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From: <paramaniac@us...>  20111015 19:22:31

Revision: 8751 http://octave.svn.sourceforge.net/octave/?rev=8751&view=rev Author: paramaniac Date: 20111015 19:22:25 +0000 (Sat, 15 Oct 2011) Log Message:  control: set ignore property *.oct Property Changed:  trunk/octaveforge/extra/controldevel/src/ Property changes on: trunk/octaveforge/extra/controldevel/src ___________________________________________________________________ Added: svn:ignore + *.oct This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site. 
From: <paramaniac@us...>  20111015 19:04:24

Revision: 8750 http://octave.svn.sourceforge.net/octave/?rev=8750&view=rev Author: paramaniac Date: 20111015 19:04:14 +0000 (Sat, 15 Oct 2011) Log Message:  control: move identification and reduction draft code to extra/controldevel which serves as a developer's playground Added Paths:  trunk/octaveforge/extra/controldevel/ trunk/octaveforge/extra/controldevel/COPYING trunk/octaveforge/extra/controldevel/INFO trunk/octaveforge/extra/controldevel/Makefile trunk/octaveforge/extra/controldevel/devel/ trunk/octaveforge/extra/controldevel/devel/makefile_slconred.m trunk/octaveforge/extra/controldevel/devel/makefile_slmodred.m trunk/octaveforge/extra/controldevel/devel/test_ab09jd.m trunk/octaveforge/extra/controldevel/doc/ trunk/octaveforge/extra/controldevel/inst/ trunk/octaveforge/extra/controldevel/inst/@iddata/ trunk/octaveforge/extra/controldevel/inst/__iddata_dim__.m trunk/octaveforge/extra/controldevel/src/ trunk/octaveforge/extra/controldevel/src/AB04MD.f trunk/octaveforge/extra/controldevel/src/AB05PD.f trunk/octaveforge/extra/controldevel/src/AB05QD.f trunk/octaveforge/extra/controldevel/src/AB07MD.f trunk/octaveforge/extra/controldevel/src/AB07ND.f trunk/octaveforge/extra/controldevel/src/AB08MD.f trunk/octaveforge/extra/controldevel/src/AB08NX.f trunk/octaveforge/extra/controldevel/src/AB09AD.f trunk/octaveforge/extra/controldevel/src/AB09AX.f trunk/octaveforge/extra/controldevel/src/AB09BD.f trunk/octaveforge/extra/controldevel/src/AB09BX.f trunk/octaveforge/extra/controldevel/src/AB09CX.f trunk/octaveforge/extra/controldevel/src/AB09DD.f trunk/octaveforge/extra/controldevel/src/AB09HD.f trunk/octaveforge/extra/controldevel/src/AB09HY.f trunk/octaveforge/extra/controldevel/src/AB09ID.f trunk/octaveforge/extra/controldevel/src/AB09IX.f trunk/octaveforge/extra/controldevel/src/AB09IY.f trunk/octaveforge/extra/controldevel/src/AB09JD.f trunk/octaveforge/extra/controldevel/src/AB09JV.f trunk/octaveforge/extra/controldevel/src/AB09JW.f trunk/octaveforge/extra/controldevel/src/AB09JX.f trunk/octaveforge/extra/controldevel/src/AG07BD.f trunk/octaveforge/extra/controldevel/src/MA02AD.f trunk/octaveforge/extra/controldevel/src/MA02BD.f trunk/octaveforge/extra/controldevel/src/MA02DD.f trunk/octaveforge/extra/controldevel/src/MA02GD.f trunk/octaveforge/extra/controldevel/src/MB01PD.f trunk/octaveforge/extra/controldevel/src/MB01QD.f trunk/octaveforge/extra/controldevel/src/MB01SD.f trunk/octaveforge/extra/controldevel/src/MB01WD.f trunk/octaveforge/extra/controldevel/src/MB01YD.f trunk/octaveforge/extra/controldevel/src/MB01ZD.f trunk/octaveforge/extra/controldevel/src/MB02UD.f trunk/octaveforge/extra/controldevel/src/MB03OY.f trunk/octaveforge/extra/controldevel/src/MB03PY.f trunk/octaveforge/extra/controldevel/src/MB03QD.f trunk/octaveforge/extra/controldevel/src/MB03QX.f trunk/octaveforge/extra/controldevel/src/MB03QY.f trunk/octaveforge/extra/controldevel/src/MB03UD.f trunk/octaveforge/extra/controldevel/src/MB04ND.f trunk/octaveforge/extra/controldevel/src/MB04NY.f trunk/octaveforge/extra/controldevel/src/MB04OD.f trunk/octaveforge/extra/controldevel/src/MB04OX.f trunk/octaveforge/extra/controldevel/src/MB04OY.f trunk/octaveforge/extra/controldevel/src/SB01FY.f trunk/octaveforge/extra/controldevel/src/SB02MD.f trunk/octaveforge/extra/controldevel/src/SB02MR.f trunk/octaveforge/extra/controldevel/src/SB02MS.f trunk/octaveforge/extra/controldevel/src/SB02MU.f trunk/octaveforge/extra/controldevel/src/SB02MV.f trunk/octaveforge/extra/controldevel/src/SB02MW.f trunk/octaveforge/extra/controldevel/src/SB03OD.f trunk/octaveforge/extra/controldevel/src/SB03OR.f trunk/octaveforge/extra/controldevel/src/SB03OT.f trunk/octaveforge/extra/controldevel/src/SB03OU.f trunk/octaveforge/extra/controldevel/src/SB03OV.f trunk/octaveforge/extra/controldevel/src/SB03OY.f trunk/octaveforge/extra/controldevel/src/SB04PX.f trunk/octaveforge/extra/controldevel/src/SB04PY.f trunk/octaveforge/extra/controldevel/src/SB08CD.f trunk/octaveforge/extra/controldevel/src/SB08DD.f trunk/octaveforge/extra/controldevel/src/SB08GD.f trunk/octaveforge/extra/controldevel/src/SB08HD.f trunk/octaveforge/extra/controldevel/src/SB16AD.f trunk/octaveforge/extra/controldevel/src/SB16AY.f trunk/octaveforge/extra/controldevel/src/SB16BD.f trunk/octaveforge/extra/controldevel/src/SB16CD.f trunk/octaveforge/extra/controldevel/src/SB16CY.f trunk/octaveforge/extra/controldevel/src/TB01ID.f trunk/octaveforge/extra/controldevel/src/TB01KD.f trunk/octaveforge/extra/controldevel/src/TB01LD.f trunk/octaveforge/extra/controldevel/src/TB01PD.f trunk/octaveforge/extra/controldevel/src/TB01UD.f trunk/octaveforge/extra/controldevel/src/TB01WD.f trunk/octaveforge/extra/controldevel/src/TB01XD.f trunk/octaveforge/extra/controldevel/src/common.cc trunk/octaveforge/extra/controldevel/src/delctg.f trunk/octaveforge/extra/controldevel/src/select.f trunk/octaveforge/extra/controldevel/src/slab09jd.cc Removed Paths:  trunk/octaveforge/main/control/devel/@iddata/ trunk/octaveforge/main/control/devel/__iddata_dim__.m trunk/octaveforge/main/control/devel/slred/slconred/AB05PD.f trunk/octaveforge/main/control/devel/slred/slconred/AB05QD.f trunk/octaveforge/main/control/devel/slred/slconred/AB07ND.f trunk/octaveforge/main/control/devel/slred/slconred/AB09AD.f trunk/octaveforge/main/control/devel/slred/slconred/AB09AX.f trunk/octaveforge/main/control/devel/slred/slconred/AB09BD.f trunk/octaveforge/main/control/devel/slred/slconred/AB09BX.f trunk/octaveforge/main/control/devel/slred/slconred/AB09DD.f trunk/octaveforge/main/control/devel/slred/slconred/AB09IX.f trunk/octaveforge/main/control/devel/slred/slconred/MA02AD.f trunk/octaveforge/main/control/devel/slred/slconred/MA02DD.f trunk/octaveforge/main/control/devel/slred/slconred/MA02GD.f trunk/octaveforge/main/control/devel/slred/slconred/MB01SD.f trunk/octaveforge/main/control/devel/slred/slconred/MB01WD.f trunk/octaveforge/main/control/devel/slred/slconred/MB01YD.f trunk/octaveforge/main/control/devel/slred/slconred/MB01ZD.f trunk/octaveforge/main/control/devel/slred/slconred/MB02UD.f trunk/octaveforge/main/control/devel/slred/slconred/MB03QD.f trunk/octaveforge/main/control/devel/slred/slconred/MB03QX.f trunk/octaveforge/main/control/devel/slred/slconred/MB03QY.f trunk/octaveforge/main/control/devel/slred/slconred/MB03UD.f trunk/octaveforge/main/control/devel/slred/slconred/MB04ND.f trunk/octaveforge/main/control/devel/slred/slconred/MB04NY.f trunk/octaveforge/main/control/devel/slred/slconred/MB04OD.f trunk/octaveforge/main/control/devel/slred/slconred/MB04OY.f trunk/octaveforge/main/control/devel/slred/slconred/SB03OD.f trunk/octaveforge/main/control/devel/slred/slconred/SB03OR.f trunk/octaveforge/main/control/devel/slred/slconred/SB03OT.f trunk/octaveforge/main/control/devel/slred/slconred/SB03OU.f trunk/octaveforge/main/control/devel/slred/slconred/SB03OV.f trunk/octaveforge/main/control/devel/slred/slconred/SB03OY.f trunk/octaveforge/main/control/devel/slred/slconred/SB04PX.f trunk/octaveforge/main/control/devel/slred/slconred/SB08GD.f trunk/octaveforge/main/control/devel/slred/slconred/SB08HD.f trunk/octaveforge/main/control/devel/slred/slconred/SB16AD.f trunk/octaveforge/main/control/devel/slred/slconred/SB16AY.f trunk/octaveforge/main/control/devel/slred/slconred/SB16BD.f trunk/octaveforge/main/control/devel/slred/slconred/SB16CD.f trunk/octaveforge/main/control/devel/slred/slconred/SB16CY.f trunk/octaveforge/main/control/devel/slred/slconred/TB01ID.f trunk/octaveforge/main/control/devel/slred/slconred/TB01KD.f trunk/octaveforge/main/control/devel/slred/slconred/TB01LD.f trunk/octaveforge/main/control/devel/slred/slconred/TB01WD.f trunk/octaveforge/main/control/devel/slred/slconred/makefile_slconred.m trunk/octaveforge/main/control/devel/slred/slconred/select.f trunk/octaveforge/main/control/devel/slred/slmodred/AB04MD.f trunk/octaveforge/main/control/devel/slred/slmodred/AB07MD.f trunk/octaveforge/main/control/devel/slred/slmodred/AB07ND.f trunk/octaveforge/main/control/devel/slred/slmodred/AB08MD.f trunk/octaveforge/main/control/devel/slred/slmodred/AB08NX.f trunk/octaveforge/main/control/devel/slred/slmodred/AB09AX.f trunk/octaveforge/main/control/devel/slred/slmodred/AB09CX.f trunk/octaveforge/main/control/devel/slred/slmodred/AB09DD.f trunk/octaveforge/main/control/devel/slred/slmodred/AB09HD.f trunk/octaveforge/main/control/devel/slred/slmodred/AB09HY.f trunk/octaveforge/main/control/devel/slred/slmodred/AB09ID.f trunk/octaveforge/main/control/devel/slred/slmodred/AB09IX.f trunk/octaveforge/main/control/devel/slred/slmodred/AB09IY.f trunk/octaveforge/main/control/devel/slred/slmodred/AB09JD.f trunk/octaveforge/main/control/devel/slred/slmodred/AB09JV.f trunk/octaveforge/main/control/devel/slred/slmodred/AB09JW.f trunk/octaveforge/main/control/devel/slred/slmodred/AB09JX.f trunk/octaveforge/main/control/devel/slred/slmodred/AG07BD.f trunk/octaveforge/main/control/devel/slred/slmodred/MA02AD.f trunk/octaveforge/main/control/devel/slred/slmodred/MA02BD.f trunk/octaveforge/main/control/devel/slred/slmodred/MA02DD.f trunk/octaveforge/main/control/devel/slred/slmodred/MB01PD.f trunk/octaveforge/main/control/devel/slred/slmodred/MB01QD.f trunk/octaveforge/main/control/devel/slred/slmodred/MB01SD.f trunk/octaveforge/main/control/devel/slred/slmodred/MB01WD.f trunk/octaveforge/main/control/devel/slred/slmodred/MB01YD.f trunk/octaveforge/main/control/devel/slred/slmodred/MB01ZD.f trunk/octaveforge/main/control/devel/slred/slmodred/MB03OY.f trunk/octaveforge/main/control/devel/slred/slmodred/MB03PY.f trunk/octaveforge/main/control/devel/slred/slmodred/MB03QD.f trunk/octaveforge/main/control/devel/slred/slmodred/MB03QX.f trunk/octaveforge/main/control/devel/slred/slmodred/MB03QY.f trunk/octaveforge/main/control/devel/slred/slmodred/MB03UD.f trunk/octaveforge/main/control/devel/slred/slmodred/MB04ND.f trunk/octaveforge/main/control/devel/slred/slmodred/MB04NY.f trunk/octaveforge/main/control/devel/slred/slmodred/MB04OD.f trunk/octaveforge/main/control/devel/slred/slmodred/MB04OX.f trunk/octaveforge/main/control/devel/slred/slmodred/MB04OY.f trunk/octaveforge/main/control/devel/slred/slmodred/SB01FY.f trunk/octaveforge/main/control/devel/slred/slmodred/SB02MD.f trunk/octaveforge/main/control/devel/slred/slmodred/SB02MR.f trunk/octaveforge/main/control/devel/slred/slmodred/SB02MS.f trunk/octaveforge/main/control/devel/slred/slmodred/SB02MU.f trunk/octaveforge/main/control/devel/slred/slmodred/SB02MV.f trunk/octaveforge/main/control/devel/slred/slmodred/SB02MW.f trunk/octaveforge/main/control/devel/slred/slmodred/SB03OR.f trunk/octaveforge/main/control/devel/slred/slmodred/SB03OT.f trunk/octaveforge/main/control/devel/slred/slmodred/SB03OU.f trunk/octaveforge/main/control/devel/slred/slmodred/SB03OV.f trunk/octaveforge/main/control/devel/slred/slmodred/SB03OY.f trunk/octaveforge/main/control/devel/slred/slmodred/SB04PX.f trunk/octaveforge/main/control/devel/slred/slmodred/SB04PY.f trunk/octaveforge/main/control/devel/slred/slmodred/SB08CD.f trunk/octaveforge/main/control/devel/slred/slmodred/SB08DD.f trunk/octaveforge/main/control/devel/slred/slmodred/TB01ID.f trunk/octaveforge/main/control/devel/slred/slmodred/TB01KD.f trunk/octaveforge/main/control/devel/slred/slmodred/TB01LD.f trunk/octaveforge/main/control/devel/slred/slmodred/TB01PD.f trunk/octaveforge/main/control/devel/slred/slmodred/TB01UD.f trunk/octaveforge/main/control/devel/slred/slmodred/TB01WD.f trunk/octaveforge/main/control/devel/slred/slmodred/TB01XD.f trunk/octaveforge/main/control/devel/slred/slmodred/common.cc trunk/octaveforge/main/control/devel/slred/slmodred/delctg.f trunk/octaveforge/main/control/devel/slred/slmodred/makefile_slmodred.m trunk/octaveforge/main/control/devel/slred/slmodred/select.f trunk/octaveforge/main/control/devel/slred/slmodred/slab09jd.cc trunk/octaveforge/main/control/devel/slred/slmodred/test_ab09jd.m Added: trunk/octaveforge/extra/controldevel/COPYING ===================================================================  trunk/octaveforge/extra/controldevel/COPYING (rev 0) +++ trunk/octaveforge/extra/controldevel/COPYING 20111015 19:04:14 UTC (rev 8750) @@ 0,0 +1,674 @@ + GNU GENERAL PUBLIC LICENSE + Version 3, 29 June 2007 + + Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/>; + Everyone is permitted to copy and distribute verbatim copies + of this license document, but changing it is not allowed. + + Preamble + + The GNU General Public License is a free, copyleft license for +software and other kinds of works. + + The licenses for most software and other practical works are designed +to take away your freedom to share and change the works. By contrast, +the GNU General Public License is intended to guarantee your freedom to +share and change all versions of a programto make sure it remains free +software for all its users. We, the Free Software Foundation, use the +GNU General Public License for most of our software; it applies also to +any other work released this way by its authors. You can apply it to +your programs, too. + + When we speak of free software, we are referring to freedom, not +price. Our General Public Licenses are designed to make sure that you +have the freedom to distribute copies of free software (and charge for +them if you wish), that you receive source code or can get it if you +want it, that you can change the software or use pieces of it in new +free programs, and that you know you can do these things. + + To protect your rights, we need to prevent others from denying you +these rights or asking you to surrender the rights. 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Added: trunk/octaveforge/extra/controldevel/INFO ===================================================================  trunk/octaveforge/extra/controldevel/INFO (rev 0) +++ trunk/octaveforge/extra/controldevel/INFO 20111015 19:04:14 UTC (rev 8750) @@ 0,0 +1,3 @@ +This package is just a playground for the author. +All its code will be included in the control package +once it's ready for a release. \ No newline at end of file Added: trunk/octaveforge/extra/controldevel/Makefile ===================================================================  trunk/octaveforge/extra/controldevel/Makefile (rev 0) +++ trunk/octaveforge/extra/controldevel/Makefile 20111015 19:04:14 UTC (rev 8750) @@ 0,0 +1,16 @@ +sinclude ../../Makeconf + +PKG_FILES = COPYING DESCRIPTION INDEX $(wildcard inst/*) +SUBDIRS = doc/ + +.PHONY: $(SUBDIRS) + +prepkg:: + @for _dir in $(SUBDIRS); do \ + $(MAKE) C $$_dir all; \ + done + +clean: + @for _dir in $(SUBDIRS); do \ + $(MAKE) C $$_dir $(MAKECMDGOALS); \ + done Copied: trunk/octaveforge/extra/controldevel/devel/makefile_slconred.m (from rev 8749, trunk/octaveforge/main/control/devel/slred/slconred/makefile_slconred.m) ===================================================================  trunk/octaveforge/extra/controldevel/devel/makefile_slconred.m (rev 0) +++ trunk/octaveforge/extra/controldevel/devel/makefile_slconred.m 20111015 19:04:14 UTC (rev 8750) @@ 0,0 +1,26 @@ +homedir = pwd (); +develdir = fileparts (which ("makefile_slconred")); +srcdir = [develdir, "/../src"]; +cd (srcdir); + +mkoctfile SB16AD.f TB01ID.f SB16AY.f TB01KD.f AB09IX.f \ + MB04OD.f MB01WD.f SB03OD.f MB03UD.f AB05PD.f \ + AB09DD.f AB07ND.f TB01LD.f AB05QD.f SB03OU.f \ + MA02AD.f MB03QX.f select.f MB01YD.f MB01ZD.f \ + SB03OT.f MB04OY.f MB03QD.f MB04ND.f MB03QY.f \ + SB03OR.f SB03OY.f SB04PX.f MB04NY.f SB03OV.f + +mkoctfile SB16BD.f AB09AD.f AB09BD.f SB08GD.f SB08HD.f \ + TB01ID.f AB09AX.f MA02GD.f AB09BX.f TB01WD.f \ + MA02DD.f MB03UD.f select.f AB09DD.f SB03OU.f \ + MA02AD.f SB03OT.f MB04ND.f MB04OD.f SB03OR.f \ + SB03OY.f SB04PX.f MB04NY.f MB04OY.f SB03OV.f + +mkoctfile SB16CD.f SB16CY.f AB09IX.f SB03OD.f MB02UD.f \ + AB09DD.f MA02AD.f MB03UD.f select.f SB03OU.f \ + MB01SD.f SB03OT.f MB04ND.f MB04OD.f SB03OR.f \ + SB03OY.f SB04PX.f MB04NY.f MB04OY.f SB03OV.f + +system ("rm *.o"); +cd (homedir); + Copied: trunk/octaveforge/extra/controldevel/devel/makefile_slmodred.m (from rev 8749, trunk/octaveforge/main/control/devel/slred/slmodred/makefile_slmodred.m) ===================================================================  trunk/octaveforge/extra/controldevel/devel/makefile_slmodred.m (rev 0) +++ trunk/octaveforge/extra/controldevel/devel/makefile_slmodred.m 20111015 19:04:14 UTC (rev 8750) @@ 0,0 +1,35 @@ +homedir = pwd (); +develdir = fileparts (which ("makefile_slmodred")); +srcdir = [develdir, "/../src"]; +cd (srcdir); + +mkoctfile AB09ID.f TB01PD.f SB08DD.f TB01ID.f TB01KD.f \ + AB09IX.f AB09IY.f SB08CD.f MB04ND.f TB01XD.f \ + MB04OD.f MB01WD.f MB03UD.f AB07MD.f SB01FY.f \ + AB09DD.f TB01LD.f SB03OU.f TB01UD.f MA02AD.f \ + MA02BD.f MB03OY.f MB03QX.f MB01PD.f select.f \ + MB01YD.f MB04NY.f MB01ZD.f SB03OT.f MB04OX.f \ + MB04OY.f MB03QD.f SB03OY.f MB03QY.f MB01QD.f \ + SB03OR.f SB03OV.f SB04PX.f + +mkoctfile "Wl,framework" "Wl,vecLib" \ + slab09jd.cc \ + AB09JD.f TB01ID.f TB01KD.f AB07ND.f AB09JV.f \ + AB09JW.f AB09CX.f AG07BD.f AB08MD.f AB04MD.f \ + TB01LD.f delctg.f SB04PY.f AB09AX.f AB08NX.f \ + MB01SD.f AB09JX.f MA02AD.f TB01WD.f MB03OY.f \ + MB03PY.f MA02DD.f MB03UD.f MB03QX.f select.f \ + SB04PX.f SB03OU.f MB03QD.f MB03QY.f SB03OT.f \ + MB04ND.f MB04OD.f SB03OR.f SB03OY.f MB04NY.f \ + MB04OY.f SB03OV.f + +mkoctfile AB09HD.f TB01ID.f AB04MD.f TB01KD.f AB09HY.f \ + AB09IX.f MB03UD.f SB02MD.f AB09DD.f TB01LD.f \ + SB03OU.f MA02AD.f MB03QX.f select.f SB03OT.f \ + SB02MR.f SB02MS.f MB03QD.f SB02MU.f SB02MV.f \ + SB02MW.f MB04ND.f MB04OD.f MB03QY.f SB03OR.f \ + SB03OY.f SB04PX.f MB04NY.f MB04OY.f SB03OV.f + +system ("rm *.o"); +cd (homedir); + Copied: trunk/octaveforge/extra/controldevel/devel/test_ab09jd.m (from rev 8749, trunk/octaveforge/main/control/devel/slred/slmodred/test_ab09jd.m) ===================================================================  trunk/octaveforge/extra/controldevel/devel/test_ab09jd.m (rev 0) +++ trunk/octaveforge/extra/controldevel/devel/test_ab09jd.m 20111015 19:04:14 UTC (rev 8750) @@ 0,0 +1,55 @@ +% AB09JD EXAMPLE PROGRAM DATA (Continuous system) +% 6 1 1 2 0 0 0.0 1.E1 1.E14 V N I C S A + +a = [ 3.8637 7.4641 9.1416 7.4641 3.8637 1.0000 + 1.0000, 0 0 0 0 0 + 0 1.0000 0 0 0 0 + 0 0 1.0000 0 0 0 + 0 0 0 1.0000 0 0 + 0 0 0 0 1.0000 0 ]; + +b = [ 1 + 0 + 0 + 0 + 0 + 0 ]; + +c = [ 0 0 0 0 0 1 ]; + +d = [ 0 ]; + +av = [ 0.2000 1.0000 + 1.0000 0 ]; + +bv = [ 1 + 0 ]; + +cv = [ 1.8000 0 ]; + +dv = [ 1 ]; + + +[ar, br, cr, dr] = slab09jd (a, b, c, d, av, bv, cv, dv, [], [], [], [], 0, 0.0, \ + 1, 0, 2, 0, 0, 1, \ + 1e1, 1e14) + +%{ + The reduced state dynamics matrix Ar is + 0.2391 0.3072 1.1630 1.1967 + 2.9709 0.2391 2.6270 3.1027 + 0.0000 0.0000 0.5137 1.2842 + 0.0000 0.0000 0.1519 0.5137 + + The reduced input/state matrix Br is + 1.0497 + 3.7052 + 0.8223 + 0.7435 + + The reduced state/output matrix Cr is + 0.4466 0.0143 0.4780 0.2013 + + The reduced input/output matrix Dr is + 0.0219 +%} Copied: trunk/octaveforge/extra/controldevel/inst/__iddata_dim__.m (from rev 8749, trunk/octaveforge/main/control/devel/__iddata_dim__.m) ===================================================================  trunk/octaveforge/extra/controldevel/inst/__iddata_dim__.m (rev 0) +++ trunk/octaveforge/extra/controldevel/inst/__iddata_dim__.m 20111015 19:04:14 UTC (rev 8750) @@ 0,0 +1,26 @@ +## Author: Lukas Reichlin <lukas.reichlin@...> +## Created: October 2011 +## Version: 0.1 + +function [p, m] = __iddata_dim__ (y, u) + + if (! is_real_matrix (y, u)) + error ("iddata: inputs and outputs must be real"); + endif + + [ly, p] = size (y); + [lu, m] = size (u); + + if (ly != lu) + error ("iddata: matrices ""y"" and ""u"" must have the same number of samples (rows)"); + endif + + if (ly < p) + warning ("iddata: more outputs than samples  matrice ""y"" should probably be transposed"); + endif + + if (lu < m) + warning ("iddata: more inputs than samples  matrice ""u"" should probably be transposed"); + endif + +endfunction \ No newline at end of file Added: trunk/octaveforge/extra/controldevel/src/AB04MD.f ===================================================================  trunk/octaveforge/extra/controldevel/src/AB04MD.f (rev 0) +++ trunk/octaveforge/extra/controldevel/src/AB04MD.f 20111015 19:04:14 UTC (rev 8750) @@ 0,0 +1,345 @@ + SUBROUTINE AB04MD( TYPE, N, M, P, ALPHA, BETA, A, LDA, B, LDB, C, + $ LDC, D, LDD, IWORK, DWORK, LDWORK, INFO ) +C +C SLICOT RELEASE 5.0. +C +C Copyright (c) 20022009 NICONET e.V. +C +C This program is free software: you can redistribute it and/or +C modify it under the terms of the GNU General Public License as +C published by the Free Software Foundation, either version 2 of +C the License, or (at your option) any later version. +C +C This program is distributed in the hope that it will be useful, +C but WITHOUT ANY WARRANTY; without even the implied warranty of +C MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +C GNU General Public License for more details. +C +C You should have received a copy of the GNU General Public License +C along with this program. If not, see +C <http://www.gnu.org/licenses/>;. +C +C PURPOSE +C +C To perform a transformation on the parameters (A,B,C,D) of a +C system, which is equivalent to a bilinear transformation of the +C corresponding transfer function matrix. +C +C ARGUMENTS +C +C Mode Parameters +C +C TYPE CHARACTER*1 +C Indicates the type of the original system and the +C transformation to be performed as follows: +C = 'D': discretetime > continuoustime; +C = 'C': continuoustime > discretetime. +C +C Input/Output Parameters +C +C N (input) INTEGER +C The order of the state matrix A. N >= 0. +C +C M (input) INTEGER +C The number of system inputs. M >= 0. +C +C P (input) INTEGER +C The number of system outputs. P >= 0. +C +C ALPHA, (input) DOUBLE PRECISION +C BETA Parameters specifying the bilinear transformation. +C Recommended values for stable systems: ALPHA = 1, +C BETA = 1. ALPHA <> 0, BETA <> 0. +C +C A (input/output) DOUBLE PRECISION array, dimension (LDA,N) +C On entry, the leading NbyN part of this array must +C contain the state matrix A of the original system. +C On exit, the leading NbyN part of this array contains +C _ +C the state matrix A of the transformed system. +C +C LDA INTEGER +C The leading dimension of array A. LDA >= MAX(1,N). +C +C B (input/output) DOUBLE PRECISION array, dimension (LDB,M) +C On entry, the leading NbyM part of this array must +C contain the input matrix B of the original system. +C On exit, the leading NbyM part of this array contains +C _ +C the input matrix B of the transformed system. +C +C LDB INTEGER +C The leading dimension of array B. LDB >= MAX(1,N). +C +C C (input/output) DOUBLE PRECISION array, dimension (LDC,N) +C On entry, the leading PbyN part of this array must +C contain the output matrix C of the original system. +C On exit, the leading PbyN part of this array contains +C _ +C the output matrix C of the transformed system. +C +C LDC INTEGER +C The leading dimension of array C. LDC >= MAX(1,P). +C +C D (input/output) DOUBLE PRECISION array, dimension (LDD,M) +C On entry, the leading PbyM part of this array must +C contain the input/output matrix D for the original system. +C On exit, the leading PbyM part of this array contains +C _ +C the input/output matrix D of the transformed system. +C +C LDD INTEGER +C The leading dimension of array D. LDD >= MAX(1,P). +C +C Workspace +C +C IWORK INTEGER array, dimension (N) +C +C DWORK DOUBLE PRECISION array, dimension (LDWORK) +C On exit, if INFO = 0, DWORK(1) returns the optimal value +C of LDWORK. +C +C LDWORK INTEGER +C The length of the array DWORK. LDWORK >= MAX(1,N). +C For optimum performance LDWORK >= MAX(1,N*NB), where NB +C is the optimal blocksize. +C +C Error Indicator +C +C INFO INTEGER +C = 0: successful exit; +C < 0: if INFO = i, the ith argument had an illegal +C value; +C = 1: if the matrix (ALPHA*I + A) is exactly singular; +C = 2: if the matrix (BETA*I  A) is exactly singular. +C +C METHOD +C +C The parameters of the discretetime system are transformed into +C the parameters of the continuoustime system (TYPE = 'D'), or +C viceversa (TYPE = 'C') by the transformation: +C +C 1. Discrete > continuous +C _ 1 +C A = beta*(alpha*I + A) * (A  alpha*I) +C _ 1 +C B = sqrt(2*alpha*beta) * (alpha*I + A) * B +C _ 1 +C C = sqrt(2*alpha*beta) * C * (alpha*I + A) +C _ 1 +C D = D  C * (alpha*I + A) * B +C +C which is equivalent to the bilinear transformation +C +C z  alpha +C z > s = beta  . +C z + alpha +C +C of one transfer matrix onto the other. +C +C 2. Continuous > discrete +C _ 1 +C A = alpha*(beta*I  A) * (beta*I + A) +C _ 1 +C B = sqrt(2*alpha*beta) * (beta*I  A) * B +C _ 1 +C C = sqrt(2*alpha*beta) * C * (beta*I  A) +C _ 1 +C D = D + C * (beta*I  A) * B +C +C which is equivalent to the bilinear transformation +C +C beta + s +C s > z = alpha  . +C beta  s +C +C of one transfer matrix onto the other. +C +C REFERENCES +C +C [1] AlSaggaf, U.M. and Franklin, G.F. +C Model reduction via balanced realizations: a extension and +C frequency weighting techniques. +C IEEE Trans. Autom. Contr., AC33, pp. 687692, 1988. +C +C NUMERICAL ASPECTS +C 3 +C The time taken is approximately proportional to N . +C The accuracy depends mainly on the condition number of the matrix +C to be inverted. +C +C CONTRIBUTORS +C +C Release 3.0: V. Sima, Katholieke Univ. Leuven, Belgium, and +C A. Varga, German Aerospace Research Establishment, +C Oberpfaffenhofen, Germany, Nov. 1996. +C Supersedes Release 2.0 routine AB04AD by W. van der Linden, and +C A.J. Geurts, Technische Hogeschool Eindhoven, Holland. +C +C REVISIONS +C +C  +C +C KEYWORDS +C +C Bilinear transformation, continuoustime system, discretetime +C system, statespace model. +C +C ****************************************************************** +C +C .. Parameters .. + DOUBLE PRECISION ZERO, ONE, TWO + PARAMETER ( ZERO=0.0D0, ONE=1.0D0, TWO=2.0D0 ) +C .. Scalar Arguments .. + CHARACTER TYPE + INTEGER INFO, LDA, LDB, LDC, LDD, LDWORK, M, N, P + DOUBLE PRECISION ALPHA, BETA +C .. Array Arguments .. + INTEGER IWORK(*) + DOUBLE PRECISION A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*), DWORK(*) +C .. Local Scalars .. + LOGICAL LTYPE + INTEGER I, IP + DOUBLE PRECISION AB2, PALPHA, PBETA, SQRAB2 +C .. External Functions .. + LOGICAL LSAME + EXTERNAL LSAME +C .. External Subroutines .. + EXTERNAL DGEMM, DGETRF, DGETRS, DGETRI, DLASCL, DSCAL, + $ DSWAP, XERBLA +C .. Intrinsic Functions .. + INTRINSIC ABS, MAX, SIGN, SQRT +C .. Executable Statements .. +C + INFO = 0 + LTYPE = LSAME( TYPE, 'D' ) +C +C Test the input scalar arguments. +C + IF( .NOT.LTYPE .AND. .NOT.LSAME( TYPE, 'C' ) ) THEN + INFO = 1 + ELSE IF( N.LT.0 ) THEN + INFO = 2 + ELSE IF( M.LT.0 ) THEN + INFO = 3 + ELSE IF( P.LT.0 ) THEN + INFO = 4 + ELSE IF( ALPHA.EQ.ZERO ) THEN + INFO = 5 + ELSE IF( BETA.EQ.ZERO ) THEN + INFO = 6 + ELSE IF( LDA.LT.MAX( 1, N ) ) THEN + INFO = 8 + ELSE IF( LDB.LT.MAX( 1, N ) ) THEN + INFO = 10 + ELSE IF( LDC.LT.MAX( 1, P ) ) THEN + INFO = 12 + ELSE IF( LDD.LT.MAX( 1, P ) ) THEN + INFO = 14 + ELSE IF( LDWORK.LT.MAX( 1, N ) ) THEN + INFO = 17 + END IF +C + IF ( INFO.NE.0 ) THEN +C +C Error return. +C + CALL XERBLA( 'AB04MD', INFO ) + RETURN + END IF +C +C Quick return if possible. +C + IF ( MAX( N, M, P ).EQ.0 ) + $ RETURN +C +C (Note: Comments in the code beginning "Workspace:" describe the +C minimal amount of real workspace needed at that point in the +C code, as well as the preferred amount for good performance. +C NB refers to the optimal block size for the immediately +C following subroutine, as returned by ILAENV.) +C + IF (LTYPE) THEN +C +C Discretetime to continuoustime with (ALPHA, BETA). +C + PALPHA = ALPHA + PBETA = BETA + ELSE +C +C Continuoustime to discretetime with (ALPHA, BETA) is +C equivalent with discretetime to continuoustime with +C (BETA, ALPHA), if B and C change the sign. +C + PALPHA = BETA + PBETA = ALPHA + END IF +C + AB2 = PALPHA*PBETA*TWO + SQRAB2 = SIGN( SQRT( ABS( AB2 ) ), PALPHA ) +C 1 +C Compute (alpha*I + A) . +C + DO 10 I = 1, N + A(I,I) = A(I,I) + PALPHA + 10 CONTINUE +C + CALL DGETRF( N, N, A, LDA, IWORK, INFO ) +C + IF (INFO.NE.0) THEN +C +C Error return. +C + IF (LTYPE) THEN + INFO = 1 + ELSE + INFO = 2 + END IF + RETURN + END IF +C 1 +C Compute (alpha*I+A) *B. +C + CALL DGETRS( 'No transpose', N, M, A, LDA, IWORK, B, LDB, INFO ) +C 1 +C Compute D  C*(alpha*I+A) *B. +C + CALL DGEMM( 'No transpose', 'No transpose', P, M, N, ONE, C, + $ LDC, B, LDB, ONE, D, LDD ) +C +C Scale B by sqrt(2*alpha*beta). +C + CALL DLASCL( 'General', 0, 0, ONE, SQRAB2, N, M, B, LDB, INFO ) +C 1 +C Compute sqrt(2*alpha*beta)*C*(alpha*I + A) . +C + CALL DTRSM( 'Right', 'Upper', 'No transpose', 'Nonunit', P, N, + $ SQRAB2, A, LDA, C, LDC ) +C + CALL DTRSM( 'Right', 'Lower', 'No transpose', 'Unit', P, N, ONE, + $ A, LDA, C, LDC ) +C +C Apply column interchanges to the solution matrix. +C + DO 20 I = N1, 1, 1 + IP = IWORK(I) + IF ( IP.NE.I ) + $ CALL DSWAP( P, C(1,I), 1, C(1,IP), 1 ) + 20 CONTINUE +C 1 +C Compute beta*(alpha*I + A) *(A  alpha*I) as +C 1 +C beta*I  2*alpha*beta*(alpha*I + A) . +C +C Workspace: need N; prefer N*NB. +C + CALL DGETRI( N, A, LDA, IWORK, DWORK, LDWORK, INFO ) +C + DO 30 I = 1, N + CALL DSCAL(N, AB2, A(1,I), 1) + A(I,I) = A(I,I) + PBETA + 30 CONTINUE +C + RETURN +C *** Last line of AB04MD *** + END Copied: trunk/octaveforge/extra/controldevel/src/AB05PD.f (from rev 8749, trunk/octaveforge/main/control/devel/slred/slconred/AB05PD.f) ===================================================================  trunk/octaveforge/extra/controldevel/src/AB05PD.f (rev 0) +++ trunk/octaveforge/extra/controldevel/src/AB05PD.f 20111015 19:04:14 UTC (rev 8750) @@ 0,0 +1,385 @@ + SUBROUTINE AB05PD( OVER, N1, M, P, N2, ALPHA, A1, LDA1, B1, LDB1, + $ C1, LDC1, D1, LDD1, A2, LDA2, B2, LDB2, C2, + $ LDC2, D2, LDD2, N, A, LDA, B, LDB, C, LDC, D, + $ LDD, INFO) +C +C SLICOT RELEASE 5.0. +C +C Copyright (c) 20022009 NICONET e.V. +C +C This program is free software: you can redistribute it and/or +C modify it under the terms of the GNU General Public License as +C published by the Free Software Foundation, either version 2 of +C the License, or (at your option) any later version. +C +C This program is distributed in the hope that it will be useful, +C but WITHOUT ANY WARRANTY; without even the implied warranty of +C MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +C GNU General Public License for more details. +C +C You should have received a copy of the GNU General Public License +C along with this program. If not, see +C <http://www.gnu.org/licenses/>;. +C +C PURPOSE +C +C To compute the statespace model G = (A,B,C,D) corresponding to +C the sum G = G1 + alpha*G2, where G1 = (A1,B1,C1,D1) and +C G2 = (A2,B2,C2,D2). G, G1, and G2 are the transferfunction +C matrices of the corresponding statespace models. +C +C ARGUMENTS +C +C Mode Parameters +C +C OVER CHARACTER*1 +C Indicates whether the user wishes to overlap pairs of +C arrays, as follows: +C = 'N': Do not overlap; +C = 'O': Overlap pairs of arrays: A1 and A, B1 and B, +C C1 and C, and D1 and D, i.e. the same name is +C effectively used for each pair (for all pairs) +C in the routine call. In this case, setting +C LDA1 = LDA, LDB1 = LDB, LDC1 = LDC, and LDD1 = LDD +C will give maximum efficiency. +C +C Input/Output Parameters +C +C N1 (input) INTEGER +C The number of state variables in the first system, i.e. +C the order of the matrix A1, the number of rows of B1 and +C the number of columns of C1. N1 >= 0. +C +C M (input) INTEGER +C The number of input variables of the two systems, i.e. the +C number of columns of matrices B1, D1, B2 and D2. M >= 0. +C +C P (input) INTEGER +C The number of output variables of the two systems, i.e. +C the number of rows of matrices C1, D1, C2 and D2. P >= 0. +C +C N2 (input) INTEGER +C The number of state variables in the second system, i.e. +C the order of the matrix A2, the number of rows of B2 and +C the number of columns of C2. N2 >= 0. +C +C ALPHA (input) DOUBLE PRECISION +C The coefficient multiplying G2. +C +C A1 (input) DOUBLE PRECISION array, dimension (LDA1,N1) +C The leading N1byN1 part of this array must contain the +C state transition matrix A1 for the first system. +C +C LDA1 INTEGER +C The leading dimension of array A1. LDA1 >= MAX(1,N1). +C +C B1 (input) DOUBLE PRECISION array, dimension (LDB1,M) +C The leading N1byM part of this array must contain the +C input/state matrix B1 for the first system. +C +C LDB1 INTEGER +C The leading dimension of array B1. LDB1 >= MAX(1,N1). +C +C C1 (input) DOUBLE PRECISION array, dimension (LDC1,N1) +C The leading PbyN1 part of this array must contain the +C state/output matrix C1 for the first system. +C +C LDC1 INTEGER +C The leading dimension of array C1. +C LDC1 >= MAX(1,P) if N1 > 0. +C LDC1 >= 1 if N1 = 0. +C +C D1 (input) DOUBLE PRECISION array, dimension (LDD1,M) +C The leading PbyM part of this array must contain the +C input/output matrix D1 for the first system. +C +C LDD1 INTEGER +C The leading dimension of array D1. LDD1 >= MAX(1,P). +C +C A2 (input) DOUBLE PRECISION array, dimension (LDA2,N2) +C The leading N2byN2 part of this array must contain the +C state transition matrix A2 for the second system. +C +C LDA2 INTEGER +C The leading dimension of array A2. LDA2 >= MAX(1,N2). +C +C B2 (input) DOUBLE PRECISION array, dimension (LDB2,M) +C The leading N2byM part of this array must contain the +C input/state matrix B2 for the second system. +C +C LDB2 INTEGER +C The leading dimension of array B2. LDB2 >= MAX(1,N2). +C +C C2 (input) DOUBLE PRECISION array, dimension (LDC2,N2) +C The leading PbyN2 part of this array must contain the +C state/output matrix C2 for the second system. +C +C LDC2 INTEGER +C The leading dimension of array C2. +C LDC2 >= MAX(1,P) if N2 > 0. +C LDC2 >= 1 if N2 = 0. +C +C D2 (input) DOUBLE PRECISION array, dimension (LDD2,M) +C The leading PbyM part of this array must contain the +C input/output matrix D2 for the second system. +C +C LDD2 INTEGER +C The leading dimension of array D2. LDD2 >= MAX(1,P). +C +C N (output) INTEGER +C The number of state variables (N1 + N2) in the resulting +C system, i.e. the order of the matrix A, the number of rows +C of B and the number of columns of C. +C +C A (output) DOUBLE PRECISION array, dimension (LDA,N1+N2) +C The leading NbyN part of this array contains the state +C transition matrix A for the resulting system. +C The array A can overlap A1 if OVER = 'O'. +C +C LDA INTEGER +C The leading dimension of array A. LDA >= MAX(1,N1+N2). +C +C B (output) DOUBLE PRECISION array, dimension (LDB,M) +C The leading NbyM part of this array contains the +C input/state matrix B for the resulting system. +C The array B can overlap B1 if OVER = 'O'. +C +C LDB INTEGER +C The leading dimension of array B. LDB >= MAX(1,N1+N2). +C +C C (output) DOUBLE PRECISION array, dimension (LDC,N1+N2) +C The leading PbyN part of this array contains the +C state/output matrix C for the resulting system. +C The array C can overlap C1 if OVER = 'O'. +C +C LDC INTEGER +C The leading dimension of array C. +C LDC >= MAX(1,P) if N1+N2 > 0. +C LDC >= 1 if N1+N2 = 0. +C +C D (output) DOUBLE PRECISION array, dimension (LDD,M) +C The leading PbyM part of this array contains the +C input/output matrix D for the resulting system. +C The array D can overlap D1 if OVER = 'O'. +C +C LDD INTEGER +C The leading dimension of array D. LDD >= MAX(1,P). +C +C Error Indicator +C +C INFO INTEGER +C = 0: successful exit; +C < 0: if INFO = i, the ith argument had an illegal +C value. +C +C METHOD +C +C The matrices of the resulting systems are determined as: +C +C ( A1 0 ) ( B1 ) +C A = ( ) , B = ( ) , +C ( 0 A2 ) ( B2 ) +C +C C = ( C1 alpha*C2 ) , D = D1 + alpha*D2 . +C +C REFERENCES +C +C None +C +C NUMERICAL ASPECTS +C +C None +C +C CONTRIBUTORS +C +C A. Varga, German Aerospace Research Establishment, +C Oberpfaffenhofen, Germany, and V. Sima, Katholieke Univ. Leuven, +C Belgium, Nov. 1996. +C +C REVISIONS +C +C V. Sima, Research Institute for Informatics, Bucharest, July 2003, +C Feb. 2004. +C +C KEYWORDS +C +C Multivariable system, statespace model, statespace +C representation. +C +C ****************************************************************** +C +C .. Parameters .. + DOUBLE PRECISION ZERO, ONE + PARAMETER ( ZERO=0.0D0, ONE = 1.0D0 ) +C .. Scalar Arguments .. + CHARACTER OVER + INTEGER INFO, LDA, LDA1, LDA2, LDB, LDB1, LDB2, LDC, + $ LDC1, LDC2, LDD, LDD1, LDD2, M, N, N1, N2, P + DOUBLE PRECISION ALPHA +C .. Array Arguments .. + DOUBLE PRECISION A(LDA,*), A1(LDA1,*), A2(LDA2,*), B(LDB,*), + $ B1(LDB1,*), B2(LDB2,*), C(LDC,*), C1(LDC1,*), + $ C2(LDC2,*), D(LDD,*), D1(LDD1,*), D2(LDD2,*) +C .. Local Scalars .. + LOGICAL LOVER + INTEGER I, J, N1P1 +C .. External Functions .. + LOGICAL LSAME + EXTERNAL LSAME +C .. External Subroutines .. + EXTERNAL DAXPY, DLACPY, DLASCL, DLASET, XERBLA +C .. Intrinsic Functions .. + INTRINSIC MAX, MIN +C .. Executable Statements .. +C + LOVER = LSAME( OVER, 'O' ) + N = N1 + N2 + INFO = 0 +C +C Test the input scalar arguments. +C + IF( .NOT.LOVER .AND. .NOT.LSAME( OVER, 'N' ) ) THEN + INFO = 1 + ELSE IF( N1.LT.0 ) THEN + INFO = 2 + ELSE IF( M.LT.0 ) THEN + INFO = 3 + ELSE IF( P.LT.0 ) THEN + INFO = 4 + ELSE IF( N2.LT.0 ) THEN + INFO = 5 + ELSE IF( LDA1.LT.MAX( 1, N1 ) ) THEN + INFO = 8 + ELSE IF( LDB1.LT.MAX( 1, N1 ) ) THEN + INFO = 10 + ELSE IF( ( N1.GT.0 .AND. LDC1.LT.MAX( 1, P ) ) .OR. + $ ( N1.EQ.0 .AND. LDC1.LT.1 ) ) THEN + INFO = 12 + ELSE IF( LDD1.LT.MAX( 1, P ) ) THEN + INFO = 14 + ELSE IF( LDA2.LT.MAX( 1, N2 ) ) THEN + INFO = 16 + ELSE IF( LDB2.LT.MAX( 1, N2 ) ) THEN + INFO = 18 + ELSE IF( ( N2.GT.0 .AND. LDC2.LT.MAX( 1, P ) ) .OR. + $ ( N2.EQ.0 .AND. LDC2.LT.1 ) ) THEN + INFO = 20 + ELSE IF( LDD2.LT.MAX( 1, P ) ) THEN + INFO = 22 + ELSE IF( LDA.LT.MAX( 1, N ) ) THEN + INFO = 25 + ELSE IF( LDB.LT.MAX( 1, N ) ) THEN + INFO = 27 + ELSE IF( ( N.GT.0 .AND. LDC.LT.MAX( 1, P ) ) .OR. + $ ( N.EQ.0 .AND. LDC.LT.1 ) ) THEN + INFO = 29 + ELSE IF( LDD.LT.MAX( 1, P ) ) THEN + INFO = 31 + END IF +C + IF ( INFO.NE.0 ) THEN +C +C Error return. +C + CALL XERBLA( 'AB05PD', INFO ) + RETURN + END IF +C +C Quick return if possible. +C + IF ( MAX( N, MIN( M, P ) ).EQ.0 ) + $ RETURN +C + N1P1 = N1 + 1 +C +C ( A1 0 ) +C Construct A = ( ) . +C ( 0 A2 ) +C + IF ( LOVER .AND. LDA1.LE.LDA ) THEN + IF ( LDA1.LT.LDA ) THEN +C + DO 20 J = N1, 1, 1 + DO 10 I = N1, 1, 1 + A(I,J) = A1(I,J) + 10 CONTINUE + 20 CONTINUE +C + END IF + ELSE + CALL DLACPY( 'F', N1, N1, A1, LDA1, A, LDA ) + END IF +C + IF ( N2.GT.0 ) THEN + CALL DLASET( 'F', N1, N2, ZERO, ZERO, A(1,N1P1), LDA ) + CALL DLASET( 'F', N2, N1, ZERO, ZERO, A(N1P1,1), LDA ) + CALL DLACPY( 'F', N2, N2, A2, LDA2, A(N1P1,N1P1), LDA ) + END IF +C +C ( B1 ) +C Construct B = ( ) . +C ( B2 ) +C + IF ( LOVER .AND. LDB1.LE.LDB ) THEN + IF ( LDB1.LT.LDB ) THEN +C + DO 40 J = M, 1, 1 + DO 30 I = N1, 1, 1 + B(I,J) = B1(I,J) + 30 CONTINUE + 40 CONTINUE +C + END IF + ELSE + CALL DLACPY( 'F', N1, M, B1, LDB1, B, LDB ) + END IF +C + IF ( N2.GT.0 ) + $ CALL DLACPY( 'F', N2, M, B2, LDB2, B(N1P1,1), LDB ) +C +C Construct C = ( C1 alpha*C2 ) . +C + IF ( LOVER .AND. LDC1.LE.LDC ) THEN + IF ( LDC1.LT.LDC ) THEN +C + DO 60 J = N1, 1, 1 + DO 50 I = P, 1, 1 + C(I,J) = C1(I,J) + 50 CONTINUE + 60 CONTINUE +C + END IF + ELSE + CALL DLACPY( 'F', P, N1, C1, LDC1, C, LDC ) + END IF +C + IF ( N2.GT.0 ) THEN + CALL DLACPY( 'F', P, N2, C2, LDC2, C(1,N1P1), LDC ) + IF ( ALPHA.NE.ONE ) + $ CALL DLASCL( 'G', 0, 0, ONE, ALPHA, P, N2, C(1,N1P1), LDC, + $ INFO ) + END IF +C +C Construct D = D1 + alpha*D2 . +C + IF ( LOVER .AND. LDD1.LE.LDD ) THEN + IF ( LDD1.LT.LDD ) THEN +C + DO 80 J = M, 1, 1 + DO 70 I = P, 1, 1 + D(I,J) = D1(I,J) + 70 CONTINUE + 80 CONTINUE +C + END IF + ELSE + CALL DLACPY( 'F', P, M, D1, LDD1, D, LDD ) + END IF +C + DO 90 J = 1, M + CALL DAXPY( P, ALPHA, D2(1,J), 1, D(1,J), 1 ) + 90 CONTINUE +C + RETURN +C *** Last line of AB05PD *** + END Copied: trunk/octaveforge/extra/controldevel/src/AB05QD.f (from rev 8749, trunk/octaveforge/main/control/devel/slred/slconred/AB05QD.f) ===================================================================  trunk/octaveforge/extra/controldevel/src/AB05QD.f (rev 0) +++ trunk/octaveforge/extra/controldevel/src/AB05QD.f 20111015 19:04:14 UTC (rev 8750) @@ 0,0 +1,419 @@ + SUBROUTINE AB05QD( OVER, N1, M1, P1, N2, M2, P2, A1, LDA1, B1, + $ LDB1, C1, LDC1, D1, LDD1, A2, LDA2, B2, LDB2, + $ C2, LDC2, D2, LDD2, N, M, P, A, LDA, B, LDB, + $ C, LDC, D, LDD, INFO ) +C +C SLICOT RELEASE 5.0. +C +C Copyright (c) 20022009 NICONET e.V. +C +C This program is free software: you can redistribute it and/or +C modify it under the terms of the GNU General Public License as +C published by the Free Software Foundation, either version 2 of +C the License, or (at your option) any later version. +C +C This program is distributed in the hope that it will be useful, +C but WITHOUT ANY WARRANTY; without even the implied warranty of +C MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +C GNU General Public License for more details. +C +C You should have received a copy of the GNU General Public License +C along with this program. If not, see +C <http://www.gnu.org/licenses/>;. +C +C PURPOSE +C +C To append two systems G1 and G2 in statespace form together. +C If G1 = (A1,B1,C1,D1) and G2 = (A2,B2,C2,D2) are the statespace +C models of the given two systems having the transferfunction +C matrices G1 and G2, respectively, this subroutine constructs the +C statespace model G = (A,B,C,D) which corresponds to the +C transferfunction matrix +C +C ( G1 0 ) +C G = ( ) +C ( 0 G2 ) +C +C ARGUMENTS +C +C Mode Parameters +C +C OVER CHARACTER*1 +C Indicates whether the user wishes to overlap pairs of +C arrays, as follows: +C = 'N': Do not overlap; +C = 'O': Overlap pairs of arrays: A1 and A, B1 and B, +C C1 and C, and D1 and D, i.e. the same name is +C effectively used for each pair (for all pairs) +C in the routine call. In this case, setting +C LDA1 = LDA, LDB1 = LDB, LDC1 = LDC, and LDD1 = LDD +C will give maximum efficiency. +C +C Input/Output Parameters +C +C N1 (input) INTEGER +C The number of state variables in the first system, i.e. +C the order of the matrix A1, the number of rows of B1 and +C the number of columns of C1. N1 >= 0. +C +C M1 (input) INTEGER +C The number of input variables in the first system, i.e. +C the number of columns of matrices B1 and D1. M1 >= 0. +C +C P1 (input) INTEGER +C The number of output variables in the first system, i.e. +C the number of rows of matrices C1 and D1. P1 >= 0. +C +C N2 (input) INTEGER +C The number of state variables in the second system, i.e. +C the order of the matrix A2, the number of rows of B2 and +C the number of columns of C2. N2 >= 0. +C +C M2 (input) INTEGER +C The number of input variables in the second system, i.e. +C the number of columns of matrices B2 and D2. M2 >= 0. +C +C P2 (input) INTEGER +C The number of output variables in the second system, i.e. +C the number of rows of matrices C2 and D2. P2 >= 0. +C +C A1 (input) DOUBLE PRECISION array, dimension (LDA1,N1) +C The leading N1byN1 part of this array must contain the +C state transition matrix A1 for the first system. +C +C LDA1 INTEGER +C The leading dimension of array A1. LDA1 >= MAX(1,N1). +C +C B1 (input) DOUBLE PRECISION array, dimension (LDB1,M1) +C The leading N1byM1 part of this array must contain the +C input/state matrix B1 for the first system. +C +C LDB1 INTEGER +C The leading dimension of array B1. LDB1 >= MAX(1,N1). +C +C C1 (input) DOUBLE PRECISION array, dimension (LDC1,N1) +C The leading P1byN1 part of this array must contain the +C state/output matrix C1 for the first system. +C +C LDC1 INTEGER +C The leading dimension of array C1. +C LDC1 >= MAX(1,P1) if N1 > 0. +C LDC1 >= 1 if N1 = 0. +C +C D1 (input) DOUBLE PRECISION array, dimension (LDD1,M1) +C The leading P1byM1 part of this array must contain the +C input/output matrix D1 for the first system. +C +C LDD1 INTEGER +C The leading dimension of array D1. LDD1 >= MAX(1,P1). +C +C A2 (input) DOUBLE PRECISION array, dimension (LDA2,N2) +C The leading N2byN2 part of this array must contain the +C state transition matrix A2 for the second system. +C +C LDA2 INTEGER +C The leading dimension of array A2. LDA2 >= MAX(1,N2). +C +C B2 (input) DOUBLE PRECISION array, dimension (LDB2,M2) +C The leading N2byM2 part of this array must contain the +C input/state matrix B2 for the second system. +C +C LDB2 INTEGER +C The leading dimension of array B2. LDB2 >= MAX(1,N2). +C +C C2 (input) DOUBLE PRECISION array, dimension (LDC2,N2) +C The leading P2byN2 part of this array must contain the +C state/output matrix C2 for the second system. +C +C LDC2 INTEGER +C The leading dimension of array C2. +C LDC2 >= MAX(1,P2) if N2 > 0. +C LDC2 >= 1 if N2 = 0. +C +C D2 (input) DOUBLE PRECISION array, dimension (LDD2,M2) +C The leading P2byM2 part of this array must contain the +C input/output matrix D2 for the second system. +C +C LDD2 INTEGER +C The leading dimension of array D2. LDD2 >= MAX(1,P2). +C +C N (output) INTEGER +C The number of state variables (N1 + N2) in the resulting +C system, i.e. the order of the matrix A, the number of rows +C of B and the number of columns of C. +C +C M (output) INTEGER +C The number of input variables (M1 + M2) in the resulting +C system, i.e. the number of columns of B and D. +C +C P (output) INTEGER +C The number of output variables (P1 + P2) of the resulting +C system, i.e. the number of rows of C and D. +C +C A (output) DOUBLE PRECISION array, dimension (LDA,N1+N2) +C The leading NbyN part of this array contains the state +C transition matrix A for the resulting system. +C The array A can overlap A1 if OVER = 'O'. +C +C LDA INTEGER +C The leading dimension of array A. LDA >= MAX(1,N1+N2). +C +C B (output) DOUBLE PRECISION array, dimension (LDB,M1+M2) +C The leading NbyM part of this array contains the +C input/state matrix B for the resulting system. +C The array B can overlap B1 if OVER = 'O'. +C +C LDB INTEGER +C The leading dimension of array B. LDB >= MAX(1,N1+N2). +C +C C (output) DOUBLE PRECISION array, dimension (LDC,N1+N2) +C The leading PbyN part of this array contains the +C state/output matrix C for the resulting system. +C The array C can overlap C1 if OVER = 'O'. +C +C LDC INTEGER +C The leading dimension of array C. +C LDC >= MAX(1,P1+P2) if N1+N2 > 0. +C LDC >= 1 if N1+N2 = 0. +C +C D (output) DOUBLE PRECISION array, dimension (LDD,M1+M2) +C The leading PbyM part of this array contains the +C input/output matrix D for the resulting system. +C The array D can overlap D1 if OVER = 'O'. +C +C LDD INTEGER +C The leading dimension of array D. LDD >= MAX(1,P1+P2). +C +C Error Indicator +C +C INFO INTEGER +C = 0: successful exit; +C < 0: if INFO = i, the ith argument had an illegal +C value. +C +C METHOD +C +C The matrices of the resulting systems are determined as: +C +C ( A1 0 ) ( B1 0 ) +C A = ( ) , B = ( ) , +C ( 0 A2 ) ( 0 B2 ) +C +C ( C1 0 ) ( D1 0 ) +C C = ( ) , D = ( ) . +C ( 0 C2 ) ( 0 D2 ) +C +C REFERENCES +C +C None +C +C CONTRIBUTORS +C +C A. Varga, German Aerospace Research Establishment, +C Oberpfaffenhofen, Germany, and V. Sima, Katholieke Univ. Leuven, +C Belgium, Nov. 1996. +C +C REVISIONS +C +C V. Sima, Research Institute for Informatics, Bucharest, Feb. 2004. +C +C KEYWORDS +C +C Multivariable system, statespace model, statespace +C representation. +C +C ****************************************************************** +C +C .. Parameters .. + DOUBLE PRECISION ZERO + PARAMETER ( ZERO=0.0D0 ) +C .. Scalar Arguments .. + CHARACTER OVER + INTEGER INFO, LDA, LDA1, LDA2, LDB, LDB1, LDB2, LDC, + $ LDC1, LDC2, LDD, LDD1, LDD2, M, M1, M2, N, N1, + $ N2, P, P1, P2 +C .. Array Arguments .. + DOUBLE PRECISION A(LDA,*), A1(LDA1,*), A2(LDA2,*), B(LDB,*), + $ B1(LDB1,*), B2(LDB2,*), C(LDC,*), C1(LDC1,*), + $ C2(LDC2,*), D(LDD,*), D1(LDD1,*), D2(LDD2,*) +C .. Local Scalars .. + LOGICAL LOVER + INTEGER I, J +C .. External Functions .. + LOGICAL LSAME + EXTERNAL LSAME +C .. External Subroutines .. + EXTERNAL DLACPY, DLASET, XERBLA +C .. Intrinsic Functions .. + INTRINSIC MAX, MIN +C .. Executable Statements .. +C + LOVER = LSAME( OVER, 'O' ) + N = N1 + N2 + M = M1 + M2 + P = P1 + P2 + INFO = 0 +C +C Test the input scalar arguments. +C + IF( .NOT.LOVER .AND. .NOT.LSAME( OVER, 'N' ) ) THEN + INFO = 1 + ELSE IF( N1.LT.0 ) THEN + INFO = 2 + ELSE IF( M1.LT.0 ) THEN + INFO = 3 + ELSE IF( P1.LT.0 ) THEN + INFO = 4 + ELSE IF( N2.LT.0 ) THEN + INFO = 5 + ELSE IF( M2.LT.0 ) THEN + INFO = 6 + ELSE IF( P2.LT.0 ) THEN + INFO = 7 + ELSE IF( LDA1.LT.MAX( 1, N1 ) ) THEN + INFO = 9 + ELSE IF( LDB1.LT.MAX( 1, N1 ) ) THEN + INFO = 11 + ELSE IF( ( N1.GT.0 .AND. LDC1.LT.MAX( 1, P1 ) ) .OR. + $ ( N1.EQ.0 .AND. LDC1.LT.1 ) ) THEN + INFO = 13 + ELSE IF( LDD1.LT.MAX( 1, P1 ) ) THEN + INFO = 15 + ELSE IF( LDA2.LT.MAX( 1, N2 ) ) THEN + INFO = 17 + ELSE IF( LDB2.LT.MAX( 1, N2 ) ) THEN + INFO = 19 + ELSE IF( ( N2.GT.0 .AND. LDC2.LT.MAX( 1, P2 ) ) .OR. + $ ( N2.EQ.0 .AND. LDC2.LT.1 ) ) THEN + INFO = 21 + ELSE IF( LDD2.LT.MAX( 1, P2 ) ) THEN + INFO = 23 + ELSE IF( LDA.LT.MAX( 1, N ) ) THEN + INFO = 28 + ELSE IF( LDB.LT.MAX( 1, N ) ) THEN + INFO = 30 + ELSE IF( ( N.GT.0 .AND. LDC.LT.MAX( 1, P ) ) .OR. + $ ( N.EQ.0 .AND. LDC.LT.1 ) ) THEN + INFO = 32 + ELSE IF( LDD.LT.MAX( 1, P ) ) THEN + INFO = 34 + END IF +C + IF ( INFO.NE.0 ) THEN +C +C Error return. +C + CALL XERBLA( 'AB05QD', INFO ) + RETURN + END IF +C +C Quick return if possible. +C + IF ( MAX( N, MIN( M, P ) ).EQ.0 ) + $ RETURN +C ( A1 0 ) +C Construct A = ( ) . +C ( 0 A2 ) +C + IF ( LOVER .AND. LDA1.LE.LDA ) THEN + IF ( LDA1.LT.LDA ) THEN +C + DO 20 J = N1, 1, 1 + DO 10 I = N1, 1, 1 + A(I,J) = A1(I,J) + 10 CONTINUE + 20 CONTINUE +C + END IF + ELSE + CALL DLACPY( 'F', N1, N1, A1, LDA1, A, LDA ) + END IF +C + IF ( N2.GT.0 ) THEN + CALL DLASET( 'F', N1, N2, ZERO, ZERO, A(1,N1+1), LDA ) + CALL DLASET( 'F', N2, N1, ZERO, ZERO, A(N1+1,1), LDA ) + CALL DLACPY( 'F', N2, N2, A2, LDA2, A(N1+1,N1+1), LDA ) + END IF +C +C ( B1 0 ) +C Construct B = ( ) . +C ( 0 B2 ) +C + IF ( LOVER .AND. LDB1.LE.LDB ) THEN + IF ( LDB1.LT.LDB ) THEN +C + DO 40 J = M1, 1, 1 + DO 30 I = N1, 1, 1 + B(I,J) = B1(I,J) + 30 CONTINUE + 40 CONTINUE +C + END IF + ELSE + CALL DLACPY( 'F', N1, M1, B1, LDB1, B, LDB ) + END IF +C + IF ( M2.GT.0 ) + $ CALL DLASET( 'F', N1, M2, ZERO, ZERO, B(1,M1+1), LDB ) + IF ( N2.GT.0 ) THEN + CALL DLASET( 'F', N2, M1, ZERO, ZERO, B(N1+1,1), LDB ) + IF ( M2.GT.0 ) + $ CALL DLACPY( 'F', N2, M2, B2, LDB2, B(N1+1,M1+1), LDB ) + END IF +C +C ( C1 0 ) +C Construct C = ( ) . +C ( 0 C2 ) +C + IF ( LOVER .AND. LDC1.LE.LDC ) THEN + IF ( LDC1.LT.LDC ) THEN +C + DO 60 J = N1, 1, 1 + DO 50 I = P1, 1, 1 + C(I,J) = C1(I,J) + 50 CONTINUE + 60 CONTINUE +C + END IF + ELSE + CALL DLACPY( 'F', P1, N1, C1, LDC1, C, LDC ) + END IF +C + IF ( N2.GT.0 ) + $ CALL DLASET( 'F', P1, N2, ZERO, ZERO, C(1,N1+1), LDC ) + IF ( P2.GT.0 ) THEN + IF ( N1.GT.0 ) + $ CALL DLASET( 'F', P2, N1, ZERO, ZERO, C(P1+1,1), LDC ) + IF ( N2.GT.0 ) + $ CALL DLACPY( 'F', P2, N2, C2, LDC2, C(P1+1,N1+1), LDC ) + END IF +C +C ( D1 0 ) +C Construct D = ( ) . +C ( 0 D2 ) +C + IF ( LOVER .AND. LDD1.LE.LDD ) THEN + IF ( LDD1.LT.LDD ) THEN +C + DO 80 J = M1, 1, 1 + DO 70 I = P1, 1, 1 + D(I,J) = D1(I,J) + 70 CONTINUE + 80 CONTINUE +C + END IF + ELSE + CALL DLACPY( 'F', P1, M1, D1, LDD1, D, LDD ) + END IF +C + IF ( M2.GT.0 ) + $ CALL DLASET( 'F', P1, M2, ZERO, ZERO, D(1,M1+1), LDD ) + IF ( P2.GT.0 ) THEN + CALL DLASET( 'F', P2, M1, ZERO, ZERO, D(P1+1,1), LDD ) + IF ( M2.GT.0 ) + $ CALL DLACPY( 'F', P2, M2, D2, LDD2, D(P1+1,M1+1), LDD ) + END IF +C + RETURN +C *** Last line of AB05QD *** + END Added: trunk/octaveforge/extra/controldevel/src/AB07MD.f ===================================================================  trunk/octaveforge/extra/controldevel/src/AB07MD.f (rev 0) +++ trunk/octaveforge/extra/controldevel/src/AB07MD.f 20111015 19:04:14 UTC (rev 8750) @@ 0,0 +1,224 @@ + SUBROUTINE AB07MD( JOBD, N, M, P, A, LDA, B, LDB, C, LDC, D, LDD, + $ INFO ) +C +C SLICOT RELEASE 5.0. +C +C Copyright (c) 20022009 NICONET e.V. +C +C This program is free software: you can redistribute it and/or +C modify it under the terms of the GNU General Public License as +C published by the Free Software Foundation, either version 2 of +C the License, or (at your option) any later version. +C +C This program is distributed in the hope that it will be useful, +C but WITHOUT ANY WARRANTY; without even the implied warranty of +C MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +C GNU General Public License for more details. +C +C You should have received a copy of the GNU General Public License +C along with this program. If not, see +C <http://www.gnu.org/licenses/>;. +C +C PURPOSE +C +C To find the dual of a given statespace representation. +C +C ARGUMENTS +C +C Mode Parameters +C +C JOBD CHARACTER*1 +C Specifies whether or not a nonzero matrix D appears in +C the given state space model: +C = 'D': D is present; +C = 'Z': D is assumed a zero matrix. +C +C Input/Output Parameters +C +C N (input) INTEGER +C The order of the statespace representation. N >= 0. +C +C M (input) INTEGER +C The number of system inputs. M >= 0. +C +C P (input) INTEGER +C The number of system outputs. P >= 0. +C +C A (input/output) DOUBLE PRECISION array, dimension (LDA,N) +C On entry, the leading NbyN part of this array must +C contain the original state dynamics matrix A. +C On exit, the leading NbyN part of this array contains +C the dual state dynamics matrix A'. +C +C LDA INTEGER +C The leading dimension of array A. LDA >= MAX(1,N). +C +C B (input/output) DOUBLE PRECISION array, dimension +C (LDB,MAX(M,P)) +C On entry, the leading NbyM part of this array must +C contain the original input/state matrix B. +C On exit, the leading NbyP part of this array contains +C the dual input/state matrix C'. +C +C LDB INTEGER +C The leading dimension of array B. LDB >= MAX(1,N). +C +C C (input/output) DOUBLE PRECISION array, dimension (LDC,N) +C On entry, the leading PbyN part of this array must +C contain the original state/output matrix C. +C On exit, the leading MbyN part of this array contains +C the dual state/output matrix B'. +C +C LDC INTEGER +C The leading dimension of array C. +C LDC >= MAX(1,M,P) if N > 0. +C LDC >= 1 if N = 0. +C +C D (input/output) DOUBLE PRECISION array, dimension +C (LDD,MAX(M,P)) +C On entry, if JOBD = 'D', the leading PbyM part of this +C array must contain the original direct transmission +C matrix D. +C On exit, if JOBD = 'D', the leading MbyP part of this +C array contains the dual direct transmission matrix D'. +C The array D is not referenced if JOBD = 'Z'. +C +C LDD INTEGER +C The leading dimension of array D. +C LDD >= MAX(1,M,P) if JOBD = 'D'. +C LDD >= 1 if JOBD = 'Z'. +C +C Error Indicator +C +C INFO INTEGER +C = 0: successful exit; +C < 0: if INFO = i, the ith argument had an illegal +C value. +C +C METHOD +C +C If the given statespace representation is the Minput/Poutput +C (A,B,C,D), its dual is simply the Pinput/Moutput (A',C',B',D'). +C +C REFERENCES +C +C None +C +C NUMERICAL ASPECTS +C +C None +C +C CONTRIBUTOR +C +C Release 3.0: V. Sima, Katholieke Univ. Leuven, Belgium, Dec. 1996. +C Supersedes Release 2.0 routine AB07AD by T.W.C.Williams, Kingston +C Polytechnic, United Kingdom, March 1982. +C +C REVISIONS +C +C V. Sima, Research Institute for Informatics, Bucharest, Feb. 2004. +C +C KEYWORDS +C +C Dual system, statespace model, statespace representation. +C +C ****************************************************************** +C +C .. Scalar Arguments .. + CHARACTER JOBD + INTEGER INFO, LDA, LDB, LDC, LDD, M, N, P +C .. Array Arguments .. + DOUBLE PRECISION A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*) +C .. Local Scalars .. + LOGICAL LJOBD + INTEGER J, MINMP, MPLIM +C .. External functions .. + LOGICAL LSAME + EXTERNAL LSAME +C .. External subroutines .. + EXTERNAL DCOPY, DSWAP, XERBLA +C .. Intrinsic Functions .. + INTRINSIC MAX, MIN +C .. Executable Statements .. +C + INFO = 0 + LJOBD = LSAME( JOBD, 'D' ) + MPLIM = MAX( M, P ) + MINMP = MIN( M, P ) +C +C Test the input scalar arguments. +C + IF( .NOT.LJOBD .AND. .NOT.LSAME( JOBD, 'Z' ) ) THEN + INFO = 1 + ELSE IF( N.LT.0 ) THEN + INFO = 2 + ELSE IF( M.LT.0 ) THEN + INFO = 3 + ELSE IF( P.LT.0 ) THEN + INFO = 4 + ELSE IF( LDA.LT.MAX( 1, N ) ) THEN + INFO = 6 + ELSE IF( LDB.LT.MAX( 1, N ) ) THEN + INFO = 8 + ELSE IF( ( N.GT.0 .AND. LDC.LT.MAX( 1, MPLIM ) ) .OR. + $ ( N.EQ.0 .AND. LDC.LT.1 ) ) THEN + INFO = 10 + ELSE IF( ( LJOBD .AND. LDD.LT.MAX( 1, MPLIM ) ) .OR. + $ ( .NOT.LJOBD .AND. LDD.LT.1 ) ) THEN + INFO = 12 + END IF +C + IF ( INFO.NE.0 ) THEN +C +C Error return. +C + CALL XERBLA( 'AB07MD', INFO ) + RETURN + END IF +C +C Quick return if possible. +C + IF ( MAX( N, MINMP ).EQ.0 ) + $ RETURN +C + IF ( N.GT.0 ) THEN +C +C Transpose A, if nonscalar. +C + DO 10 J = 1, N  1 + CALL DSWAP( NJ, A(J+1,J), 1, A(J,J+1), LDA ) + 10 CONTINUE +C +C Replace B by C' and C by B'. +C + DO 20 J = 1, MPLIM + IF ( J.LE.MINMP ) THEN + CALL DSWAP( N, B(1,J), 1, C(J,1), LDC ) + ELSE IF ( J.GT.P ) THEN + CALL DCOPY( N, B(1,J), 1, C(J,1), LDC ) + ELSE + CALL DCOPY( N, C(J,1), LDC, B(1,J), 1 ) + END IF + 20 CONTINUE +C + END IF +C + IF ( LJOBD .AND. MINMP.GT.0 ) THEN +C +C Transpose D, if nonscalar. +C + DO 30 J = 1, MPLIM + IF ( J.LT.MINMP ) THEN + CALL DSWAP( MINMPJ, D(J+1,J), 1, D(J,J+1), LDD ) + ELSE IF ( J.GT.P ) THEN + CALL DCOPY( P, D(1,J), 1, D(J,1), LDD ) + ELSE IF ( J.GT.M ) THEN + CALL DCOPY( M, D(J,1), LDD, D(1,J), 1 ) + END IF + 30 CONTINUE +C + END IF +C + RETURN +C *** Last line of AB07MD *** + END Copied: trunk/octaveforge/extra/controldevel/src/AB07ND.f (from rev 8749, trunk/octaveforge/main/control/devel/slred/slconred/AB07ND.f) ===================================================================  trunk/octaveforge/extra/controldevel/src/AB07ND.f (rev 0) +++ trunk/octaveforge/extra/controldevel/src/AB07ND.f 20111015 19:04:14 UTC (rev 8750) @@ 0,0 +1,303 @@ + SUBROUTINE AB07ND( N, M, A, LDA, B, LDB, C, LDC, D, LDD, RCOND, + $ IWORK, DWORK, LDWORK, INFO ) +C +C SLICOT RELEASE 5.0. +C +C Copyright (c) 20022009 NICONET e.V. +C +C This program is free software: you can redistribute it and/or +C modify it under the terms of the GNU General Public License as +C published by the Free Software Foundation, either version 2 of +C the License, or (at your option) any later version. +C +C This program is distributed in the hope that it will be useful, +C but WITHOUT ANY WARRANTY; without even the implied warranty of +C MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +C GNU General Public License for more details. +C +C You should have received a copy of the GNU General Public License +C along with this program. If not, see +C <http://www.gnu.org/licenses/>;. +C +C PURPOSE +C +C To compute the inverse (Ai,Bi,Ci,Di) of a given system (A,B,C,D). +C +C ARGUMENTS +C +C Input/Output Parameters +C +C N (input) INTEGER +C The order of the state matrix A. N >= 0. +C +C M (input) INTEGER +C The number of system inputs and outputs. M >= 0. +C +C A (input/output) DOUBLE PRECISION array, dimension (LDA,N) +C On entry, the leading NbyN part of this array must +C contain the state matrix A of the original system. +C On exit, the leading NbyN part of this array contains +C the state matrix Ai of the inverse system. +C +C LDA INTEGER +C The leading dimension of the array A. LDA >= MAX(1,N). +C +C B (input/output) DOUBLE PRECISION array, dimension (LDB,M) +C On entry, the leading NbyM part of this array must +C contain the input matrix B of the original system. +C On exit, the leading NbyM part of this array contains +C the input matrix Bi of the inverse system. +C +C LDB INTEGER +C The leading dimension of the array B. LDB >= MAX(1,N). +C +C C (input/output) DOUBLE PRECISION array, dimension (LDC,N) +C On entry, the leading MbyN part of this array must +C contain the output matrix C of the original system. +C On exit, the leading MbyN part of this array contains +C the output matrix Ci of the inverse system. +C +C LDC INTEGER +C The leading dimension of the array C. LDC >= MAX(1,M). +C +C D (input/output) DOUBLE PRECISION array, dimension (LDD,M) +C On entry, the leading MbyM part of this array must +C contain the feedthrough matrix D of the original system. +C On exit, the leading MbyM part of this array contains +C the feedthrough matrix Di of the inverse system. +C +C LDD INTEGER +C The leading dimension of the array D. LDD >= MAX(1,M). +C +C RCOND (output) DOUBLE PRECISION +C The estimated reciprocal condition number of the +C feedthrough matrix D of the original system. +C +C Workspace +C +C IWORK INTEGER array, dimension (2*M) +C +C DWORK DOUBLE PRECISION array, dimension (LDWORK) +C On exit, if INFO = 0 or M+1, DWORK(1) returns the optimal +C value of LDWORK. +C +C LDWORK INTEGER +C The length of the array DWORK. LDWORK >= MAX(1,4*M). +C For good performance, LDWORK should be larger. +C +C Error Indicator +C +C INFO INTEGER +C = 0: successful exit; +C < 0: if INFO = i, the ith argument had an illegal +C value; +C = i: the matrix D is exactly singular; the (i,i) diagonal +C element is zero, i <= M; RCOND was set to zero; +C = M+1: the matrix D is numerically singular, i.e., RCOND +C is less than the relative machine precision, EPS +C (see LAPACK Library routine DLAMCH). The +C calculations have been completed, but the results +C could be very inaccurate. +C +C METHOD +C +C The matrices of the inverse system are computed with the formulas: +C 1 1 1 1 +C Ai = A  B*D *C, Bi = B*D , Ci = D *C, Di = D . +C +C NUMERICAL ASPECTS +C +C The accuracy depends mainly on the condition number of the matrix +C D to be inverted. The estimated reciprocal condition number is +C returned in RCOND. +C +C CONTRIBUTORS +C +C A. Varga, German Aerospace Center, Oberpfaffenhofen, March 2000. +C D. Sima, University of Bucharest, April 2000. +C V. Sima, Research Institute for Informatics, Bucharest, Apr. 2000. +C Based on the routine SYSINV, A. Varga, 1992. +C +C REVISIONS +C +C A. Varga, German Aerospace Center, Oberpfaffenhofen, July 2000. +C +C KEYWORDS +C +C Inverse system, statespace model, statespace representation. +C +C ****************************************************************** +C +C .. Parameters .. + DOUBLE PRECISION ZERO, ONE + PARAMETER ( ZERO = 0.0D0, ONE = 1.0D0 ) +C .. Scalar Arguments .. + DOUBLE PRECISION RCOND + INTEGER INFO, LDA, LDB, LDC, LDD, LDWORK, M, N +C .. Array Arguments .. + DOUBLE PRECISION A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*), + $ DWORK(*) + INTEGER IWORK(*) +C .. Local Scalars .. + DOUBLE PRECISION DNORM + INTEGER BL, CHUNK, I, IERR, J, MAXWRK + LOGICAL BLAS3, BLOCK +C .. External Functions .. + DOUBLE PRECISION DLAMCH, DLANGE + INTEGER ILAENV + EXTERNAL DLAMCH, DLANGE, ILAENV +C .. External Subroutines .. + EXTERNAL DCOPY, DGECON, DGEMM, DGEMV, DGETRF, DGETRI, + $ DLACPY, XERBLA +C .. Intrinsic Functions .. + INTRINSIC DBLE, MAX, MIN +C .. Executable Statements .. +C + INFO = 0 +C +C Test the input scalar arguments. +C + IF( N.LT.0 ) THEN + INFO = 1 + ELSE IF( M.LT.0 ) THEN + INFO = 2 + ELSE IF( LDA.LT.MAX( 1, N ) ) THEN + INFO = 4 + ELSE IF( LDB.LT.MAX( 1, N ) ) THEN + INFO = 6 + ELSE IF( LDC.LT.MAX( 1, M ) ) THEN + INFO = 8 + ELSE IF( LDD.LT.MAX( 1, M ) ) THEN + INFO = 10 + ELSE IF( LDWORK.LT.MAX( 1, 4*M ) ) THEN + INFO = 14 + END IF +C + IF ( INFO.NE.0 ) THEN +C +C Error return. +C + CALL XERBLA( 'AB07ND', INFO ) + RETURN + END IF +C +C Quick return if possible. +C + IF ( M.EQ.0 ) THEN + RCOND = ONE + DWORK(1) = ONE + RETURN + END IF +C +C Factorize D. +C + CALL DGETRF( M, M, D, LDD, IWORK, INFO ) + IF ( INFO.NE.0 ) THEN + RCOND = ZERO + RETURN + END IF +C +C Compute the reciprocal condition number of the matrix D. +C Workspace: need 4*M. +C (Note: Comments in the code beginning "Workspace:" describe the +C minimal amount of workspace needed at that point in the code, +C as well as the preferred amount for good performance. +C NB refers to the optimal block size for the immediately +C following subroutine, as returned by ILAENV.) +C + DNORM = DLANGE( '1norm', M, M, D, LDD, DWORK ) + CALL DGECON( '1norm', M, D, LDD, DNORM, RCOND, DWORK, IWORK(M+1), + $ IERR ) + IF ( RCOND.LT.DLAMCH( 'Epsilon' ) ) + $ INFO = M + 1 +C 1 +C Compute Di = D . +C Workspace: need M; +C prefer M*NB. +C + MAXWRK = MAX( 4*M, M*ILAENV( 1, 'DGETRI', ' ', M, 1, 1, 1 ) ) + CALL DGETRI( M, D, LDD, IWORK, DWORK, LDWORK, IERR ) + IF ( N.GT.0 ) THEN + CHUNK = LDWORK / M + BLAS3 = CHUNK.GE.N .AND. M.GT.1 + BLOCK = MIN( CHUNK, M ).GT.1 +C 1 +C Compute Bi = B*D . +C + IF ( BLAS3 ) THEN +C +C Enough workspace for a fast BLAS 3 algorithm. +C + CALL DLACPY( 'Full', N, M, B, LDB, DWORK, N ) + CALL DGEMM( 'NoTranspose', 'NoTranspose', N, M, M, ONE, + $ DWORK, N, D, LDD, ZERO, B, LDB ) +C + ELSE IF( BLOCK ) THEN +C +C Use as many rows of B as possible. +C + DO 10 I = 1, N, CHUNK + BL = MIN( NI+1, CHUNK ) + CALL DLACPY( 'Full', BL, M, B(I,1), LDB, DWORK, BL ) + CALL DGEMM( 'NoTranspose', 'NoTranspose', BL, M, M, ONE, + $ DWORK, BL, D, LDD, ZERO, B(I,1), LDB ) + 10 CONTINUE +C + ELSE +C +C Use a BLAS 2 algorithm. +C + DO 20 I = 1, N + CALL DCOPY( M, B(I,1), LDB, DWORK, 1 ) + CALL DGEMV( 'Transpose', M, M, ONE, D, LDD, DWORK, 1, + $ ZERO, B(I,1), LDB ) + 20 CONTINUE +C + END IF +C +C Compute Ai = A + Bi*C. +C + CALL DGEMM( 'NoTranspose', 'NoTranspose', N, N, M, ONE, B, LDB, + $ C, LDC, ONE, A, LDA ) +C 1 +C Compute C < D *C. +C + IF ( BLAS3 ) THEN +C +C Enough workspace for a fast BLAS 3 algorithm. +C + CALL DLACPY( 'Full', M, N, C, LDC, DWORK, M ) + CALL DGEMM( 'NoTranspose', 'NoTranspose', M, N, M, ONE, + $ D, LDD, DWORK, M, ZERO, C, LDC ) +C + ELSE IF( BLOCK ) THEN +C +C Use as many columns of C as possible. +C + DO 30 J = 1, N, CHUNK + BL = MIN( NJ+1, CHUNK ) + CALL DLACPY( 'Full', M, BL, C(1,J), LDC, DWORK, M ) + CALL DGEMM( 'NoTranspose', 'NoTranspose', M, BL, M, ONE, + $ D, LDD, DWORK, M, ZERO, C(1,J), LDC ) + 30 CONTINUE +C + ELSE +C +C Use a BLAS 2 algorithm. +C + DO 40 J = 1, N + CALL DCOPY( M, C(1,J), 1, DWORK, 1 ) + CALL DGEMV( 'NoTranspose', M, M, ONE, D, LDD, DWORK, 1, + $ ZERO, C(1,J), 1 ) + 40 CONTINUE +C + END IF + END IF +C +C Return optimal workspace in DWORK(1). +C + DWORK(1) = DBLE( MAX( MAXWRK, N*M ) ) @@ Diff output truncated at 100000 characters. @@ This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site. 
From: <paramaniac@us...>  20111015 09:54:49

Revision: 8749 http://octave.svn.sourceforge.net/octave/?rev=8749&view=rev Author: paramaniac Date: 20111015 09:54:43 +0000 (Sat, 15 Oct 2011) Log Message:  control: touch up hsvd, doc still missing Modified Paths:  trunk/octaveforge/main/control/inst/hsvd.m Modified: trunk/octaveforge/main/control/inst/hsvd.m ===================================================================  trunk/octaveforge/main/control/inst/hsvd.m 20111014 19:00:14 UTC (rev 8748) +++ trunk/octaveforge/main/control/inst/hsvd.m 20111015 09:54:43 UTC (rev 8749) @@ 17,7 +17,8 @@ ## * texinfo * ## @deftypefn{Function File} {@var{hsv} =} hsvd (@var{sys}) ## @deftypefnx{Function File} {@var{hsv} =} hsvd (@var{sys}, @var{"offset"}, @var{alpha}) +## @deftypefnx{Function File} {@var{hsv} =} hsvd (@var{sys}, @var{"offset"}, @var{offset}) +## @deftypefnx{Function File} {@var{hsv} =} hsvd (@var{sys}, @var{"alpha"}, @var{alpha}) ## Hankel singular values of the stable part of an LTI model. If no output arguments are ## given, the Hankel singular values are displayed in a plot. ## Uses SLICOT AB13AD by courtesy of @@ 26,32 +27,39 @@ ## Author: Lukas Reichlin <lukas.reichlin@...> ## Created: January 2010 ## Version: 0.3 +## Version: 0.4 function hsv_r = hsvd (sys, prop = "offset", val = 1e8)  if (! nargin) + if (nargin != 1 && nargin != 3) print_usage (); endif  + if (! isa (sys, "lti")) error ("hsvd: first argument must be an LTI system"); endif   if (! strcmp (tolower (prop(1)), "o"))  error ("hsvd: second argument invalid"); + + if (! is_real_scalar (val)) + error ("hsvd: third argument must be a real scalar"); endif  + [a, b, c, ~, ~, scaled] = ssdata (sys); discrete = ! isct (sys); + + switch (tolower (prop(1))) + case "o" # offset + if (discrete) + alpha = 1  val; + else + alpha =  val; + endif + case "a" # alpha + alpha = val; + otherwise + error ("hsvd: second argument invalid"); + endswitch  if (discrete)  alpha = 1  val;  else  alpha =  val;  endif  [hsv, ns] = slab13ad (a, b, c, discrete, alpha, scaled); if (nargout) @@ 89,7 +97,7 @@ %! 0.0000 0.0000 0.0000 0.0000 1.0000 0.0000 0.0000]; %! %! sys = ss (a, b, c, [], "scaled", true); %! hsv = hsvd (sys); +%! hsv = hsvd (sys, "alpha", 0.0); %! %! hsv_exp = [2.5139; 2.0846; 1.9178; 0.7666; 0.5473; 0.0253; 0.0246]; %! This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site. 