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
|
<HTML>
<HEAD><TITLE>SB10JD - SLICOT Library Routine Documentation</TITLE>
</HEAD>
<BODY>
<H2><A Name="SB10JD">SB10JD</A></H2>
<H3>
Converting a descriptor state-space system into regular state-space 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 convert the descriptor state-space system
E*dx/dt = A*x + B*u
y = C*x + D*u
into regular state-space form
dx/dt = Ad*x + Bd*u
y = Cd*x + Dd*u .
</PRE>
<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
<PRE>
SUBROUTINE SB10JD( N, M, NP, A, LDA, B, LDB, C, LDC, D, LDD, E,
$ LDE, NSYS, DWORK, LDWORK, INFO )
C .. Scalar Arguments ..
INTEGER INFO, LDA, LDB, LDC, LDD, LDE, LDWORK, M, N,
$ NP, NSYS
C .. Array Arguments ..
DOUBLE PRECISION A( LDA, * ), B( LDB, * ), C( LDC, * ),
$ D( LDD, * ), DWORK( * ), E( LDE, * )
</PRE>
<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
<P>
</PRE>
<B>Input/Output Parameters</B>
<PRE>
N (input) INTEGER
The order of the descriptor system. N >= 0.
M (input) INTEGER
The column size of the matrix B. M >= 0.
NP (input) INTEGER
The row size of the matrix C. NP >= 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 matrix A of the descriptor system.
On exit, the leading NSYS-by-NSYS part of this array
contains the state matrix Ad of the converted system.
LDA INTEGER
The leading dimension of the 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 of the descriptor system.
On exit, the leading NSYS-by-M part of this array
contains the input matrix Bd of the converted system.
LDB INTEGER
The leading dimension of the array B. LDB >= max(1,N).
C (input/output) DOUBLE PRECISION array, dimension (LDC,N)
On entry, the leading NP-by-N part of this array must
contain the output matrix C of the descriptor system.
On exit, the leading NP-by-NSYS part of this array
contains the output matrix Cd of the converted system.
LDC INTEGER
The leading dimension of the array C. LDC >= max(1,NP).
D (input/output) DOUBLE PRECISION array, dimension (LDD,M)
On entry, the leading NP-by-M part of this array must
contain the matrix D of the descriptor system.
On exit, the leading NP-by-M part of this array contains
the matrix Dd of the converted system.
LDD INTEGER
The leading dimension of the array D. LDD >= max(1,NP).
E (input/output) DOUBLE PRECISION array, dimension (LDE,N)
On entry, the leading N-by-N part of this array must
contain the matrix E of the descriptor system.
On exit, this array contains no useful information.
LDE INTEGER
The leading dimension of the array E. LDE >= max(1,N).
NSYS (output) INTEGER
The order of the converted state-space system.
</PRE>
<B>Workspace</B>
<PRE>
DWORK DOUBLE PRECISION array, dimension (LDWORK)
On exit, if INFO = 0, DWORK(1) contains the optimal value
of LDWORK.
LDWORK INTEGER
The dimension of the array DWORK.
LDWORK >= max( 1, 2*N*N + 2*N + N*MAX( 5, N + M + NP ) ).
For good performance, LDWORK must generally 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;
= 1: the iteration for computing singular value
decomposition did not converge.
</PRE>
<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
<PRE>
The routine performs the transformations described in [1].
</PRE>
<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
<PRE>
[1] Chiang, R.Y. and Safonov, M.G.
Robust Control Toolbox User's Guide.
The MathWorks Inc., Natick, Mass., 1992.
</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>
None
</PRE>
<B>Program Data</B>
<PRE>
None
</PRE>
<B>Program Results</B>
<PRE>
None
</PRE>
<HR>
<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
</HTML>
|
