition number (see the description of the
argument RCOND in the SLICOT routine MB03OD); a
(sub)matrix whose estimated condition number is less than
1/TOL is considered to be of full rank. If the user sets
TOL <= 0, then an implicitly computed, default tolerance,
defined by TOLDEF = N*N*EPS, is used instead, where EPS
is the machine precision (see LAPACK Library routine
DLAMCH).
TOL is not referenced if STAGES = 'B'.
</PRE>
<B>Workspace</B>
<PRE>
IWORK INTEGER array, dimension (M)
IWORK is not referenced if STAGES = 'B'.
DWORK DOUBLE PRECISION array, dimension (LDWORK)
On exit, if INFO = 0, DWORK(1) returns the optimal value
of LDWORK.
LDWORK INTEGER
The length of the array DWORK.
If STAGES <> 'B', LDWORK >= MAX(1, N + MAX(N,3*M));
If STAGES = 'B', LDWORK >= MAX(1, M + MAX(N,M)).
For optimum performance LDWORK should be larger.
</PRE>
<B>Error Indicator</B>
<PRE>
INFO INTEGER
= 0: successful exit;
< 0: if INFO = -i, the i-th argument had an illegal
value.
</PRE>
<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
<PRE>
Staircase reduction of the pencil [B|sI - A] is used. Orthogonal
transformations U and V are constructed such that
|B |sI-A * . . . * * |
| 1| 11 . . . |
| | A sI-A . . . |
| | 21 22 . . . |
| | . . * * |
[U'BV|sI - U'AU] = |0 | 0 . . |
| | A sI-A * |
| | p,p-1 pp |
| | |
|0 | 0 0 sI-A |
| | p+1,p+1|
where the i-th diagonal block of U'AU has dimension KSTAIR(i),
for i = 1,...,p. The value of p is returned in INDCON. The last
block contains the uncontrollable modes of the (A,B)-pair which
are also the generalized eigenvalues of the above pencil.
The complete reduction is performed in two stages. The first,
forward stage accomplishes the reduction to the orthogonal
canonical form. The second, backward stage consists in further
reduction to triangular form by applying left and right orthogonal
transformations.
</PRE>
<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
<PRE>
[1] Van Dooren, P.
The generalized eigenvalue problem in linear system theory.
IEEE Trans. Auto. Contr., AC-26, pp. 111-129, 1981.
[2] Miminis, G. and Paige, C.
An algorithm for pole assignment of time-invariant multi-input
linear systems.
Proc. 21st IEEE CDC, Orlando, Florida, 1, pp. 62-67, 1982.
</PRE>
<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
<PRE>
The algorithm requires O((N + M) x N**2) operations and is
backward stable (see [1]).
</PRE>
<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
<PRE>
If the system matrices A and B are badly scaled, it would be
useful to scale them with SLICOT routine TB01ID, before calling
the routine.
</PRE>
<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
<P>
<B>Program Text</B>
<PRE>
* AB01OD EXAMPLE PROGRAM TEXT
*
* .. Parameters ..
INTEGER NIN, NOUT
PARAMETER ( NIN = 5, NOUT = 6 )
INTEGER NMAX, MMAX
PARAMETER ( NMAX = 20, MMAX = 20 )
INTEGER LDA, LDB, LDU, LDV
PARAMETER ( LDA = NMAX, LDB = NMAX, LDU = NMAX,
$ LDV = MMAX )
INTEGER LIWORK
PARAMETER ( LIWORK = MMAX )
INTEGER LDWORK
PARAMETER ( LDWORK = NMAX + MAX( NMAX, 3*MMAX ) )
* .. Local Scalars ..
DOUBLE PRECISION TOL
INTEGER I, INDCON, INFO, J, M, N, NCONT
CHARACTER*1 JOBU, JOBV, STAGES
* .. Local Arrays ..
DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), DWORK(LDWORK),
$ U(LDU,NMAX), V(LDV,MMAX)
INTEGER IWORK(LIWORK), KSTAIR(NMAX)
* .. External Subroutines ..
EXTERNAL AB01OD
* .. 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, TOL, STAGES, JOBU, JOBV
IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
WRITE ( NOUT, FMT = 99992 ) N
ELSE
READ ( NIN, FMT = * ) ( ( A(I,J), I = 1,N ), J = 1,N )
IF ( M.LE.0 .OR. M.GT.MMAX ) THEN
WRITE ( NOUT, FMT = 99991 ) M
ELSE
READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
* Reduce the matrices A and B to upper "staircase" form.
CALL AB01OD( STAGES, JOBU, JOBV, N, M, A, LDA, B, LDB, U,
$ LDU, V, LDV, NCONT, INDCON, KSTAIR, TOL, IWORK,
$ DWORK, LDWORK, INFO )
*
IF ( INFO.NE.0 ) THEN
WRITE ( NOUT, FMT = 99998 ) INFO
ELSE
WRITE ( NOUT, FMT = 99997 )
DO 20 I = 1, N
WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,N )
20 CONTINUE
WRITE ( NOUT, FMT = 99996 )
DO 40 I = 1, N
WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
40 CONTINUE
WRITE ( NOUT, FMT = 99994 ) INDCON
WRITE ( NOUT, FMT = 99993 ) ( KSTAIR(I), I = 1,INDCON )
END IF
END IF
END IF
STOP
*
99999 FORMAT (' AB01OD EXAMPLE PROGRAM RESULTS',/1X)
99998 FORMAT (' INFO on exit from AB01OD = ',I2)
99997 FORMAT (' The transformed state transition matrix is ')
99996 FORMAT (/' The transformed input matrix is ')
99995 FORMAT (20(1X,F8.4))
99994 FORMAT (/' The number of stairs in the staircase form = ',I3,/)
99993 FORMAT (' The dimensions of the stairs are ',/(20(I3,2X)))
99992 FORMAT (/' N is out of range.',/' N = ',I5)
99991 FORMAT (/' M is out of range.',/' M = ',I5)
END
</PRE>
<B>Program Data</B>
<PRE>
AB01OD EXAMPLE PROGRAM DATA
5 2 0.0 F N N
17.0 24.0 1.0 8.0 15.0
23.0 5.0 7.0 14.0 16.0
4.0 6.0 13.0 20.0 22.0
10.0 12.0 19.0 21.0 3.0
11.0 18.0 25.0 2.0 9.0
-1.0 -4.0
4.0 9.0
-9.0 -16.0
16.0 25.0
-25.0 -36.0
</PRE>
<B>Program Results</B>
<PRE>
AB01OD EXAMPLE PROGRAM RESULTS
The transformed state transition matrix is
12.8848 3.2345 11.8211 3.3758 -0.8982
4.4741 -12.5544 5.3509 5.9403 1.4360
14.4576 7.6855 23.1452 26.3872 -29.9557
0.0000 1.4805 27.4668 22.6564 -0.0072
0.0000 0.0000 -30.4822 0.6745 18.8680
The transformed input matrix is
31.1199 47.6865
3.2480 0.0000
0.0000 0.0000
0.0000 0.0000
0.0000 0.0000
The number of stairs in the staircase form = 3
The dimensions of the stairs are
2 2 1
</PRE>
<HR>
<p>
<A HREF=..\libindex.html><B>Return to index</B></A></BODY>
</HTML>
|
