**Purpose**

To find a controllable realization for the linear time-invariant single-input system dX/dt = A * X + B * U, Y = C * X, where A is an N-by-N matrix, B is an N element vector, C is an P-by-N matrix, and A and B are reduced by this routine to orthogonal canonical form using (and optionally accumulating) orthogonal similarity transformations, which are also applied to C.

SUBROUTINE TB01ZD( JOBZ, N, P, A, LDA, B, C, LDC, NCONT, Z, LDZ, $ TAU, TOL, DWORK, LDWORK, INFO ) C .. Scalar Arguments .. CHARACTER JOBZ INTEGER INFO, LDA, LDC, LDWORK, LDZ, N, NCONT, P DOUBLE PRECISION TOL C .. Array Arguments .. DOUBLE PRECISION A(LDA,*), B(*), C(LDC,*), DWORK(*), TAU(*), $ Z(LDZ,*)

**Mode Parameters**

JOBZ CHARACTER*1 Indicates whether the user wishes to accumulate in a matrix Z the orthogonal similarity transformations for reducing the system, as follows: = 'N': Do not form Z and do not store the orthogonal transformations; = 'F': Do not form Z, but store the orthogonal transformations in the factored form; = 'I': Z is initialized to the unit matrix and the orthogonal transformation matrix Z is returned.

N (input) INTEGER The order of the original state-space representation, i.e. the order of the matrix A. N >= 0. P (input) INTEGER The number of system outputs, or of rows of 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 original state dynamics matrix A. On exit, the leading NCONT-by-NCONT upper Hessenberg part of this array contains the canonical form of the state dynamics matrix, given by Z' * A * Z, of a controllable realization for the original system. The elements below the first subdiagonal are set to zero. LDA INTEGER The leading dimension of array A. LDA >= MAX(1,N). B (input/output) DOUBLE PRECISION array, dimension (N) On entry, the original input/state vector B. On exit, the leading NCONT elements of this array contain canonical form of the input/state vector, given by Z' * B, with all elements but B(1) set to zero. C (input/output) DOUBLE PRECISION array, dimension (LDC,N) On entry, the leading P-by-N part of this array must contain the output/state matrix C. On exit, the leading P-by-N part of this array contains the transformed output/state matrix, given by C * Z, and the leading P-by-NCONT part contains the output/state matrix of the controllable realization. LDC INTEGER The leading dimension of array C. LDC >= MAX(1,P). NCONT (output) INTEGER The order of the controllable state-space representation. Z (output) DOUBLE PRECISION array, dimension (LDZ,N) If JOBZ = 'I', then the leading N-by-N part of this array contains the matrix of accumulated orthogonal similarity transformations which reduces the given system to orthogonal canonical form. If JOBZ = 'F', the elements below the diagonal, with the array TAU, represent the orthogonal transformation matrix as a product of elementary reflectors. The transformation matrix can then be obtained by calling the LAPACK Library routine DORGQR. If JOBZ = 'N', the array Z is not referenced and can be supplied as a dummy array (i.e. set parameter LDZ = 1 and declare this array to be Z(1,1) in the calling program). LDZ INTEGER The leading dimension of array Z. If JOBZ = 'I' or JOBZ = 'F', LDZ >= MAX(1,N); if JOBZ = 'N', LDZ >= 1. TAU (output) DOUBLE PRECISION array, dimension (N) The elements of TAU contain the scalar factors of the elementary reflectors used in the reduction of B and A.

TOL DOUBLE PRECISION The tolerance to be used in determining the controllability of (A,B). If the user sets TOL > 0, then the given value of TOL is used as an absolute tolerance; elements with absolute value less than TOL are considered neglijible. If the user sets TOL <= 0, then an implicitly computed, default tolerance, defined by TOLDEF = N*EPS*MAX( NORM(A), NORM(B) ) is used instead, where EPS is the machine precision (see LAPACK Library routine DLAMCH).

DWORK DOUBLE PRECISION array, dimension (LDWORK) On exit, if INFO = 0, DWORK(1) returns the optimal value of LDWORK. LDWORK INTEGER The length of the array DWORK. LDWORK >= MAX(1,N,P). For optimum performance LDWORK should be larger.

INFO INTEGER = 0: successful exit; < 0: if INFO = -i, the i-th argument had an illegal value.

The Householder matrix which reduces all but the first element of vector B to zero is found and this orthogonal similarity transformation is applied to the matrix A. The resulting A is then reduced to upper Hessenberg form by a sequence of Householder transformations. Finally, the order of the controllable state- space representation (NCONT) is determined by finding the position of the first sub-diagonal element of A which is below an appropriate zero threshold, either TOL or TOLDEF (see parameter TOL); if NORM(B) is smaller than this threshold, NCONT is set to zero, and no computations for reducing the system to orthogonal canonical form are performed. All orthogonal transformations determined in this process are also applied to the matrix C, from the right.

[1] Konstantinov, M.M., Petkov, P.Hr. and Christov, N.D. Orthogonal Invariants and Canonical Forms for Linear Controllable Systems. Proc. 8th IFAC World Congress, Kyoto, 1, pp. 49-54, 1981. [2] Hammarling, S.J. Notes on the use of orthogonal similarity transformations in control. NPL Report DITC 8/82, August 1982. [3] Paige, C.C Properties of numerical algorithms related to computing controllability. IEEE Trans. Auto. Contr., AC-26, pp. 130-138, 1981.

3 The algorithm requires 0(N ) operations and is backward stable.

None

**Program Text**

* TB01ZD EXAMPLE PROGRAM TEXT * Copyright (c) 2002-2017 NICONET e.V. * * .. Parameters .. INTEGER NIN, NOUT PARAMETER ( NIN = 5, NOUT = 6 ) INTEGER NMAX, PMAX PARAMETER ( NMAX = 20, PMAX = 20 ) INTEGER LDA, LDC, LDZ PARAMETER ( LDA = NMAX, LDC = PMAX, LDZ = NMAX ) INTEGER LDWORK PARAMETER ( LDWORK = MAX( NMAX, PMAX ) ) * .. Local Scalars .. DOUBLE PRECISION TOL INTEGER I, INFO, J, N, NCONT, P CHARACTER*1 JOBZ * .. Local Arrays .. DOUBLE PRECISION A(LDA,NMAX), B(NMAX), C(LDC,NMAX), DWORK(LDWORK), $ TAU(NMAX), Z(LDZ,NMAX) * .. External Functions .. LOGICAL LSAME EXTERNAL LSAME * .. External Subroutines .. EXTERNAL TB01ZD, DORGQR * .. Intrinsic Functions .. INTRINSIC MAX * .. Executable Statements .. * WRITE ( NOUT, FMT = 99999 ) * Skip the heading in the data file and read in the data. READ ( NIN, FMT = '()' ) READ ( NIN, FMT = * ) N, P, TOL, JOBZ IF ( N.LE.0 .OR. N.GT.NMAX ) THEN WRITE ( NOUT, FMT = 99993 ) N ELSE READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N ) READ ( NIN, FMT = * ) ( B(I), I = 1,N ) IF ( P.LE.0 .OR. P.GT.PMAX ) THEN WRITE ( NOUT, FMT = 99992 ) P ELSE READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P ) * Find a controllable realization for the given system. CALL TB01ZD( JOBZ, N, P, A, LDA, B, C, LDC, NCONT, Z, LDZ, $ TAU, TOL, DWORK, LDWORK, INFO ) * IF ( INFO.NE.0 ) THEN WRITE ( NOUT, FMT = 99998 ) INFO ELSE WRITE ( NOUT, FMT = 99997 ) NCONT DO 20 I = 1, NCONT WRITE ( NOUT, FMT = 99994 ) ( A(I,J), J = 1,NCONT ) 20 CONTINUE WRITE ( NOUT, FMT = 99996 ) ( B(I), I = 1,NCONT ) WRITE ( NOUT, FMT = 99991 ) DO 30 I = 1, P WRITE ( NOUT, FMT = 99994 ) ( C(I,J), J = 1,NCONT ) 30 CONTINUE 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 = 99995 ) DO 40 I = 1, N WRITE ( NOUT, FMT = 99994 ) ( Z(I,J), J = 1,N ) 40 CONTINUE END IF END IF END IF END IF STOP * 99999 FORMAT (' TB01ZD EXAMPLE PROGRAM RESULTS',/1X) 99998 FORMAT (' INFO on exit from TB01ZD = ',I2) 99997 FORMAT (' The order of the controllable state-space representati', $ 'on = ',I2,//' The state dynamics matrix A of a controlla', $ 'ble realization is ') 99996 FORMAT (/' The input/state vector B of a controllable realizatio', $ 'n is ',/(1X,F8.4)) 99995 FORMAT (/' The similarity transformation matrix Z is ') 99994 FORMAT (20(1X,F8.4)) 99993 FORMAT (/' N is out of range.',/' N = ',I5) 99992 FORMAT (/' P is out of range.',/' P = ',I5) 99991 FORMAT (/' The output/state matrix C of a controllable realizati', $ 'on is ') END

TB01ZD EXAMPLE PROGRAM DATA 3 2 0.0 I 1.0 2.0 0.0 4.0 -1.0 0.0 0.0 0.0 1.0 1.0 0.0 1.0 0.0 2.0 1.0 1.0 0.0 0.0

TB01ZD EXAMPLE PROGRAM RESULTS The order of the controllable state-space representation = 3 The state dynamics matrix A of a controllable realization is 1.0000 1.4142 0.0000 2.8284 -1.0000 2.8284 0.0000 1.4142 1.0000 The input/state vector B of a controllable realization is -1.4142 0.0000 0.0000 The output/state matrix C of a controllable realization is -0.7071 -2.0000 0.7071 -0.7071 0.0000 -0.7071 The similarity transformation matrix Z is -0.7071 0.0000 -0.7071 0.0000 -1.0000 0.0000 -0.7071 0.0000 0.7071