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C
C SPDX-License-Identifier: BSD-3-Clause
C
* SB10ID 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, LDAK, LDB, LDBK, LDC, LDCK, LDD, LDDK
PARAMETER ( LDA = NMAX, LDAK = NMAX, LDB = NMAX,
$ LDBK = NMAX, LDC = PMAX, LDCK = MMAX,
$ LDD = PMAX, LDDK = MMAX )
INTEGER LIWORK
PARAMETER ( LIWORK = MAX( 2*NMAX, NMAX*NMAX, MMAX, PMAX ) )
INTEGER LDWORK
PARAMETER ( LDWORK = 4*NMAX*NMAX + MMAX*MMAX + PMAX*PMAX +
$ 2*MMAX*NMAX + NMAX*PMAX + 4*NMAX +
$ MAX( 10*NMAX*NMAX + 8*NMAX + 5,
$ NMAX*PMAX + 2*NMAX ) )
* .. Local Scalars ..
DOUBLE PRECISION FACTOR
INTEGER I, INFO, J, M, N, NK, 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), DWORK(LDWORK),
$ RCOND( 2 )
* .. External Subroutines ..
EXTERNAL SB10ID
* .. 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
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
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 = * ) FACTOR
CALL SB10ID( N, M, NP, A, LDA, B, LDB, C, LDC, D, LDD,
$ FACTOR, NK, AK, LDAK, BK, LDBK, CK, LDCK,
$ DK, LDDK, RCOND, IWORK, DWORK, LDWORK,
$ BWORK, INFO )
IF ( INFO.EQ.0 ) THEN
WRITE ( NOUT, FMT = 99997 )
DO 10 I = 1, NK
WRITE ( NOUT, FMT = 99992 ) ( AK(I,J), J = 1,NK )
10 CONTINUE
WRITE ( NOUT, FMT = 99996 )
DO 20 I = 1, NK
WRITE ( NOUT, FMT = 99992 ) ( BK(I,J), J = 1,NP )
20 CONTINUE
WRITE ( NOUT, FMT = 99995 )
DO 30 I = 1, M
WRITE ( NOUT, FMT = 99992 ) ( CK(I,J), J = 1,NK )
30 CONTINUE
WRITE ( NOUT, FMT = 99994 )
DO 40 I = 1, M
WRITE ( NOUT, FMT = 99992 ) ( DK(I,J), J = 1,NP )
40 CONTINUE
WRITE( NOUT, FMT = 99993 )
WRITE( NOUT, FMT = 99991 ) ( RCOND(I), I = 1, 2 )
ELSE
WRITE( NOUT, FMT = 99998 ) INFO
END IF
END IF
STOP
*
99999 FORMAT (' SB10ID EXAMPLE PROGRAM RESULTS',/1X)
99998 FORMAT (/' INFO on exit from SB10ID =',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,F9.4))
99991 FORMAT ( 2(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)
END
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