BD01AD - SLICOT Library Routine Documentation

## BD01AD

### Benchmark examples for time-invariant continuous-time dynamical systems

[Specification] [Arguments] [Method] [References] [Comments] [Example]

Purpose

      To generate benchmark examples for time-invariant,
      continuous-time dynamical systems

          .
        E x(t) = A x(t) + B u(t)

          y(t) = C x(t) + D u(t)

      E, A are real N-by-N matrices, B is N-by-M, C is P-by-N, and
      D is P-by-M. In many examples, E is the identity matrix and D is
      the zero matrix.

      This routine is an implementation of the benchmark library
      CTDSX (Version 1.0) described in [1].

Specification

          SUBROUTINE BD01AD( DEF, NR, DPAR, IPAR, VEC, N, M, P, E, LDE, A,
         1                   LDA, B, LDB, C, LDC, D, LDD, NOTE, DWORK,
         2                   LDWORK, INFO )
    C     .. Scalar Arguments ..
          CHARACTER         DEF
          CHARACTER*70      NOTE
          INTEGER           INFO, LDA, LDB, LDC, LDD, LDE, LDWORK, M, N, P
    C     .. Array Arguments ..
          LOGICAL           VEC(8)
          INTEGER           IPAR(*), NR(*)
          DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*), DPAR(*),
         1                  DWORK(*), E(LDE,*)

Arguments

Mode Parameters

      DEF     CHARACTER*1
              Specifies the kind of values used as parameters when
              generating parameter-dependent and scalable examples
              (i.e., examples with NR(1) = 2, 3, or 4):
              = 'D':  Default values defined in [1] are used;
              = 'N':  Values set in DPAR and IPAR are used.
              This parameter is not referenced if NR(1) = 1.
              Note that the scaling parameter of examples with
              NR(1) = 3 or 4 is considered as a regular parameter in
              this context.

Input/Output Parameters

      NR      (input) INTEGER array, dimension (2)
              Specifies the index of the desired example according
              to [1].
              NR(1) defines the group:
                    1 : parameter-free problems of fixed size
                    2 : parameter-dependent problems of fixed size
                    3 : parameter-free problems of scalable size
                    4 : parameter-dependent problems of scalable size
              NR(2) defines the number of the benchmark example
              within a certain group according to [1].

      DPAR    (input/output) DOUBLE PRECISION array, dimension (7)
              On entry, if DEF = 'N' and the desired example depends on
              real parameters, then the array DPAR must contain the
              values for these parameters.
              For an explanation of the parameters see [1].
              For Examples 2.1 and 2.2, DPAR(1) defines the parameter
              'epsilon'.
              For Example 2.4, DPAR(1), ..., DPAR(7) define 'b', 'mu',
              'r', 'r_c', 'k_l', 'sigma', 'a', respectively.
              For Example 2.7, DPAR(1) and DPAR(2) define 'mu' and 'nu',
              respectively.
              For Example 4.1, DPAR(1), ..., DPAR(7) define 'a', 'b',
              'c', 'beta_1', 'beta_2', 'gamma_1', 'gamma_2',
              respectively.
              For Example 4.2, DPAR(1), ..., DPAR(3) define 'mu',
              'delta', 'kappa', respectively.
              On exit, if DEF = 'D' and the desired example depends on
              real parameters, then the array DPAR is overwritten by the
              default values given in [1].

      IPAR    (input/output) INTEGER array, dimension (1)
              On entry, if DEF = 'N' and the desired example depends on
              integer parameters, then the array IPAR must contain the
              values for these parameters.
              For an explanation of the parameters see [1].
              For Examples 2.3, 2.5, and 2.6, IPAR(1) defines the
              parameter 's'.
              For Example 3.1, IPAR(1) defines 'q'.
              For Examples 3.2 and 3.3, IPAR(1) defines 'n'.
              For Example 3.4, IPAR(1) defines 'l'.
              For Example 4.1, IPAR(1) defines 'n'.
              For Example 4.2, IPAR(1) defines 'l'.
              On exit, if DEF = 'D' and the desired example depends on
              integer parameters, then the array IPAR is overwritten by
              the default values given in [1].

      VEC     (output) LOGICAL array, dimension (8)
              Flag vector which displays the availabilty of the output
              data:
              VEC(1), ..., VEC(3) refer to N, M, and P, respectively,
              and are always .TRUE..
              VEC(4) is .TRUE. iff E is NOT the identity matrix.
              VEC(5), ..., VEC(7) refer to A, B, and C, respectively,
              and are always .TRUE..
              VEC(8) is .TRUE. iff D is NOT the zero matrix.

      N       (output) INTEGER
              The actual state dimension, i.e., the order of the
              matrices E and A.

      M       (output) INTEGER
              The number of columns in the matrices B and D.

      P       (output) INTEGER
              The number of rows in the matrices C and D.

      E       (output) DOUBLE PRECISION array, dimension (LDE,N)
              The leading N-by-N part of this array contains the
              matrix E.
              NOTE that this array is overwritten (by the identity
              matrix), if VEC(4) = .FALSE..

      LDE     INTEGER
              The leading dimension of array E.  LDE >= N.

      A       (output) DOUBLE PRECISION array, dimension (LDA,N)
              The leading N-by-N part of this array contains the
              matrix A.

      LDA     INTEGER
              The leading dimension of array A.  LDA >= N.

      B       (output) DOUBLE PRECISION array, dimension (LDB,M)
              The leading N-by-M part of this array contains the
              matrix B.

      LDB     INTEGER
              The leading dimension of array B.  LDB >= N.

      C       (output) DOUBLE PRECISION array, dimension (LDC,N)
              The leading P-by-N part of this array contains the
              matrix C.

      LDC     INTEGER
              The leading dimension of array C.  LDC >= P.

      D       (output) DOUBLE PRECISION array, dimension (LDD,M)
              The leading P-by-M part of this array contains the
              matrix D.
              NOTE that this array is overwritten (by the zero
              matrix), if VEC(8) = .FALSE..

      LDD     INTEGER
              The leading dimension of array D.  LDD >= P.

      NOTE    (output) CHARACTER*70
              String containing short information about the chosen
              example.

Workspace

      DWORK   DOUBLE PRECISION array, dimension (LDWORK)

      LDWORK  INTEGER
              The length of the array DWORK.
              For Example 3.4, LDWORK >= 4*IPAR(1) is required.
              For the other examples, no workspace is needed, i.e.,
              LDWORK >= 1.

Error Indicator

      INFO    INTEGER
              = 0:  successful exit;
              < 0:  if INFO = -i, the i-th argument had an illegal
                    value; in particular, INFO = -3 or -4 indicates
                    that at least one of the parameters in DPAR or
                    IPAR, respectively, has an illegal value;
              = 1:  data file can not be opened or has wrong format.

References

      [1]  Kressner, D., Mehrmann, V. and Penzl, T.
           CTDSX - a Collection of Benchmark Examples for State-Space
           Realizations of Continuous-Time Dynamical Systems.
           SLICOT Working Note 1998-9. 1998.

Numerical Aspects

      None

Further Comments

      None

Example

Program Text

    C     BD01AD EXAMPLE PROGRAM TEXT
    C     Copyright (c) 2002-2010 NICONET e.V.
    C
    C     .. Parameters ..
          INTEGER          NIN, NOUT
          PARAMETER        (NIN = 5, NOUT = 6)
          INTEGER          NMAX, MMAX, PMAX
          PARAMETER        (NMAX = 421, MMAX = 211, PMAX = 211)
          INTEGER          LDA, LDB, LDC, LDD, LDE, LDWORK
          PARAMETER        (LDA = NMAX, LDB = NMAX, LDC = PMAX, LDD = PMAX,
         1                  LDE = NMAX, LDWORK = 4*NMAX)
    C     .. Local Scalars ..
          CHARACTER        DEF
          INTEGER          I, INFO, J, LDPAR, LIPAR, M, N, P
          CHARACTER*70     NOTE
    C     .. Local Arrays ..
          DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
         1                 D(LDD,MMAX), DPAR(7), DWORK(LDWORK), E(LDE,NMAX)
          INTEGER          NR(2), IPAR(7)
          LOGICAL          VEC(8)
    C     .. External Functions ..
          LOGICAL          LSAME
          EXTERNAL         LSAME
    C     .. External Subroutines ..
          EXTERNAL         BD01AD
    C     .. Executable Statements ..
          WRITE (NOUT, FMT = 99999)
    C     Skip the heading in the data file and read the data.
          READ (NIN, FMT = '()')
          READ (NIN, FMT = *) DEF
          READ (NIN, FMT = *) (NR(I), I = 1, 2)
          IF (LSAME(DEF,'N')) THEN
            READ (NIN, FMT = *) LDPAR
            IF (LDPAR .GT. 0)  READ (NIN, FMT = *) (DPAR(I), I = 1, LDPAR)
            READ (NIN, FMT = *) LIPAR
            IF (LIPAR .GT. 0)  READ (NIN, FMT = *) (IPAR(I), I = 1, LIPAR)
          END IF
    C     Generate benchmark example
          CALL BD01AD(DEF, NR, DPAR, IPAR, VEC, N, M, P, E, LDE, A, LDA,
         1            B, LDB, C, LDC, D, LDD, NOTE, DWORK, LDWORK, INFO)
    C
          IF (INFO .NE. 0) THEN
            WRITE (NOUT, FMT = 99998) INFO
          ELSE
            WRITE (NOUT, FMT = *) NOTE
            WRITE (NOUT, FMT = 99997) N
            WRITE (NOUT, FMT = 99996) M
            WRITE (NOUT, FMT = 99995) P
            IF (VEC(4)) THEN
              WRITE (NOUT, FMT = 99994)
              DO 10  I = 1, N
                WRITE (NOUT, FMT = 99987) (E(I,J), J = 1, N)
    10        CONTINUE
            ELSE
              WRITE (NOUT, FMT = 99993)
            END IF
            WRITE (NOUT,FMT = 99992)
            DO 20  I = 1, N
              WRITE (NOUT, FMT = 99987) (A(I,J), J = 1, N)
    20      CONTINUE
            WRITE (NOUT,FMT = 99991)
            DO 30  I = 1, N
              WRITE (NOUT, FMT = 99987) (B(I,J), J = 1, M)
    30      CONTINUE
            WRITE (NOUT,FMT = 99990)
            DO 40  I = 1, P
              WRITE (NOUT, FMT = 99987) (C(I,J), J = 1, N)
    40      CONTINUE
            IF (VEC(8)) THEN
              WRITE (NOUT,FMT = 99989)
              DO 50  I = 1, P
                WRITE (NOUT, FMT = 99987) (D(I,J), J = 1, M)
    50        CONTINUE
            ELSE
              WRITE (NOUT, FMT = 99988)
            END IF
          END IF
    C
    99999 FORMAT (' BD01AD EXAMPLE PROGRAM RESULTS', /1X)
    99998 FORMAT (' INFO on exit from BD01AD = ', I3)
    99997 FORMAT (/' Order of matrix A:               N  = ', I3)
    99996 FORMAT (' Number of columns in matrix B:   M  = ', I3)
    99995 FORMAT (' Number of rows in matrix C:      P  = ', I3)
    99994 FORMAT (/' E  = ')
    99993 FORMAT (/' E is the identity matrix.')
    99992 FORMAT (' A  = ')
    99991 FORMAT (' B  = ')
    99990 FORMAT (' C  = ')
    99989 FORMAT (' D  = ')
    99988 FORMAT (' D is of zeros.')
    99987 FORMAT (20(1X,F8.4))
    C
          END

Program Data

    BD01AD EXAMPLE PROGRAM DATA
    D
    1 1

Program Results

     BD01AD EXAMPLE PROGRAM RESULTS

     Laub 1979, Ex.1

     Order of matrix A:               N  =   2
     Number of columns in matrix B:   M  =   1
     Number of rows in matrix C:      P  =   2

     E is the identity matrix.
     A  =
       0.0000   1.0000
       0.0000   0.0000
     B  =
       0.0000
       1.0000
     C  =
       1.0000   0.0000
       0.0000   1.0000
     D is of zeros.

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