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<HTML>
<HEAD><TITLE>TG01ID - SLICOT Library Routine Documentation</TITLE>
</HEAD>
<BODY>
<H2><A Name="TG01ID">TG01ID</A></H2>
<H3>
Orthogonal reduction of a descriptor system to the observability staircase 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 compute orthogonal transformation matrices Q and Z which
reduce the N-th order descriptor system (A-lambda*E,B,C)
to the form
( Ano * ) ( Eno * ) ( Bno )
Q'*A*Z = ( ) , Q'*E*Z = ( ) , Q'*B = ( ) ,
( 0 Ao ) ( 0 Eo ) ( Bo )
C*Z = ( 0 Co ) ,
where the NOBSV-th order descriptor system (Ao-lambda*Eo,Bo,Co)
is a finite and/or infinite observable. The pencil
Ano - lambda*Eno is regular of order N-NOBSV and contains the
unobservable finite and/or infinite eigenvalues of the pencil
A-lambda*E.
For JOBOBS = 'O' or 'I', the pencil ( Eo-lambda*Ao ) has full
( Co )
column rank NOBSV for all finite lambda and is in a staircase form
with
_ _ _ _
( Ek,k Ek,k-1 ... Ek,2 Ek,1 )
( _ _ _ _ )
( Eo ) = ( Ek-1,k Ek-1,k-1 ... Ek-1,2 Ek-1,1 ) , (1)
( Co ) ( ... ... _ _ )
( 0 0 ... E1,2 E1,1 )
( _ )
( 0 0 ... 0 E0,1 )
_ _ _
( Ak,k ... Ak,2 Ak,1 )
( ... _ _ )
Ao = ( 0 ... A2,2 A2,1 ) , (2)
( _ )
( 0 ... 0 A1,1 )
_
where Ei-1,i is a CTAU(i-1)-by-CTAU(i) full column rank matrix
_
(with CTAU(0) = P) and Ai,i is a CTAU(i)-by-CTAU(i)
upper triangular matrix.
For JOBOBS = 'F', the pencil ( Ao-lambda*Eo ) has full
( Co )
column rank NOBSV for all finite lambda and is in a staircase form
with
_ _ _ _
( Ak,k Ak,k-1 ... Ak,2 Ak,1 )
( _ _ _ _ )
( Ao ) = ( Ak-1,k Ak-1,k-1 ... Ak-1,2 Ak-1,1 ) , (3)
( Co ) ( ... ... _ _ )
( 0 0 ... A1,2 A1,1 )
( _ )
( 0 0 ... 0 A0,1 )
_ _ _
( Ek,k ... Ek,2 Ek,1 )
( ... _ _ )
Eo = ( 0 ... E2,2 E2,1 ) , (4)
( _ )
( 0 ... 0 E1,1 )
_
where Ai-1,i is a CTAU(i-1)-by-CTAU(i) full column rank matrix
_
(with CTAU(0) = P) and Ei,i is a CTAU(i)-by-CTAU(i)
upper triangular matrix.
For JOBOBS = 'O', the (N-NOBSV)-by-(N-NOBSV) regular pencil
Ano - lambda*Eno has the form
( Afno - lambda*Efno * )
Ano - lambda*Eno = ( ) ,
( 0 Aino - lambda*Eino )
where:
1) the NIUOBS-by-NIUOBS regular pencil Aino - lambda*Eino,
with Aino upper triangular and nonsingular, contains the
unobservable infinite eigenvalues of A - lambda*E;
2) the (N-NOBSV-NIUOBS)-by-(N-NOBSV-NIUOBS) regular pencil
Afno - lambda*Efno, with Efno upper triangular and
nonsingular, contains the unobservable finite
eigenvalues of A - lambda*E.
Note: The significance of the two diagonal blocks can be
interchanged by calling the routine with the
arguments A and E interchanged. In this case,
Aino - lambda*Eino contains the unobservable zero
eigenvalues of A - lambda*E, while Afno - lambda*Efno
contains the unobservable nonzero finite and infinite
eigenvalues of A - lambda*E.
For JOBOBS = 'F', the pencil Ano - lambda*Eno has the form
Ano - lambda*Eno = Afno - lambda*Efno ,
where the regular pencil Afno - lambda*Efno, with Efno
upper triangular and nonsingular, contains the unobservable
finite eigenvalues of A - lambda*E.
For JOBOBS = 'I', the pencil Ano - lambda*Eno has the form
Ano - lambda*Eno = Aino - lambda*Eino ,
where the regular pencil Aino - lambda*Eino, with Aino
upper triangular and nonsingular, contains the unobservable
nonzero finite and infinite eigenvalues of A - lambda*E.
The left and/or right orthogonal transformations Q and Z
performed to reduce the system matrices can be optionally
accumulated.
The reduced order descriptor system (Ao-lambda*Eo,Bo,Co) has
the same transfer-function matrix as the original system
(A-lambda*E,B,C).
</PRE>
<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
<PRE>
SUBROUTINE TG01ID( JOBOBS, COMPQ, COMPZ, N, M, P, A, LDA, E, LDE,
$ B, LDB, C, LDC, Q, LDQ, Z, LDZ, NOBSV, NIUOBS,
$ NLBLCK, CTAU, TOL, IWORK, DWORK, INFO )
C .. Scalar Arguments ..
CHARACTER COMPQ, COMPZ, JOBOBS
INTEGER INFO, LDA, LDB, LDC, LDE, LDQ, LDZ,
$ M, N, NIUOBS, NLBLCK, NOBSV, P
DOUBLE PRECISION TOL
C .. Array Arguments ..
INTEGER CTAU( * ), IWORK( * )
DOUBLE PRECISION A( LDA, * ), B( LDB, * ), C( LDC, * ),
$ DWORK( * ), E( LDE, * ), Q( LDQ, * ),
$ Z( LDZ, * )
</PRE>
<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
<P>
<B>Mode Parameters</B>
<PRE>
JOBOBS CHARACTER*1
= 'O': separate both finite and infinite unobservable
eigenvalues;
= 'F': separate only finite unobservable eigenvalues;
= 'I': separate only nonzero finite and infinite
unobservable eigenvalues.
COMPQ CHARACTER*1
= 'N': do not compute Q;
= 'I': Q is initialized to the unit matrix, and the
orthogonal matrix Q is returned;
= 'U': Q must contain an orthogonal matrix Q1 on entry,
and the product Q1*Q is returned.
COMPZ CHARACTER*1
= 'N': do not compute Z;
= 'I': Z is initialized to the unit matrix, and the
orthogonal matrix Z is returned;
= 'U': Z must contain an orthogonal matrix Z1 on entry,
and the product Z1*Z is returned.
</PRE>
<B>Input/Output Parameters</B>
<PRE>
N (input) INTEGER
The dimension of the descriptor state vector; also the
order of square matrices A and E, the number of rows of
matrix B, and the number of columns of matrix C. N >= 0.
M (input) INTEGER
The dimension of descriptor system input vector; also the
number of columns of matrix B. M >= 0.
P (input) INTEGER
The dimension of descriptor system output vector; also the
number of rows of matrix C. P >= 0.
A (input/output) DOUBLE PRECISION array, dimension (LDA,N)
On entry, the leading N-by-N part of this array must
contain the N-by-N state matrix A.
On exit, the leading N-by-N part of this array contains
the transformed state matrix Q'*A*Z,
( Ano * )
Q'*A*Z = ( ) ,
( 0 Ao )
where Ao is NOBSV-by-NOBSV and Ano is
(N-NOBSV)-by-(N-NOBSV).
If JOBOBS = 'F', the matrix ( Ao ) is in the observability
( Co )
staircase form (3).
If JOBOBS = 'O' or 'I', the submatrix Ao is upper
triangular.
If JOBOBS = 'O', the submatrix Ano has the form
( Afno * )
Ano = ( ) ,
( 0 Aino )
where the NIUOBS-by-NIUOBS matrix Aino is nonsingular and
upper triangular.
If JOBOBS = 'I', Ano is nonsingular and upper triangular.
LDA INTEGER
The leading dimension of array A. LDA >= MAX(1,N).
E (input/output) DOUBLE PRECISION array, dimension (LDE,N)
On entry, the leading N-by-N part of this array must
contain the N-by-N descriptor matrix E.
On exit, the leading N-by-N part of this array contains
the transformed state matrix Q'*E*Z,
( Eno * )
Q'*E*Z = ( ) ,
( 0 Eo )
where Eo is NOBSV-by-NOBSV and Eno is
(N-NOBSV)-by-(N-NOBSV).
If JOBOBS = 'O' or 'I', the matrix ( Eo ) is in the
( Co )
observability staircase form (1).
If JOBOBS = 'F', the submatrix Eo is upper triangular.
If JOBOBS = 'O', the Eno matrix has the form
( Efno * )
Eno = ( ) ,
( 0 Eino )
where the NIUOBS-by-NIUOBS matrix Eino is nilpotent
and the (N-NOBSV-NIUOBS)-by-(N-NOBSV-NIUOBS) matrix Efno
is nonsingular and upper triangular.
If JOBOBS = 'F', Eno is nonsingular and upper triangular.
LDE INTEGER
The leading dimension of array E. LDE >= MAX(1,N).
B (input/output) DOUBLE PRECISION array, dimension
(LDB,MAX(M,P))
On entry, the leading N-by-M part of this array must
contain the N-by-M input matrix B.
On exit, the leading N-by-M part of this array contains
the transformed input matrix Q'*B.
LDB INTEGER
The leading dimension of array B.
LDB >= MAX(1,N) if M > 0 or LDB >= 1 if M = 0.
C (input/output) DOUBLE PRECISION array, dimension (LDC,N)
On entry, the leading P-by-N part of this array must
contain the state/output matrix C.
On exit, the leading P-by-N part of this array contains
the transformed matrix
C*Z = ( 0 Co ) ,
where Co is P-by-NOBSV.
If JOBOBS = 'O' or 'I', the matrix ( Eo ) is in the
( Co )
observability staircase form (1).
If JOBOBS = 'F', the matrix ( Ao ) is in the observability
( Co )
staircase form (3).
LDC INTEGER
The leading dimension of array C. LDC >= MAX(1,M,P).
Q (input/output) DOUBLE PRECISION array, dimension (LDQ,N)
If COMPQ = 'N': Q is not referenced.
If COMPQ = 'I': on entry, Q need not be set;
on exit, the leading N-by-N part of this
array contains the orthogonal matrix Q,
where Q' is the product of transformations
which are applied to A, E, and B on
the left.
If COMPQ = 'U': on entry, the leading N-by-N part of this
array must contain an orthogonal matrix
Qc;
on exit, the leading N-by-N part of this
array contains the orthogonal matrix
Qc*Q.
LDQ INTEGER
The leading dimension of array Q.
LDQ >= 1, if COMPQ = 'N';
LDQ >= MAX(1,N), if COMPQ = 'U' or 'I'.
Z (input/output) DOUBLE PRECISION array, dimension (LDZ,N)
If COMPZ = 'N': Z is not referenced.
If COMPZ = 'I': on entry, Z need not be set;
on exit, the leading N-by-N part of this
array contains the orthogonal matrix Z,
which is the product of transformations
applied to A, E, and C on the right.
If COMPZ = 'U': on entry, the leading N-by-N part of this
array must contain an orthogonal matrix
Zc;
on exit, the leading N-by-N part of this
array contains the orthogonal matrix
Zc*Z.
LDZ INTEGER
The leading dimension of array Z.
LDZ >= 1, if COMPZ = 'N';
LDZ >= MAX(1,N), if COMPZ = 'U' or 'I'.
NOBSV (output) INTEGER
The order of the reduced matrices Ao and Eo, and the
number of columns of reduced matrix Co; also the order of
observable part of the pair (C, A-lambda*E).
NIUOBS (output) INTEGER
For JOBOBS = 'O', the order of the reduced matrices
Aino and Eino; also the number of unobservable
infinite eigenvalues of the pencil A - lambda*E.
For JOBOBS = 'F' or 'I', NIUOBS has no significance
and is set to zero.
NLBLCK (output) INTEGER
For JOBOBS = 'O' or 'I', the number k, of full column rank
_
blocks Ei-1,i in the staircase form of the pencil
(Eo-lambda*Ao) (see (1) and (2)).
( Co )
For JOBOBS = 'F', the number k, of full column rank blocks
_
Ai-1,i in the staircase form of the pencil (Ao-lambda*Eo)
( Co )
(see (3) and (4)).
CTAU (output) INTEGER array, dimension (N)
CTAU(i), for i = 1, ..., NLBLCK, is the column dimension
_ _
of the full column rank block Ei-1,i or Ai-1,i in the
staircase form (1) or (3) for JOBOBS = 'O' or 'I', or
for JOBOBS = 'F', respectively.
</PRE>
<B>Tolerances</B>
<PRE>
TOL DOUBLE PRECISION
The tolerance to be used in rank determinations when
transforming (A'-lambda*E',C')'. If the user sets TOL > 0,
then the given value of TOL is used as a lower bound for
reciprocal condition numbers in rank determinations; 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 < 1.
</PRE>
<B>Workspace</B>
<PRE>
IWORK INTEGER array, dimension (P)
DWORK DOUBLE PRECISION array, dimension (MAX(N,2*P))
</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>
The subroutine is based on the dual of the reduction
algorithms of [1].
</PRE>
<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
<PRE>
[1] A. Varga
Computation of Irreducible Generalized State-Space
Realizations.
Kybernetika, vol. 26, pp. 89-106, 1990.
</PRE>
<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
<PRE>
The algorithm is numerically backward stable and requires
0( N**3 ) floating point operations.
</PRE>
<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
<PRE>
If the system matrices A, E and C are badly scaled, it is
generally recommendable to scale them with the SLICOT routine
TG01AD, before calling TG01ID.
</PRE>
<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
<P>
<B>Program Text</B>
<PRE>
* TG01ID EXAMPLE PROGRAM TEXT
*
* .. Parameters ..
INTEGER NIN, NOUT
PARAMETER ( NIN = 5, NOUT = 6 )
INTEGER LMAX, NMAX, MMAX, PMAX
PARAMETER ( LMAX = 20, NMAX = 20, MMAX = 20, PMAX = 20 )
INTEGER MPMX
PARAMETER ( MPMX = MAX( MMAX, PMAX ) )
INTEGER LDA, LDB, LDC, LDE, LDQ, LDZ
PARAMETER ( LDA = LMAX, LDB = LMAX, LDC = MAX(MMAX,PMAX),
$ LDE = LMAX, LDQ = LMAX, LDZ = NMAX )
INTEGER LDWORK
PARAMETER ( LDWORK = MAX( 1, NMAX, 2*PMAX ) )
* .. Local Scalars ..
CHARACTER*1 COMPQ, COMPZ, JOBOBS
INTEGER I, INFO, J, M, N, NOBSV, NIUOBS, NLBLCK, P
DOUBLE PRECISION TOL
* .. Local Arrays ..
INTEGER IWORK(MMAX), CTAU(NMAX)
DOUBLE PRECISION A(LDA,NMAX), B(LDB,MPMX), C(LDC,NMAX),
$ DWORK(LDWORK), E(LDE,NMAX), Q(LDQ,LMAX),
$ Z(LDZ,NMAX)
* .. External Subroutines ..
EXTERNAL TG01ID
* .. 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, P, TOL, JOBOBS
COMPQ = 'I'
COMPZ = 'I'
IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
WRITE ( NOUT, FMT = 99988 ) N
ELSE
READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
READ ( NIN, FMT = * ) ( ( E(I,J), J = 1,N ), I = 1,N )
IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
WRITE ( NOUT, FMT = 99987 ) M
ELSE
READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
IF ( P.LT.0 .OR. P.GT.PMAX ) THEN
WRITE ( NOUT, FMT = 99986 ) P
ELSE
READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
* Find the transformed descriptor system (A-lambda E,B,C).
CALL TG01ID( JOBOBS, COMPQ, COMPZ, N, M, P, A, LDA,
$ E, LDE, B, LDB, C, LDC, Q, LDQ, Z, LDZ,
$ NOBSV, NIUOBS, NLBLCK, CTAU, TOL, IWORK,
$ DWORK, INFO )
*
IF ( INFO.NE.0 ) THEN
WRITE ( NOUT, FMT = 99998 ) INFO
ELSE
WRITE ( NOUT, FMT = 99994 ) NOBSV, NIUOBS
WRITE ( NOUT, FMT = 99985 )
WRITE ( NOUT, FMT = 99984 ) ( CTAU(I), I = 1,NLBLCK )
WRITE ( NOUT, FMT = 99997 )
DO 10 I = 1, N
WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,N )
10 CONTINUE
WRITE ( NOUT, FMT = 99996 )
DO 20 I = 1, N
WRITE ( NOUT, FMT = 99995 ) ( E(I,J), J = 1,N )
20 CONTINUE
WRITE ( NOUT, FMT = 99993 )
DO 30 I = 1, N
WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
30 CONTINUE
WRITE ( NOUT, FMT = 99992 )
DO 40 I = 1, P
WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,N )
40 CONTINUE
WRITE ( NOUT, FMT = 99991 )
DO 50 I = 1, N
WRITE ( NOUT, FMT = 99995 ) ( Q(I,J), J = 1,N )
50 CONTINUE
WRITE ( NOUT, FMT = 99990 )
DO 60 I = 1, N
WRITE ( NOUT, FMT = 99995 ) ( Z(I,J), J = 1,N )
60 CONTINUE
END IF
END IF
END IF
END IF
STOP
*
99999 FORMAT (' TG01ID EXAMPLE PROGRAM RESULTS',/1X)
99998 FORMAT (' INFO on exit from TG01ID = ',I2)
99997 FORMAT (/' The transformed state dynamics matrix Q''*A*Z is ')
99996 FORMAT (/' The transformed descriptor matrix Q''*E*Z is ')
99995 FORMAT (20(1X,F8.4))
99994 FORMAT (' Dimension of observable part =', I5/
$ ' Number of unobservable infinite eigenvalues =', I5)
99993 FORMAT (/' The transformed input/state matrix Q''*B is ')
99992 FORMAT (/' The transformed state/output matrix C*Z is ')
99991 FORMAT (/' The left transformation matrix Q is ')
99990 FORMAT (/' The right transformation matrix Z is ')
99989 FORMAT (/' L is out of range.',/' L = ',I5)
99988 FORMAT (/' N is out of range.',/' N = ',I5)
99987 FORMAT (/' M is out of range.',/' M = ',I5)
99986 FORMAT (/' P is out of range.',/' P = ',I5)
99985 FORMAT (/' The staircase form column dimensions are ' )
99984 FORMAT (10I5)
END
</PRE>
<B>Program Data</B>
<PRE>
TG01ID EXAMPLE PROGRAM DATA
7 2 3 0.0 O
2 0 0 0 0 0 0
0 1 0 0 0 1 0
2 0 0 2 0 0 0
0 0 1 0 1 0 1
-1 1 0 -1 0 1 0
3 0 0 3 0 0 0
1 0 1 1 1 0 1
0 0 0 0 0 0 1
0 0 0 0 0 0 3
1 0 0 0 0 1 0
0 0 0 0 1 0 2
0 0 0 0 0 -1 0
0 1 0 0 0 0 0
0 0 1 1 0 0 0
1 0
0 -1
0 1
1 0
0 -1
0 1
1 0
2 0 0 0 0 0 1
1 0 0 0 0 0 2
0 0 0 0 0 0 3
</PRE>
<B>Program Results</B>
<PRE>
TG01ID EXAMPLE PROGRAM RESULTS
Dimension of observable part = 3
Number of unobservable infinite eigenvalues = 1
The staircase form column dimensions are
2 1
The transformed state dynamics matrix Q'*A*Z is
0.2177 0.2414 0.5742 0.4342 0.0000 -0.4342 0.4666
0.2022 0.2242 0.5334 -0.2924 -0.7723 0.2924 0.4334
-0.5892 -0.6533 -1.5540 0.8520 -0.2651 -0.8520 -1.2627
0.0000 0.0000 0.0000 3.7417 0.3780 -3.7417 0.0000
0.0000 0.0000 0.0000 0.0000 1.7862 0.0000 0.0000
0.0000 0.0000 0.0000 0.0000 0.0000 2.0000 0.0000
0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000
The transformed descriptor matrix Q'*E*Z is
1.0000 0.0000 0.0000 0.4342 0.0000 0.0000 1.8016
0.0000 1.1937 -0.1496 -0.2924 0.3861 0.5461 0.2819
0.0000 0.0000 -1.0260 0.8520 0.1325 0.1874 -0.8214
0.0000 0.0000 0.0000 0.0000 -1.1339 -0.5345 0.0000
0.0000 0.0000 0.0000 0.0000 -0.1333 0.3770 2.3752
0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 1.0000
0.0000 0.0000 0.0000 0.0000 -0.1728 0.4887 -1.8325
The transformed input/state matrix Q'*B is
0.4666 0.0000
0.4334 0.5461
-1.2627 0.1874
0.0000 -1.6036
0.0000 -0.9803
1.0000 0.0000
0.0000 0.3665
The transformed state/output matrix C*Z is
0.0000 0.0000 0.0000 0.0000 0.0000 2.0000 1.0000
0.0000 0.0000 0.0000 0.0000 0.0000 1.0000 2.0000
0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 3.0000
The left transformation matrix Q is
0.0000 0.0000 0.0000 0.0000 0.0000 1.0000 0.0000
0.0000 0.0000 0.0000 0.0000 0.7917 0.0000 -0.6108
0.0000 0.5461 0.1874 -0.5345 0.3770 0.0000 0.4887
0.9008 0.1410 -0.4107 0.0000 0.0000 0.0000 0.0000
0.0000 -0.5461 -0.1874 0.2673 0.4713 0.0000 0.6108
0.0000 -0.5461 -0.1874 -0.8018 -0.0943 0.0000 -0.1222
-0.4342 0.2924 -0.8520 0.0000 0.0000 0.0000 0.0000
The right transformation matrix Z is
0.0000 0.0000 0.0000 0.0000 0.0000 1.0000 0.0000
0.0000 -0.6519 0.2740 0.0000 0.7071 0.0000 0.0000
-0.4342 0.3491 0.8304 0.0000 0.0000 0.0000 0.0000
0.0000 0.0000 0.0000 -1.0000 0.0000 0.0000 0.0000
0.9008 0.1683 0.4003 0.0000 0.0000 0.0000 0.0000
0.0000 0.6519 -0.2740 0.0000 0.7071 0.0000 0.0000
0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 1.0000
</PRE>
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