Purpose
To compute a reduced order model (Ar,Br,Cr,Dr) for an original
state-space representation (A,B,C,D) by using the frequency
weighted optimal Hankel-norm approximation method.
The Hankel norm of the weighted error
V*(G-Gr)*W or conj(V)*(G-Gr)*conj(W)
is minimized, where G and Gr are the transfer-function matrices
of the original and reduced systems, respectively, and V and W
are the transfer-function matrices of the left and right frequency
weights, specified by their state space realizations (AV,BV,CV,DV)
and (AW,BW,CW,DW), respectively. When minimizing the weighted
error V*(G-Gr)*W, V and W must be antistable transfer-function
matrices. When minimizing conj(V)*(G-Gr)*conj(W), V and W must be
stable transfer-function matrices.
Additionally, V and W must be invertible transfer-function
matrices, with the feedthrough matrices DV and DW invertible.
If the original system is unstable, then the frequency weighted
Hankel-norm approximation is computed only for the
ALPHA-stable part of the system.
For a transfer-function matrix G, conj(G) denotes the conjugate
of G given by G'(-s) for a continuous-time system or G'(1/z)
for a discrete-time system.
Specification
SUBROUTINE AB09KD( JOB, DICO, WEIGHT, EQUIL, ORDSEL, N, NV, NW, M,
$ P, NR, ALPHA, A, LDA, B, LDB, C, LDC, D, LDD,
$ AV, LDAV, BV, LDBV, CV, LDCV, DV, LDDV,
$ AW, LDAW, BW, LDBW, CW, LDCW, DW, LDDW,
$ NS, HSV, TOL1, TOL2, IWORK, DWORK, LDWORK,
$ IWARN, INFO )
C .. Scalar Arguments ..
CHARACTER DICO, EQUIL, JOB, ORDSEL, WEIGHT
INTEGER INFO, IWARN, LDA, LDAV, LDAW, LDB, LDBV, LDBW,
$ LDC, LDCV, LDCW, LDD, LDDV, LDDW, LDWORK, M, N,
$ NR, NS, NV, NW, P
DOUBLE PRECISION ALPHA, TOL1, TOL2
C .. Array Arguments ..
INTEGER IWORK(*)
DOUBLE PRECISION A(LDA,*), AV(LDAV,*), AW(LDAW,*),
$ B(LDB,*), BV(LDBV,*), BW(LDBW,*),
$ C(LDC,*), CV(LDCV,*), CW(LDCW,*),
$ D(LDD,*), DV(LDDV,*), DW(LDDW,*), DWORK(*),
$ HSV(*)
Arguments
Mode Parameters
JOB CHARACTER*1
Specifies the frequency-weighting problem as follows:
= 'N': solve min||V*(G-Gr)*W||_H;
= 'C': solve min||conj(V)*(G-Gr)*conj(W)||_H.
DICO CHARACTER*1
Specifies the type of the original system as follows:
= 'C': continuous-time system;
= 'D': discrete-time system.
WEIGHT CHARACTER*1
Specifies the type of frequency weighting, as follows:
= 'N': no weightings are used (V = I, W = I);
= 'L': only left weighting V is used (W = I);
= 'R': only right weighting W is used (V = I);
= 'B': both left and right weightings V and W are used.
EQUIL CHARACTER*1
Specifies whether the user wishes to preliminarily
equilibrate the triplet (A,B,C) as follows:
= 'S': perform equilibration (scaling);
= 'N': do not perform equilibration.
ORDSEL CHARACTER*1
Specifies the order selection method as follows:
= 'F': the resulting order NR is fixed;
= 'A': the resulting order NR is automatically determined
on basis of the given tolerance TOL1.
Input/Output Parameters
N (input) INTEGER
The order of the original state-space representation,
i.e., the order of the matrix A. N >= 0.
NV (input) INTEGER
The order of the realization of the left frequency
weighting V, i.e., the order of the matrix AV. NV >= 0.
NW (input) INTEGER
The order of the realization of the right frequency
weighting W, i.e., the order of the matrix AW. NW >= 0.
M (input) INTEGER
The number of system inputs. M >= 0.
P (input) INTEGER
The number of system outputs. P >= 0.
NR (input/output) INTEGER
On entry with ORDSEL = 'F', NR is the desired order of
the resulting reduced order system. 0 <= NR <= N.
On exit, if INFO = 0, NR is the order of the resulting
reduced order model. For a system with NU ALPHA-unstable
eigenvalues and NS ALPHA-stable eigenvalues (NU+NS = N),
NR is set as follows: if ORDSEL = 'F', NR is equal to
NU+MIN(MAX(0,NR-NU-KR+1),NMIN), where KR is the
multiplicity of the Hankel singular value HSV(NR-NU+1),
NR is the desired order on entry, and NMIN is the order
of a minimal realization of the ALPHA-stable part of the
given system; NMIN is determined as the number of Hankel
singular values greater than NS*EPS*HNORM(As,Bs,Cs), where
EPS is the machine precision (see LAPACK Library Routine
DLAMCH) and HNORM(As,Bs,Cs) is the Hankel norm of the
ALPHA-stable part of the weighted system (computed in
HSV(1));
if ORDSEL = 'A', NR is the sum of NU and the number of
Hankel singular values greater than
MAX(TOL1,NS*EPS*HNORM(As,Bs,Cs)).
ALPHA (input) DOUBLE PRECISION
Specifies the ALPHA-stability boundary for the eigenvalues
of the state dynamics matrix A. For a continuous-time
system (DICO = 'C'), ALPHA <= 0 is the boundary value for
the real parts of eigenvalues, while for a discrete-time
system (DICO = 'D'), 0 <= ALPHA <= 1 represents the
boundary value for the moduli of eigenvalues.
The ALPHA-stability domain does not include the boundary.
A (input/output) DOUBLE PRECISION array, dimension (LDA,N)
On entry, the leading N-by-N part of this array must
contain the state dynamics matrix A.
On exit, if INFO = 0, the leading NR-by-NR part of this
array contains the state dynamics matrix Ar of the
reduced order system in a real Schur form.
The resulting A has a block-diagonal form with two blocks.
For a system with NU ALPHA-unstable eigenvalues and
NS ALPHA-stable eigenvalues (NU+NS = N), the leading
NU-by-NU block contains the unreduced part of A
corresponding to ALPHA-unstable eigenvalues.
The trailing (NR+NS-N)-by-(NR+NS-N) block contains
the reduced part of A corresponding to ALPHA-stable
eigenvalues.
LDA INTEGER
The leading dimension of array A. LDA >= MAX(1,N).
B (input/output) DOUBLE PRECISION array, dimension (LDB,M)
On entry, the leading N-by-M part of this array must
contain the original input/state matrix B.
On exit, if INFO = 0, the leading NR-by-M part of this
array contains the input/state matrix Br of the reduced
order system.
LDB INTEGER
The leading dimension of array B. LDB >= MAX(1,N).
C (input/output) DOUBLE PRECISION array, dimension (LDC,N)
On entry, the leading P-by-N part of this array must
contain the original state/output matrix C.
On exit, if INFO = 0, the leading P-by-NR part of this
array contains the state/output matrix Cr of the reduced
order system.
LDC INTEGER
The leading dimension of array C. LDC >= MAX(1,P).
D (input/output) DOUBLE PRECISION array, dimension (LDD,M)
On entry, the leading P-by-M part of this array must
contain the original input/output matrix D.
On exit, if INFO = 0, the leading P-by-M part of this
array contains the input/output matrix Dr of the reduced
order system.
LDD INTEGER
The leading dimension of array D. LDD >= MAX(1,P).
AV (input/output) DOUBLE PRECISION array, dimension (LDAV,NV)
On entry, if WEIGHT = 'L' or 'B', the leading NV-by-NV
part of this array must contain the state matrix AV of a
state space realization of the left frequency weighting V.
On exit, if WEIGHT = 'L' or 'B', and INFO = 0, the leading
NV-by-NV part of this array contains a real Schur form
of the state matrix of a state space realization of the
inverse of V.
AV is not referenced if WEIGHT = 'R' or 'N'.
LDAV INTEGER
The leading dimension of the array AV.
LDAV >= MAX(1,NV), if WEIGHT = 'L' or 'B';
LDAV >= 1, if WEIGHT = 'R' or 'N'.
BV (input/output) DOUBLE PRECISION array, dimension (LDBV,P)
On entry, if WEIGHT = 'L' or 'B', the leading NV-by-P part
of this array must contain the input matrix BV of a state
space realization of the left frequency weighting V.
On exit, if WEIGHT = 'L' or 'B', and INFO = 0, the leading
NV-by-P part of this array contains the input matrix of a
state space realization of the inverse of V.
BV is not referenced if WEIGHT = 'R' or 'N'.
LDBV INTEGER
The leading dimension of the array BV.
LDBV >= MAX(1,NV), if WEIGHT = 'L' or 'B';
LDBV >= 1, if WEIGHT = 'R' or 'N'.
CV (input/output) DOUBLE PRECISION array, dimension (LDCV,NV)
On entry, if WEIGHT = 'L' or 'B', the leading P-by-NV part
of this array must contain the output matrix CV of a state
space realization of the left frequency weighting V.
On exit, if WEIGHT = 'L' or 'B', and INFO = 0, the leading
P-by-NV part of this array contains the output matrix of a
state space realization of the inverse of V.
CV is not referenced if WEIGHT = 'R' or 'N'.
LDCV INTEGER
The leading dimension of the array CV.
LDCV >= MAX(1,P), if WEIGHT = 'L' or 'B';
LDCV >= 1, if WEIGHT = 'R' or 'N'.
DV (input/output) DOUBLE PRECISION array, dimension (LDDV,P)
On entry, if WEIGHT = 'L' or 'B', the leading P-by-P part
of this array must contain the feedthrough matrix DV of a
state space realization of the left frequency weighting V.
On exit, if WEIGHT = 'L' or 'B', and INFO = 0, the leading
P-by-P part of this array contains the feedthrough matrix
of a state space realization of the inverse of V.
DV is not referenced if WEIGHT = 'R' or 'N'.
LDDV INTEGER
The leading dimension of the array DV.
LDDV >= MAX(1,P), if WEIGHT = 'L' or 'B';
LDDV >= 1, if WEIGHT = 'R' or 'N'.
AW (input/output) DOUBLE PRECISION array, dimension (LDAW,NW)
On entry, if WEIGHT = 'R' or 'B', the leading NW-by-NW
part of this array must contain the state matrix AW of
a state space realization of the right frequency
weighting W.
On exit, if WEIGHT = 'R' or 'B', and INFO = 0, the leading
NW-by-NW part of this array contains a real Schur form of
the state matrix of a state space realization of the
inverse of W.
AW is not referenced if WEIGHT = 'L' or 'N'.
LDAW INTEGER
The leading dimension of the array AW.
LDAW >= MAX(1,NW), if WEIGHT = 'R' or 'B';
LDAW >= 1, if WEIGHT = 'L' or 'N'.
BW (input/output) DOUBLE PRECISION array, dimension (LDBW,M)
On entry, if WEIGHT = 'R' or 'B', the leading NW-by-M part
of this array must contain the input matrix BW of a state
space realization of the right frequency weighting W.
On exit, if WEIGHT = 'R' or 'B', and INFO = 0, the leading
NW-by-M part of this array contains the input matrix of a
state space realization of the inverse of W.
BW is not referenced if WEIGHT = 'L' or 'N'.
LDBW INTEGER
The leading dimension of the array BW.
LDBW >= MAX(1,NW), if WEIGHT = 'R' or 'B';
LDBW >= 1, if WEIGHT = 'L' or 'N'.
CW (input/output) DOUBLE PRECISION array, dimension (LDCW,NW)
On entry, if WEIGHT = 'R' or 'B', the leading M-by-NW part
of this array must contain the output matrix CW of a state
space realization of the right frequency weighting W.
On exit, if WEIGHT = 'R' or 'B', and INFO = 0, the leading
M-by-NW part of this array contains the output matrix of a
state space realization of the inverse of W.
CW is not referenced if WEIGHT = 'L' or 'N'.
LDCW INTEGER
The leading dimension of the array CW.
LDCW >= MAX(1,M), if WEIGHT = 'R' or 'B';
LDCW >= 1, if WEIGHT = 'L' or 'N'.
DW (input/output) DOUBLE PRECISION array, dimension (LDDW,M)
On entry, if WEIGHT = 'R' or 'B', the leading M-by-M part
of this array must contain the feedthrough matrix DW of
a state space realization of the right frequency
weighting W.
On exit, if WEIGHT = 'R' or 'B', and INFO = 0, the leading
M-by-M part of this array contains the feedthrough matrix
of a state space realization of the inverse of W.
DW is not referenced if WEIGHT = 'L' or 'N'.
LDDW INTEGER
The leading dimension of the array DW.
LDDW >= MAX(1,M), if WEIGHT = 'R' or 'B';
LDDW >= 1, if WEIGHT = 'L' or 'N'.
NS (output) INTEGER
The dimension of the ALPHA-stable subsystem.
HSV (output) DOUBLE PRECISION array, dimension (N)
If INFO = 0, the leading NS elements of this array contain
the Hankel singular values, ordered decreasingly, of the
ALPHA-stable part of the weighted original system.
HSV(1) is the Hankel norm of the ALPHA-stable weighted
subsystem.
Tolerances
TOL1 DOUBLE PRECISION
If ORDSEL = 'A', TOL1 contains the tolerance for
determining the order of reduced system.
For model reduction, the recommended value is
TOL1 = c*HNORM(As,Bs,Cs), where c is a constant in the
interval [0.00001,0.001], and HNORM(As,Bs,Cs) is the
Hankel-norm of the ALPHA-stable part of the weighted
original system (computed in HSV(1)).
If TOL1 <= 0 on entry, the used default value is
TOL1 = NS*EPS*HNORM(As,Bs,Cs), where NS is the number of
ALPHA-stable eigenvalues of A and EPS is the machine
precision (see LAPACK Library Routine DLAMCH).
If ORDSEL = 'F', the value of TOL1 is ignored.
TOL2 DOUBLE PRECISION
The tolerance for determining the order of a minimal
realization of the ALPHA-stable part of the given system.
The recommended value is TOL2 = NS*EPS*HNORM(As,Bs,Cs).
This value is used by default if TOL2 <= 0 on entry.
If TOL2 > 0 and ORDSEL = 'A', then TOL2 <= TOL1.
Workspace
IWORK INTEGER array, dimension (LIWORK)
LIWORK = MAX(1,M,c), if DICO = 'C',
LIWORK = MAX(1,N,M,c), if DICO = 'D',
where c = 0, if WEIGHT = 'N',
c = 2*P, if WEIGHT = 'L',
c = 2*M, if WEIGHT = 'R',
c = MAX(2*M,2*P), if WEIGHT = 'B'.
On exit, if INFO = 0, IWORK(1) contains NMIN, the order of
the computed minimal realization.
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( LDW1, LDW2, LDW3, LDW4 ), where
LDW1 = 0 if WEIGHT = 'R' or 'N' and
LDW1 = MAX( NV*(NV+5), NV*N + MAX( a, P*N, P*M ) )
if WEIGHT = 'L' or WEIGHT = 'B',
LDW2 = 0 if WEIGHT = 'L' or 'N' and
LDW2 = MAX( NW*(NW+5), NW*N + MAX( b, M*N, P*M ) )
if WEIGHT = 'R' or WEIGHT = 'B', with
a = 0, b = 0, if DICO = 'C' or JOB = 'N',
a = 2*NV, b = 2*NW, if DICO = 'D' and JOB = 'C';
LDW3 = N*(2*N + MAX(N,M,P) + 5) + N*(N+1)/2,
LDW4 = N*(M+P+2) + 2*M*P + MIN(N,M) +
MAX( 3*M+1, MIN(N,M)+P ).
For optimum performance LDWORK should be larger.
Warning Indicator
IWARN INTEGER
= 0: no warning;
= 1: with ORDSEL = 'F', the selected order NR is greater
than NSMIN, the sum of the order of the
ALPHA-unstable part and the order of a minimal
realization of the ALPHA-stable part of the given
system; in this case, the resulting NR is set equal
to NSMIN;
= 2: with ORDSEL = 'F', the selected order NR is less
than the order of the ALPHA-unstable part of the
given system; in this case NR is set equal to the
order of the ALPHA-unstable part.
Error Indicator
INFO INTEGER
= 0: successful exit;
< 0: if INFO = -i, the i-th argument had an illegal
value;
= 1: the computation of the ordered real Schur form of A
failed;
= 2: the separation of the ALPHA-stable/unstable
diagonal blocks failed because of very close
eigenvalues;
= 3: the reduction of AV or AV-BV*inv(DV)*CV to a
real Schur form failed;
= 4: the reduction of AW or AW-BW*inv(DW)*CW to a
real Schur form failed;
= 5: JOB = 'N' and AV is not antistable, or
JOB = 'C' and AV is not stable;
= 6: JOB = 'N' and AW is not antistable, or
JOB = 'C' and AW is not stable;
= 7: the computation of Hankel singular values failed;
= 8: the computation of stable projection in the
Hankel-norm approximation algorithm failed;
= 9: the order of computed stable projection in the
Hankel-norm approximation algorithm differs
from the order of Hankel-norm approximation;
= 10: DV is singular;
= 11: DW is singular;
= 12: the solution of the Sylvester equation failed
because the zeros of V (if JOB = 'N') or of conj(V)
(if JOB = 'C') are not distinct from the poles
of G1sr (see METHOD);
= 13: the solution of the Sylvester equation failed
because the zeros of W (if JOB = 'N') or of conj(W)
(if JOB = 'C') are not distinct from the poles
of G1sr (see METHOD).
Method
Let G be the transfer-function matrix of the original
linear system
d[x(t)] = Ax(t) + Bu(t)
y(t) = Cx(t) + Du(t), (1)
where d[x(t)] is dx(t)/dt for a continuous-time system and x(t+1)
for a discrete-time system. The subroutine AB09KD determines
the matrices of a reduced order system
d[z(t)] = Ar*z(t) + Br*u(t)
yr(t) = Cr*z(t) + Dr*u(t), (2)
such that the corresponding transfer-function matrix Gr minimizes
the Hankel-norm of the frequency-weighted error
V*(G-Gr)*W, (3)
or
conj(V)*(G-Gr)*conj(W). (4)
For minimizing (3), V and W are assumed to be antistable, while
for minimizing (4), V and W are assumed to be stable transfer-
function matrices.
Note: conj(G) = G'(-s) for a continuous-time system and
conj(G) = G'(1/z) for a discrete-time system.
The following procedure is used to reduce G (see [1]):
1) Decompose additively G as
G = G1 + G2,
such that G1 = (A1,B1,C1,D) has only ALPHA-stable poles and
G2 = (A2,B2,C2,0) has only ALPHA-unstable poles.
2) Compute G1s, the stable projection of V*G1*W or
conj(V)*G1*conj(W), using explicit formulas [4].
3) Determine G1sr, the optimal Hankel-norm approximation of G1s
of order r.
4) Compute G1r, the stable projection of either inv(V)*G1sr*inv(W)
or conj(inv(V))*G1sr*conj(inv(W)), using explicit formulas [4].
5) Assemble the reduced model Gr as
Gr = G1r + G2.
To reduce the weighted ALPHA-stable part G1s at step 3, the
optimal Hankel-norm approximation method of [2], based on the
square-root balancing projection formulas of [3], is employed.
The optimal weighted approximation error satisfies
HNORM[V*(G-Gr)*W] = S(r+1),
or
HNORM[conj(V)*(G-Gr)*conj(W)] = S(r+1),
where S(r+1) is the (r+1)-th Hankel singular value of G1s, the
transfer-function matrix computed at step 2 of the above
procedure, and HNORM(.) denotes the Hankel-norm.
References
[1] Latham, G.A. and Anderson, B.D.O.
Frequency-weighted optimal Hankel-norm approximation of stable
transfer functions.
Systems & Control Letters, Vol. 5, pp. 229-236, 1985.
[2] Glover, K.
All optimal Hankel norm approximation of linear
multivariable systems and their L-infinity error bounds.
Int. J. Control, Vol. 36, pp. 1145-1193, 1984.
[3] Tombs M.S. and Postlethwaite I.
Truncated balanced realization of stable, non-minimal
state-space systems.
Int. J. Control, Vol. 46, pp. 1319-1330, 1987.
[4] Varga A.
Explicit formulas for an efficient implementation
of the frequency-weighting model reduction approach.
Proc. 1993 European Control Conference, Groningen, NL,
pp. 693-696, 1993.
Numerical Aspects
The implemented methods rely on an accuracy enhancing square-root
technique.
3
The algorithms require less than 30N floating point operations.
Further Comments
NoneExample
Program Text
* AB09KD EXAMPLE PROGRAM TEXT
* Copyright (c) 2002-2017 NICONET e.V.
*
* .. Parameters ..
INTEGER NIN, NOUT
PARAMETER ( NIN = 5, NOUT = 6 )
INTEGER MMAX, NMAX, NVMAX, NWMAX, PMAX
PARAMETER ( MMAX = 20, NMAX = 20, NVMAX = 10, NWMAX = 10,
$ PMAX = 20 )
INTEGER LDA, LDAV, LDAW, LDB, LDBV, LDBW,
$ LDC, LDCV, LDCW, LDD, LDDV, LDDW
PARAMETER ( LDA = NMAX, LDAV = NVMAX, LDAW = NWMAX,
$ LDB = NMAX, LDBV = NVMAX, LDBW = NWMAX,
$ LDC = PMAX, LDCV = PMAX, LDCW = MMAX,
$ LDD = PMAX, LDDV = PMAX, LDDW = MMAX )
INTEGER LIWORK
PARAMETER ( LIWORK = 2*MAX( MMAX, PMAX ) )
INTEGER LDW1, LDW2, LDW3, LDW4, LDWORK
PARAMETER ( LDW1 = MAX( NVMAX*( NVMAX + 5 ), NVMAX*NMAX +
$ MAX( 2*NVMAX, PMAX*NMAX, PMAX*MMAX ) ))
PARAMETER ( LDW2 = MAX( NWMAX*( NWMAX + 5 ), NWMAX*NMAX +
$ MAX( 2*NWMAX, MMAX*NMAX, PMAX*MMAX ) ))
PARAMETER ( LDW3 = NMAX*( 2*NMAX + MAX( NMAX, MMAX, PMAX )
$ + 5 ) + ( NMAX*( NMAX + 1 ) )/2 )
PARAMETER ( LDW4 = NMAX*( MMAX + PMAX + 2 ) + 2*MMAX*PMAX +
$ MIN( NMAX, MMAX ) +
$ MAX( 3*MMAX + 1,
$ MIN( NMAX, MMAX ) + PMAX ) )
PARAMETER ( LDWORK = MAX( LDW1, LDW2, LDW3, LDW4 ) )
* .. Local Scalars ..
LOGICAL LEFTW, RIGHTW
DOUBLE PRECISION ALPHA, TOL1, TOL2
INTEGER I, INFO, IWARN, J, M, N, NR, NS, NV, NW, P
CHARACTER*1 DICO, EQUIL, JOB, ORDSEL, WEIGHT
* .. Local Arrays ..
DOUBLE PRECISION A(LDA,NMAX), AV(LDAV,NVMAX), AW(LDAW,NWMAX),
$ B(LDB,MMAX), BV(LDBV,PMAX), BW(LDBW,MMAX),
$ C(LDC,NMAX), CV(LDCV,NVMAX), CW(LDCW,NWMAX),
$ D(LDD,MMAX), DV(LDDV,PMAX), DW(LDDW,MMAX),
$ DWORK(LDWORK), HSV(NMAX)
INTEGER IWORK(LIWORK)
* .. External Functions ..
LOGICAL LSAME
EXTERNAL LSAME
* .. External Subroutines ..
EXTERNAL AB09KD
* .. Intrinsic Functions ..
INTRINSIC MAX, MIN
* .. 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, NV, NW, NR, ALPHA, TOL1, TOL2,
$ JOB, DICO, WEIGHT, EQUIL, ORDSEL
LEFTW = LSAME( WEIGHT, 'L' ) .OR. LSAME( WEIGHT, 'B' )
RIGHTW = LSAME( WEIGHT, 'R' ) .OR. LSAME( WEIGHT, 'B' )
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), J = 1,M ), I = 1, N )
IF( P.GT.PMAX ) THEN
WRITE ( NOUT, FMT = 99988 ) P
ELSE
READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
READ ( NIN, FMT = * ) ( ( D(I,J), J = 1,M ), I = 1,P )
IF( LEFTW .OR. NV.GT.0 ) THEN
IF( NV.LT.0 .OR. NV.GT.NVMAX ) THEN
WRITE ( NOUT, FMT = 99986 ) NV
ELSE
IF( NV.GT.0 ) THEN
READ ( NIN, FMT = * )
$ ( ( AV(I,J), J = 1,NV ), I = 1,NV )
READ ( NIN, FMT = * )
$ ( ( BV(I,J), J = 1,P ), I = 1, NV )
READ ( NIN, FMT = * )
$ ( ( CV(I,J), J = 1,NV ), I = 1,P )
END IF
IF( LEFTW ) READ ( NIN, FMT = * )
$ ( ( DV(I,J), J = 1,P ), I = 1,P )
END IF
END IF
IF( RIGHTW ) THEN
IF( NW.LT.0 .OR. NW.GT.NWMAX ) THEN
WRITE ( NOUT, FMT = 99985 ) NW
ELSE
IF( NW.GT.0 ) THEN
READ ( NIN, FMT = * )
$ ( ( AW(I,J), J = 1,NW ), I = 1,NW )
READ ( NIN, FMT = * )
$ ( ( BW(I,J), J = 1,M ), I = 1, NW )
READ ( NIN, FMT = * )
$ ( ( CW(I,J), J = 1,NW ), I = 1,M )
END IF
READ ( NIN, FMT = * )
$ ( ( DW(I,J), J = 1,M ), I = 1,M )
END IF
END IF
* Find a reduced ssr for (A,B,C,D).
CALL AB09KD( JOB, DICO, WEIGHT, EQUIL, ORDSEL, N, NV, NW,
$ M, P, NR, ALPHA, A, LDA, B, LDB, C, LDC,
$ D, LDD, AV, LDAV, BV, LDBV, CV, LDCV,
$ DV, LDDV, AW, LDAW, BW, LDBW, CW, LDCW,
$ DW, LDDW, NS, HSV, TOL1, TOL2, IWORK,
$ DWORK, LDWORK, IWARN, INFO )
*
IF ( INFO.NE.0 ) THEN
WRITE ( NOUT, FMT = 99998 ) INFO
ELSE
IF( IWARN.NE.0) WRITE ( NOUT, FMT = 99984 ) IWARN
WRITE ( NOUT, FMT = 99997 ) NR
WRITE ( NOUT, FMT = 99987 )
WRITE ( NOUT, FMT = 99995 ) ( HSV(J), J = 1, NS )
IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99996 )
DO 20 I = 1, NR
WRITE ( NOUT, FMT = 99995 ) ( A(I,J), J = 1,NR )
20 CONTINUE
IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99993 )
DO 40 I = 1, NR
WRITE ( NOUT, FMT = 99995 ) ( B(I,J), J = 1,M )
40 CONTINUE
IF( NR.GT.0 ) WRITE ( NOUT, FMT = 99992 )
DO 60 I = 1, P
WRITE ( NOUT, FMT = 99995 ) ( C(I,J), J = 1,NR )
60 CONTINUE
WRITE ( NOUT, FMT = 99991 )
DO 70 I = 1, P
WRITE ( NOUT, FMT = 99995 ) ( D(I,J), J = 1,M )
70 CONTINUE
END IF
END IF
END IF
END IF
STOP
*
99999 FORMAT (' AB09KD EXAMPLE PROGRAM RESULTS',/1X)
99998 FORMAT (' INFO on exit from AB09KD = ',I2)
99997 FORMAT (/' The order of reduced model = ',I2)
99996 FORMAT (/' The reduced state dynamics matrix Ar is ')
99995 FORMAT (20(1X,F8.4))
99993 FORMAT (/' The reduced input/state matrix Br is ')
99992 FORMAT (/' The reduced state/output matrix Cr is ')
99991 FORMAT (/' The reduced input/output matrix Dr 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 Hankel singular values of weighted ALPHA-stable',
$ ' part are')
99986 FORMAT (/' NV is out of range.',/' NV = ',I5)
99985 FORMAT (/' NW is out of range.',/' NW = ',I5)
99984 FORMAT (' IWARN on exit from AB09KD = ',I2)
END
Program Data
AB09KD EXAMPLE PROGRAM DATA (Continuous system)
6 1 1 2 0 0 0.0 1.E-1 1.E-14 N C L S 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
1
0
0
0
0
0
0 0 0 0 0 1
0
0.2000 -1.0000
1.0000 0
1
0
-1.8000 0
1
Program Results
AB09KD EXAMPLE PROGRAM RESULTS The order of reduced model = 4 The Hankel singular values of weighted ALPHA-stable part are 2.6790 2.1589 0.8424 0.1929 0.0219 0.0011 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