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<HTML>
<HEAD><TITLE>MB03BD - SLICOT Library Routine Documentation</TITLE>
</HEAD>
<BODY>
<H2><A Name="MB03BD">MB03BD</A></H2>
<H3>
Finding eigenvalues of a generalized matrix product in Hessenberg-triangular form
</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 find the eigenvalues of the generalized matrix product
S(1) S(2) S(K)
A(:,:,1) * A(:,:,2) * ... * A(:,:,K)
where A(:,:,H) is upper Hessenberg and A(:,:,i), i <> H, is upper
triangular, using a double-shift version of the periodic
QZ method. In addition, A may be reduced to periodic Schur form:
A(:,:,H) is upper quasi-triangular and all the other factors
A(:,:,I) are upper triangular. Optionally, the 2-by-2 triangular
matrices corresponding to 2-by-2 diagonal blocks in A(:,:,H)
are so reduced that their product is a 2-by-2 diagonal matrix.
If COMPQ = 'U' or COMPQ = 'I', then the orthogonal factors are
computed and stored in the array Q so that for S(I) = 1,
T
Q(:,:,I)(in) A(:,:,I)(in) Q(:,:,MOD(I,K)+1)(in)
T (1)
= Q(:,:,I)(out) A(:,:,I)(out) Q(:,:,MOD(I,K)+1)(out),
and for S(I) = -1,
T
Q(:,:,MOD(I,K)+1)(in) A(:,:,I)(in) Q(:,:,I)(in)
T (2)
= Q(:,:,MOD(I,K)+1)(out) A(:,:,I)(out) Q(:,:,I)(out).
A partial generation of the orthogonal factors can be realized
via the array QIND.
</PRE>
<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
<PRE>
SUBROUTINE MB03BD( JOB, DEFL, COMPQ, QIND, K, N, H, ILO, IHI, S,
$ A, LDA1, LDA2, Q, LDQ1, LDQ2, ALPHAR, ALPHAI,
$ BETA, SCAL, IWORK, LIWORK, DWORK, LDWORK,
$ IWARN, INFO )
C .. Scalar Arguments ..
CHARACTER COMPQ, DEFL, JOB
INTEGER H, IHI, ILO, INFO, IWARN, K, LDA1, LDA2, LDQ1,
$ LDQ2, LDWORK, LIWORK, N
C .. Array Arguments ..
INTEGER IWORK(*), QIND(*), S(*), SCAL(*)
DOUBLE PRECISION A(LDA1,LDA2,*), ALPHAI(*), ALPHAR(*), BETA(*),
$ DWORK(*), Q(LDQ1,LDQ2,*)
</PRE>
<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
<P>
<B>Mode Parameters</B>
<PRE>
JOB CHARACTER*1
Specifies the computation to be performed, as follows:
= 'E': compute the eigenvalues only; A will not
necessarily be put into periodic Schur form;
= 'S': put A into periodic Schur form, and return the
eigenvalues in ALPHAR, ALPHAI, BETA, and SCAL;
= 'T': as JOB = 'S', but A is put into standardized
periodic Schur form, that is, the general product
of the 2-by-2 triangular matrices corresponding to
a complex eigenvalue is diagonal.
DEFL CHARACTER*1
Specifies the deflation strategy to be used, as follows:
= 'C': apply a careful deflation strategy, that is,
the criteria are based on the magnitudes of
neighboring elements and infinite eigenvalues are
only deflated at the top; this is the recommended
option;
= 'A': apply a more aggressive strategy, that is,
elements on the subdiagonal or diagonal are set
to zero as soon as they become smaller in magnitude
than eps times the norm of the corresponding
factor; this option is only recommended if
balancing is applied beforehand and convergence
problems are observed.
COMPQ CHARACTER*1
Specifies whether or not the orthogonal transformations
should be accumulated in the array Q, as follows:
= 'N': do not modify Q;
= 'U': modify (update) the array Q by the orthogonal
transformations that are applied to the matrices in
the array A to reduce them to periodic Schur form;
= 'I': like COMPQ = 'U', except that each matrix in the
array Q will be first initialized to the identity
matrix;
= 'P': use the parameters as encoded in QIND.
QIND INTEGER array, dimension (K)
If COMPQ = 'P', then this array describes the generation
of the orthogonal factors as follows:
If QIND(I) > 0, then the array Q(:,:,QIND(I)) is
modified by the transformations corresponding to the
i-th orthogonal factor in (1) and (2).
If QIND(I) < 0, then the array Q(:,:,-QIND(I)) is
initialized to the identity and modified by the
transformations corresponding to the i-th orthogonal
factor in (1) and (2).
If QIND(I) = 0, then the transformations corresponding
to the i-th orthogonal factor in (1), (2) are not applied.
</PRE>
<B>Input/Output Parameters</B>
<PRE>
K (input) INTEGER
The number of factors. K >= 1.
N (input) INTEGER
The order of each factor in the array A. N >= 0.
H (input) INTEGER
Hessenberg index. The factor A(:,:,H) is on entry in upper
Hessenberg form. 1 <= H <= K.
ILO (input) INTEGER
IHI (input) INTEGER
It is assumed that each factor in A is already upper
triangular in rows and columns 1:ILO-1 and IHI+1:N.
1 <= ILO <= IHI <= N, if N > 0;
ILO = 1 and IHI = 0, if N = 0.
S (input) INTEGER array, dimension (K)
The leading K elements of this array must contain the
signatures of the factors. Each entry in S must be either
1 or -1.
A (input/output) DOUBLE PRECISION array, dimension
(LDA1,LDA2,K)
On entry, the leading N-by-N-by-K part of this array
must contain the factors in upper Hessenberg-triangular
form, that is, A(:,:,H) is upper Hessenberg and the other
factors are upper triangular.
On exit, if JOB = 'S' and INFO = 0, the leading
N-by-N-by-K part of this array contains the factors of
A in periodic Schur form, that is, A(:,:,H) is upper quasi
triangular and the other factors are upper triangular.
On exit, if JOB = 'T' and INFO = 0, the leading
N-by-N-by-K part of this array contains the factors of
A as for the option JOB = 'S', but the product of the
triangular factors corresponding to a 2-by-2 block in
A(:,:,H) is diagonal.
On exit, if JOB = 'E', then the leading N-by-N-by-K part
of this array contains meaningless elements in the off-
diagonal blocks. Consequently, the formulas (1) and (2)
do not hold for the returned A and Q (if COMPQ <> 'N')
in this case.
LDA1 INTEGER
The first leading dimension of the array A.
LDA1 >= MAX(1,N).
LDA2 INTEGER
The second leading dimension of the array A.
LDA2 >= MAX(1,N).
Q (input/output) DOUBLE PRECISION array, dimension
(LDQ1,LDQ2,K)
On entry, if COMPQ = 'U', the leading N-by-N-by-K part
of this array must contain the initial orthogonal factors
as described in (1) and (2).
On entry, if COMPQ = 'P', only parts of the leading
N-by-N-by-K part of this array must contain some
orthogonal factors as described by the parameters QIND.
If COMPQ = 'I', this array should not be set on entry.
On exit, if COMPQ = 'U' or COMPQ = 'I', the leading
N-by-N-by-K part of this array contains the modified
orthogonal factors as described in (1) and (2).
On exit, if COMPQ = 'P', only parts of the leading
N-by-N-by-K part contain some modified orthogonal factors
as described by the parameters QIND.
This array is not referenced if COMPQ = 'N'.
LDQ1 INTEGER
The first leading dimension of the array Q. LDQ1 >= 1,
and, if COMPQ <> 'N', LDQ1 >= MAX(1,N).
LDQ2 INTEGER
The second leading dimension of the array Q. LDQ2 >= 1,
and, if COMPQ <> 'N', LDQ2 >= MAX(1,N).
ALPHAR (output) DOUBLE PRECISION array, dimension (N)
On exit, if INFO = 0, the leading N elements of this array
contain the scaled real parts of the eigenvalues of the
matrix product A. The i-th eigenvalue of A is given by
(ALPHAR(I) + ALPHAI(I)*SQRT(-1))/BETA(I) * BASE**SCAL(I),
where BASE is the machine base (often 2.0). Complex
conjugate eigenvalues appear in consecutive locations.
ALPHAI (output) DOUBLE PRECISION array, dimension (N)
On exit, if INFO = 0, the leading N elements of this array
contain the scaled imaginary parts of the eigenvalues
of A.
BETA (output) DOUBLE PRECISION array, dimension (N)
On exit, if INFO = 0, the leading N elements of this array
contain indicators for infinite eigenvalues. That is, if
BETA(I) = 0.0, then the i-th eigenvalue is infinite.
Otherwise BETA(I) is set to 1.0.
SCAL (output) INTEGER array, dimension (N)
On exit, if INFO = 0, the leading N elements of this array
contain the scaling parameters for the eigenvalues of A.
</PRE>
<B>Workspace</B>
<PRE>
IWORK INTEGER array, dimension (LIWORK)
On exit, if INFO = 0, IWORK(1) returns the optimal LIWORK,
and if IWARN > N, the nonzero absolute values in IWORK(2),
..., IWORK(N+1) are indices of the possibly inaccurate
eigenvalues, as well as of the corresponding 1-by-1 or
2-by-2 diagonal blocks of the factors in the array A.
The 2-by-2 blocks correspond to negative values in IWORK.
One negative value is stored for each such eigenvalue
pair. Its modulus indicates the starting index of a
2-by-2 block. This is also done for any value of IWARN,
if a 2-by-2 block is found to have two real eigenvalues.
On exit, if INFO = -22, IWORK(1) returns the minimum value
of LIWORK.
LIWORK INTEGER
The length of the array IWORK. LIWORK >= 2*K+N.
DWORK DOUBLE PRECISION array, dimension (LDWORK)
On exit, if INFO = 0, DWORK(1) returns the optimal LDWORK,
and DWORK(2), ..., DWORK(1+K) contain the Frobenius norms
of the factors of the formal matrix product used by the
algorithm.
On exit, if INFO = -24, DWORK(1) returns the minimum value
of LDWORK.
LDWORK INTEGER
The length of the array DWORK.
LDWORK >= K + MAX( 2*N, 8*K ).
</PRE>
<B>Warning Indicator</B>
<PRE>
IWARN INTEGER
= 0 : no warnings;
= 1,..,N-1 : A is in periodic Schur form, but the
algorithm was not able to reveal information
about the eigenvalues from the 2-by-2
blocks.
ALPHAR(i), ALPHAI(i), BETA(i) and SCAL(i),
can be incorrect for i = 1, ..., IWARN+1;
= N : some eigenvalues might be inaccurate;
= N+1 : some eigenvalues might be inaccurate, and
details can be found in IWORK.
</PRE>
<B>Error Indicator</B>
<PRE>
INFO INTEGER
= 0 : succesful exit;
< 0 : if INFO = -i, the i-th argument had an illegal
value;
= 1,..,N : the periodic QZ iteration did not converge.
A is not in periodic Schur form, but
ALPHAR(i), ALPHAI(i), BETA(i) and SCAL(i), for
i = INFO+1,...,N should be correct.
</PRE>
<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
<PRE>
A modified version of the periodic QZ algorithm is used [1], [2].
</PRE>
<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
<PRE>
[1] Bojanczyk, A., Golub, G. H. and Van Dooren, P.
The periodic Schur decomposition: algorithms and applications.
In F.T. Luk (editor), Advanced Signal Processing Algorithms,
Architectures, and Implementations III, Proc. SPIE Conference,
vol. 1770, pp. 31-42, 1992.
[2] Kressner, D.
An efficient and reliable implementation of the periodic QZ
algorithm. IFAC Workshop on Periodic Control Systems (PSYCO
2001), Como (Italy), August 27-28 2001. Periodic Control
Systems 2001 (IFAC Proceedings Volumes), Pergamon.
</PRE>
<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
<PRE>
The implemented method is numerically backward stable.
3
The algorithm requires 0(K N ) floating point operations.
</PRE>
<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
<PRE>
None
</PRE>
<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
<P>
<B>Program Text</B>
<PRE>
* MB03BD EXAMPLE PROGRAM TEXT
*
* .. Parameters ..
INTEGER NIN, NOUT
PARAMETER ( NIN = 5, NOUT = 6 )
INTEGER KMAX, NMAX
PARAMETER ( KMAX = 6, NMAX = 50 )
INTEGER LDA1, LDA2, LDQ1, LDQ2, LDWORK, LIWORK
PARAMETER ( LDA1 = NMAX, LDA2 = NMAX, LDQ1 = NMAX,
$ LDQ2 = NMAX,
$ LDWORK = KMAX + MAX( 2*NMAX, 8*KMAX ),
$ LIWORK = 2*KMAX + NMAX )
*
* .. Local Scalars ..
CHARACTER COMPQ, DEFL, JOB
INTEGER H, I, IHI, ILO, INFO, IWARN, J, K, L, N
*
* .. Local Arrays ..
INTEGER IWORK( LIWORK ), QIND( KMAX ), S( KMAX ),
$ SCAL( NMAX )
DOUBLE PRECISION A( LDA1, LDA2, KMAX ), ALPHAI( NMAX ),
$ ALPHAR( NMAX ), BETA( NMAX ), DWORK( LDWORK),
$ Q( LDQ1, LDQ2, KMAX )
* .. External Functions ..
LOGICAL LSAME
EXTERNAL LSAME
*
* .. External Subroutines ..
EXTERNAL MB03BD
*
* .. Intrinsic Functions ..
INTRINSIC MAX
*
* .. Executable Statements ..
*
WRITE( NOUT, FMT = 99999 )
* Skip the heading in the data file and read in the data.
READ( NIN, FMT = * )
READ( NIN, FMT = * ) JOB, DEFL, COMPQ, K, N, H, ILO, IHI
IF( N.LT.0 .OR. N.GT.NMAX ) THEN
WRITE( NOUT, FMT = 99998 ) N
ELSE
READ( NIN, FMT = * ) ( S( I ), I = 1, K )
READ( NIN, FMT = * ) ( ( ( A( I, J, L ), J = 1, N ),
$ I = 1, N ), L = 1, K )
IF( LSAME( COMPQ, 'U' ) )
$ READ( NIN, FMT = * ) ( ( ( Q( I, J, L ), J = 1, N ),
$ I = 1, N ), L = 1, K )
IF( LSAME( COMPQ, 'P' ) ) THEN
READ( NIN, FMT = * ) ( QIND( I ), I = 1, K )
DO 10 L = 1, K
IF( QIND( L ).GT.0 )
$ READ( NIN, FMT = * ) ( ( Q( I, J, QIND( L ) ),
$ J = 1, N ), I = 1, N )
10 CONTINUE
END IF
* Compute the eigenvalues and the transformed matrices, if
* required.
CALL MB03BD( JOB, DEFL, COMPQ, QIND, K, N, H, ILO, IHI, S, A,
$ LDA1, LDA2, Q, LDQ1, LDQ2, ALPHAR, ALPHAI, BETA,
$ SCAL, IWORK, LIWORK, DWORK, LDWORK, IWARN, INFO )
*
IF( INFO.NE.0 ) THEN
WRITE( NOUT, FMT = 99997 ) INFO
ELSE IF( IWARN.EQ.0 ) THEN
IF( LSAME( JOB, 'S' ) .OR. LSAME( JOB, 'T' ) ) THEN
WRITE( NOUT, FMT = 99996 )
DO 30 L = 1, K
WRITE( NOUT, FMT = 99988 ) L
DO 20 I = 1, N
WRITE( NOUT, FMT = 99995 ) ( A( I, J, L ), J = 1, N
$ )
20 CONTINUE
30 CONTINUE
END IF
IF( LSAME( COMPQ, 'U' ) .OR. LSAME( COMPQ, 'I' ) ) THEN
WRITE( NOUT, FMT = 99994 )
DO 50 L = 1, K
WRITE( NOUT, FMT = 99988 ) L
DO 40 I = 1, N
WRITE( NOUT, FMT = 99995 ) ( Q( I, J, L ), J = 1, N
$ )
40 CONTINUE
50 CONTINUE
ELSE IF( LSAME( COMPQ, 'P' ) ) THEN
WRITE( NOUT, FMT = 99994 )
DO 70 L = 1, K
IF( QIND( L ).GT.0 ) THEN
WRITE( NOUT, FMT = 99988 ) QIND( L )
DO 60 I = 1, N
WRITE( NOUT, FMT = 99995 )
$ ( Q( I, J, QIND( L ) ), J = 1, N )
60 CONTINUE
END IF
70 CONTINUE
END IF
WRITE( NOUT, FMT = 99993 )
WRITE( NOUT, FMT = 99995 ) ( ALPHAR( I ), I = 1, N )
WRITE( NOUT, FMT = 99992 )
WRITE( NOUT, FMT = 99995 ) ( ALPHAI( I ), I = 1, N )
WRITE( NOUT, FMT = 99991 )
WRITE( NOUT, FMT = 99995 ) ( BETA( I ), I = 1, N )
WRITE( NOUT, FMT = 99990 )
WRITE( NOUT, FMT = 99989 ) ( SCAL( I ), I = 1, N )
ELSE
WRITE( NOUT, FMT = 99987 ) IWARN
END IF
END IF
STOP
*
99999 FORMAT( 'MB03BD EXAMPLE PROGRAM RESULTS', 1X )
99998 FORMAT( 'N is out of range.', /, 'N = ', I5 )
99997 FORMAT( 'INFO on exit from MB03BD = ', I2 )
99996 FORMAT( 'The matrix A on exit is ' )
99995 FORMAT( 50( 1X, F8.4 ) )
99994 FORMAT( 'The matrix Q on exit is ' )
99993 FORMAT( 'The vector ALPHAR is ' )
99992 FORMAT( 'The vector ALPHAI is ' )
99991 FORMAT( 'The vector BETA is ' )
99990 FORMAT( 'The vector SCAL is ' )
99989 FORMAT( 50( 1X, I8 ) )
99988 FORMAT( 'The factor ', I2, ' is ' )
99987 FORMAT( 'IWARN on exit from MB03BD = ', I2 )
END
</PRE>
<B>Program Data</B>
<PRE>
MB03BD EXAMPLE PROGRAM DATA
S C I 3 3 2 1 3
-1 1 -1
2.0 0.0 1.0
0.0 -2.0 -1.0
0.0 0.0 3.0
1.0 2.0 0.0
4.0 -1.0 3.0
0.0 3.0 1.0
1.0 0.0 1.0
0.0 4.0 -1.0
0.0 0.0 -2.0
</PRE>
<B>Program Results</B>
<PRE>
MB03BD EXAMPLE PROGRAM RESULTS
The matrix A on exit is
The factor 1 is
-2.1306 0.8205 0.7462
0.0000 2.8786 1.0564
0.0000 0.0000 1.9566
The factor 2 is
-4.0763 -1.0376 -2.6948
-1.9525 1.8283 2.2987
0.0000 0.0000 1.8990
The factor 3 is
3.3463 -2.3239 -0.5623
0.0000 1.0778 -0.0646
0.0000 0.0000 -2.2180
The matrix Q on exit is
The factor 1 is
0.2594 0.7715 -0.5809
-0.9552 0.1162 -0.2723
-0.1426 0.6255 0.7671
The factor 2 is
-0.1766 0.8037 -0.5683
-0.9636 -0.0234 0.2664
0.2008 0.5946 0.7785
The factor 3 is
0.6295 0.7315 0.2619
-0.7394 0.4605 0.4911
0.2386 -0.5028 0.8308
The vector ALPHAR is
0.3230 0.3230 -0.8752
The vector ALPHAI is
0.5694 -0.5694 0.0000
The vector BETA is
1.0000 1.0000 1.0000
The vector SCAL is
0 0 -1
</PRE>
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