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C
C SPDX-License-Identifier: BSD-3-Clause
C
* TB01UD EXAMPLE PROGRAM TEXT
*
* .. Parameters ..
INTEGER NIN, NOUT
PARAMETER ( NIN = 5, NOUT = 6 )
INTEGER NMAX, MMAX, PMAX
PARAMETER ( NMAX = 20, MMAX = 20, PMAX = 20 )
INTEGER LDA, LDB, LDC, LDZ
PARAMETER ( LDA = NMAX, LDB = NMAX, LDC = PMAX,
$ LDZ = NMAX )
INTEGER LIWORK
PARAMETER ( LIWORK = MMAX )
INTEGER LDWORK
PARAMETER ( LDWORK = MAX( NMAX, 3*MMAX, PMAX ) )
* .. Local Scalars ..
DOUBLE PRECISION TOL
INTEGER I, INFO, INDCON, J, M, N, NCONT, P
CHARACTER*1 JOBZ
* .. Local Arrays ..
DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
$ DWORK(LDWORK), TAU(NMAX), Z(LDZ,NMAX)
INTEGER IWORK(LIWORK), NBLK(NMAX)
* .. External Functions ..
LOGICAL LSAME
EXTERNAL LSAME
* .. External Subroutines ..
EXTERNAL TB01UD, DORGQR
* .. 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, JOBZ
IF ( N.LE.0 .OR. N.GT.NMAX ) THEN
WRITE ( NOUT, FMT = 99990 ) N
ELSE
READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
IF ( M.LE.0 .OR. M.GT.MMAX ) THEN
WRITE ( NOUT, FMT = 99989 ) M
ELSE
READ ( NIN, FMT = * ) ( ( B(I,J), I = 1,N ), J = 1,M )
IF ( P.LE.0 .OR. P.GT.PMAX ) THEN
WRITE ( NOUT, FMT = 99988 ) P
ELSE
READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
* Find a controllable ssr for the given system.
CALL TB01UD( JOBZ, N, M, P, A, LDA, B, LDB, C, LDC,
$ NCONT, INDCON, NBLK, Z, LDZ, TAU, TOL,
$ IWORK, DWORK, LDWORK, INFO )
*
IF ( INFO.NE.0 ) THEN
WRITE ( NOUT, FMT = 99998 ) INFO
ELSE
WRITE ( NOUT, FMT = 99997 ) NCONT
WRITE ( NOUT, FMT = 99996 )
DO 20 I = 1, NCONT
WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,NCONT )
20 CONTINUE
WRITE ( NOUT, FMT = 99994 ) ( NBLK(I), I = 1,INDCON )
WRITE ( NOUT, FMT = 99993 )
DO 40 I = 1, NCONT
WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
40 CONTINUE
WRITE ( NOUT, FMT = 99987 )
DO 60 I = 1, P
WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,NCONT )
60 CONTINUE
WRITE ( NOUT, FMT = 99992 ) INDCON
IF ( LSAME( JOBZ, 'F' ) )
$ CALL DORGQR( N, N, N, Z, LDZ, TAU, DWORK, LDWORK,
$ INFO )
IF ( LSAME( JOBZ, 'F' ).OR.LSAME( JOBZ, 'I' ) ) THEN
WRITE ( NOUT, FMT = 99991 )
DO 80 I = 1, N
WRITE ( NOUT, FMT = 99995 ) ( Z(I,J), J = 1,N )
80 CONTINUE
END IF
END IF
END IF
END IF
END IF
STOP
*
99999 FORMAT (' TB01UD EXAMPLE PROGRAM RESULTS',/1X)
99998 FORMAT (' INFO on exit from TB01UD = ',I2)
99997 FORMAT (' The order of the controllable state-space representati',
$ 'on = ',I2)
99996 FORMAT (/' The transformed state dynamics matrix of a controllab',
$ 'le realization is ')
99995 FORMAT (20(1X,F8.4))
99994 FORMAT (/' and the dimensions of its diagonal blocks are ',
$ /20(1X,I2))
99993 FORMAT (/' The transformed input/state matrix B of a controllabl',
$ 'e realization is ')
99992 FORMAT (/' The controllability index of the transformed system r',
$ 'epresentation = ',I2)
99991 FORMAT (/' The similarity transformation matrix Z is ')
99990 FORMAT (/' N is out of range.',/' N = ',I5)
99989 FORMAT (/' M is out of range.',/' M = ',I5)
99988 FORMAT (/' P is out of range.',/' P = ',I5)
99987 FORMAT (/' The transformed output/state matrix C of a controlla',
$ 'ble realization is ')
END
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