AB05ND - SLICOT Library Routine Documentation

## AB05ND

### Feedback inter-connection of two systems in state-space form

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

Purpose

      To obtain the state-space model (A,B,C,D) for the feedback
      inter-connection of two systems, each given in state-space form.

Specification

          SUBROUTINE AB05ND( OVER, N1, M1, P1, 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, IWORK, DWORK, LDWORK, INFO )
    C     .. Scalar Arguments ..
          CHARACTER         OVER
          INTEGER           INFO, LDA, LDA1, LDA2, LDB, LDB1, LDB2, LDC,
         $                  LDC1, LDC2, LDD, LDD1, LDD2, LDWORK, M1, N, N1,
         $                  N2, P1
          DOUBLE PRECISION  ALPHA
    C     .. Array Arguments ..
          INTEGER           IWORK(*)
          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,*),
         $                  DWORK(*)

Arguments

Mode Parameters

      OVER    CHARACTER*1
              Indicates whether the user wishes to overlap pairs of
              arrays, as follows:
              = 'N':  Do not overlap;
              = 'O':  Overlap pairs of arrays: A1 and A, B1 and B,
                      C1 and C, and D1 and D, i.e. the same name is
                      effectively used for each pair (for all pairs)
                      in the routine call.  In this case, setting
                      LDA1 = LDA, LDB1 = LDB, LDC1 = LDC, and LDD1 = LDD
                      will give maximum efficiency.

Input/Output Parameters

      N1      (input) INTEGER
              The number of state variables in the first system, i.e.
              the order of the matrix A1.  N1 >= 0.

      M1      (input) INTEGER
              The number of input variables for the first system and the
              number of output variables from the second system.
              M1 >= 0.

      P1      (input) INTEGER
              The number of output variables from the first system and
              the number of input variables for the second system.
              P1 >= 0.

      N2      (input) INTEGER
              The number of state variables in the second system, i.e.
              the order of the matrix A2.  N2 >= 0.

      ALPHA   (input) DOUBLE PRECISION
              A coefficient multiplying the transfer-function matrix
              (or the output equation) of the second system.
              ALPHA = +1 corresponds to positive feedback, and
              ALPHA = -1 corresponds to negative feedback.

      A1      (input) DOUBLE PRECISION array, dimension (LDA1,N1)
              The leading N1-by-N1 part of this array must contain the
              state transition matrix A1 for the first system.

      LDA1    INTEGER
              The leading dimension of array A1.  LDA1 >= MAX(1,N1).

      B1      (input) DOUBLE PRECISION array, dimension (LDB1,M1)
              The leading N1-by-M1 part of this array must contain the
              input/state matrix B1 for the first system.

      LDB1    INTEGER
              The leading dimension of array B1.  LDB1 >= MAX(1,N1).

      C1      (input) DOUBLE PRECISION array, dimension (LDC1,N1)
              The leading P1-by-N1 part of this array must contain the
              state/output matrix C1 for the first system.

      LDC1    INTEGER
              The leading dimension of array C1.
              LDC1 >= MAX(1,P1) if N1 > 0.
              LDC1 >= 1 if N1 = 0.

      D1      (input) DOUBLE PRECISION array, dimension (LDD1,M1)
              The leading P1-by-M1 part of this array must contain the
              input/output matrix D1 for the first system.

      LDD1    INTEGER
              The leading dimension of array D1.  LDD1 >= MAX(1,P1).

      A2      (input) DOUBLE PRECISION array, dimension (LDA2,N2)
              The leading N2-by-N2 part of this array must contain the
              state transition matrix A2 for the second system.

      LDA2    INTEGER
              The leading dimension of array A2.  LDA2 >= MAX(1,N2).

      B2      (input) DOUBLE PRECISION array, dimension (LDB2,P1)
              The leading N2-by-P1 part of this array must contain the
              input/state matrix B2 for the second system.

      LDB2    INTEGER
              The leading dimension of array B2.  LDB2 >= MAX(1,N2).

      C2      (input) DOUBLE PRECISION array, dimension (LDC2,N2)
              The leading M1-by-N2 part of this array must contain the
              state/output matrix C2 for the second system.

      LDC2    INTEGER
              The leading dimension of array C2.
              LDC2 >= MAX(1,M1) if N2 > 0.
              LDC2 >= 1 if N2 = 0.

      D2      (input) DOUBLE PRECISION array, dimension (LDD2,P1)
              The leading M1-by-P1 part of this array must contain the
              input/output matrix D2 for the second system.

      LDD2    INTEGER
              The leading dimension of array D2.  LDD2 >= MAX(1,M1).

      N       (output) INTEGER
              The number of state variables (N1 + N2) in the connected
              system, i.e. the order of the matrix A, the number of rows
              of B and the number of columns of C.

      A       (output) DOUBLE PRECISION array, dimension (LDA,N1+N2)
              The leading N-by-N part of this array contains the state
              transition matrix A for the connected system.
              The array A can overlap A1 if OVER = 'O'.

      LDA     INTEGER
              The leading dimension of array A.  LDA >= MAX(1,N1+N2).

      B       (output) DOUBLE PRECISION array, dimension (LDB,M1)
              The leading N-by-M1 part of this array contains the
              input/state matrix B for the connected system.
              The array B can overlap B1 if OVER = 'O'.

      LDB     INTEGER
              The leading dimension of array B.  LDB >= MAX(1,N1+N2).

      C       (output) DOUBLE PRECISION array, dimension (LDC,N1+N2)
              The leading P1-by-N part of this array contains the
              state/output matrix C for the connected system.
              The array C can overlap C1 if OVER = 'O'.

      LDC     INTEGER
              The leading dimension of array C.
              LDC >= MAX(1,P1) if N1+N2 > 0.
              LDC >= 1 if N1+N2 = 0.

      D       (output) DOUBLE PRECISION array, dimension (LDD,M1)
              The leading P1-by-M1 part of this array contains the
              input/output matrix D for the connected system.
              The array D can overlap D1 if OVER = 'O'.

      LDD     INTEGER
              The leading dimension of array D.  LDD >= MAX(1,P1).

Workspace

      IWORK   INTEGER array, dimension (P1)

      DWORK   DOUBLE PRECISION array, dimension (LDWORK)

      LDWORK  INTEGER
              The length of the array DWORK.             If OVER = 'N',
              LDWORK >= MAX(1, P1*P1, M1*M1, N1*P1), and if OVER = 'O',
              LDWORK >= MAX(1, N1*P1 + MAX( P1*P1, M1*M1, N1*P1) ),
                                                         if M1 <= N*N2;
              LDWORK >= MAX(1, N1*P1 + MAX( P1*P1, M1*(M1+1), N1*P1) ),
                                                         if M1 >  N*N2.

Error Indicator

      INFO    INTEGER
              = 0:  successful exit;
              < 0:  if INFO = -i, the i-th argument had an illegal
                    value.
              > 0:  if INFO = i, 1 <= i <= P1, the system is not
                    completely controllable. That is, the matrix
                    (I + ALPHA*D1*D2) is exactly singular (the element
                    U(i,i) of the upper triangular factor of LU
                    factorization is exactly zero), possibly due to
                    rounding errors.

Method

      After feedback inter-connection of the two systems,

      X1'     = A1*X1 + B1*U1
      Y1      = C1*X1 + D1*U1

      X2'     = A2*X2 + B2*U2
      Y2      = C2*X2 + D2*U2

      (where  '  denotes differentiation with respect to time)

      the following state-space model will be obtained:

      X'      = A*X  +  B*U
      Y       = C*X  +  D*U

      where       U = U1 + alpha*Y2,    X  =  ( X1 ),
                  Y = Y1 = U2,                ( X2 )

      matrix  A  has the form

      ( A1  -  alpha*B1*E12*D2*C1       -  alpha*B1*E12*C2    ),
      (        B2*E21*C1            A2  -  alpha*B2*E21*D1*C2 )

      matrix  B  has the form

      (  B1*E12    ),
      (  B2*E21*D1 )

      matrix  C  has the form

      (  E21*C1     -  alpha*E21*D1*C2 ),

      matrix D  has the form

      (  E21*D1 ),

      E21  =  ( I + alpha*D1*D2 )-INVERSE and
      E12  =  ( I + alpha*D2*D1 )-INVERSE = I - alpha*D2*E21*D1.

      Taking N1 = 0 and/or N2 = 0 on the routine call will solve the
      constant plant and/or constant feedback cases.

References

      None

Numerical Aspects

      None

Further Comments

      None

Example

Program Text

    *     AB05ND EXAMPLE PROGRAM TEXT
    *     Copyright (c) 2002-2010 NICONET e.V.
    *
    *     .. Parameters ..
          INTEGER          NIN, NOUT
          PARAMETER        ( NIN = 5, NOUT = 6 )
          INTEGER          N1MAX, N2MAX, NMAX, M1MAX, P1MAX
          PARAMETER        ( N1MAX = 20, N2MAX = 20, NMAX = N1MAX+N2MAX,
         $                   M1MAX = 20, P1MAX = 20 )
          INTEGER          LDA, LDA1, LDA2, LDB, LDB1, LDB2, LDC, LDC1,
         $                 LDC2, LDD, LDD1, LDD2
          PARAMETER        ( LDA = NMAX, LDA1 = N1MAX, LDA2 = N2MAX,
         $                   LDB = NMAX, LDB1 = N1MAX, LDB2 = N2MAX,
         $                   LDC = P1MAX, LDC1 = P1MAX, LDC2 = M1MAX,
         $                   LDD = P1MAX, LDD1 = P1MAX, LDD2 = M1MAX )
          INTEGER          LDWORK
          PARAMETER        ( LDWORK = P1MAX*P1MAX )
          DOUBLE PRECISION ONE
          PARAMETER        ( ONE=1.0D0 )
    *     .. Local Scalars ..
          CHARACTER*1      OVER
          INTEGER          I, INFO, J, M1, N, N1, N2, P1
          DOUBLE PRECISION ALPHA
    *     .. Local Arrays ..
          INTEGER          IWORK(P1MAX)
          DOUBLE PRECISION A(LDA,NMAX), A1(LDA1,N1MAX), A2(LDA2,N2MAX),
         $                 B(LDB,M1MAX), B1(LDB1,M1MAX), B2(LDB2,P1MAX),
         $                 C(LDC,NMAX), C1(LDC1,N1MAX), C2(LDC2,N2MAX),
         $                 D(LDD,M1MAX), D1(LDD1,M1MAX), D2(LDD2,P1MAX),
         $                 DWORK(LDWORK)
    *     .. External Subroutines ..
          EXTERNAL         AB05ND
    *     .. Executable Statements ..
    *
          OVER = 'N'
          ALPHA = ONE
          WRITE ( NOUT, FMT = 99999 )
    *     Skip the heading in the data file and read the data.
          READ ( NIN, FMT = '()' )
          READ ( NIN, FMT = * ) N1, M1, P1, N2
          IF ( N1.LE.0 .OR. N1.GT.N1MAX ) THEN
             WRITE ( NOUT, FMT = 99992 ) N1
          ELSE
             READ ( NIN, FMT = * ) ( ( A1(I,J), J = 1,N1 ), I = 1,N1 )
             IF ( M1.LE.0 .OR. M1.GT.M1MAX ) THEN
                WRITE ( NOUT, FMT = 99991 ) M1
             ELSE
                READ ( NIN, FMT = * ) ( ( B1(I,J), I = 1,N1 ), J = 1,M1 )
                IF ( P1.LE.0 .OR. P1.GT.P1MAX ) THEN
                   WRITE ( NOUT, FMT = 99990 ) P1
                ELSE
                   READ ( NIN, FMT = * ) ( ( C1(I,J), J = 1,N1 ), I = 1,P1 )
                   READ ( NIN, FMT = * ) ( ( D1(I,J), J = 1,M1 ), I = 1,P1 )
                   IF ( N2.LE.0 .OR. N2.GT.N2MAX ) THEN
                      WRITE ( NOUT, FMT = 99989 ) N2
                   ELSE
                      READ ( NIN, FMT = * )
         $                 ( ( A2(I,J), J = 1,N2 ), I = 1,N2 )
                      READ ( NIN, FMT = * )
         $                 ( ( B2(I,J), I = 1,N2 ), J = 1,P1 )
                      READ ( NIN, FMT = * )
         $                 ( ( C2(I,J), J = 1,N2 ), I = 1,M1 )
                      READ ( NIN, FMT = * )
         $                 ( ( D2(I,J), J = 1,P1 ), I = 1,M1 )
    *                 Find the state-space model (A,B,C,D).
                      CALL AB05ND( OVER, N1, M1, P1, 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, IWORK, DWORK,
         $                         LDWORK, INFO )
    *
                      IF ( INFO.NE.0 ) THEN
                         WRITE ( NOUT, FMT = 99998 ) INFO
                      ELSE
                         WRITE ( NOUT, FMT = 99997 )
                         DO 20 I = 1, N
                            WRITE ( NOUT, FMT = 99996 ) ( A(I,J), J = 1,N )
       20                CONTINUE
                         WRITE ( NOUT, FMT = 99995 )
                         DO 40 I = 1, N
                            WRITE ( NOUT, FMT = 99996 ) ( B(I,J), J = 1,M1 )
       40                CONTINUE
                         WRITE ( NOUT, FMT = 99994 )
                         DO 60 I = 1, P1
                            WRITE ( NOUT, FMT = 99996 ) ( C(I,J), J = 1,N )
       60                CONTINUE
                         WRITE ( NOUT, FMT = 99993 )
                         DO 80 I = 1, P1
                            WRITE ( NOUT, FMT = 99996 ) ( D(I,J), J = 1,M1 )
       80                CONTINUE
                      END IF
                   END IF
                END IF
             END IF
          END IF
          STOP
    *
    99999 FORMAT (' AB05ND EXAMPLE PROGRAM RESULTS',/1X)
    99998 FORMAT (' INFO on exit from AB05ND = ',I2)
    99997 FORMAT (' The state transition matrix of the connected system is')
    99996 FORMAT (20(1X,F8.4))
    99995 FORMAT (/' The input/state matrix of the connected system is ')
    99994 FORMAT (/' The state/output matrix of the connected system is ')
    99993 FORMAT (/' The input/output matrix of the connected system is ')
    99992 FORMAT (/' N1 is out of range.',/' N1 = ',I5)
    99991 FORMAT (/' M1 is out of range.',/' M1 = ',I5)
    99990 FORMAT (/' P1 is out of range.',/' P1 = ',I5)
    99989 FORMAT (/' N2 is out of range.',/' N2 = ',I5)
          END

Program Data

     AB05ND EXAMPLE PROGRAM DATA
       3     2     2     3
       1.0   0.0  -1.0
       0.0  -1.0   1.0
       1.0   1.0   2.0
       1.0   1.0   0.0
       2.0   0.0   1.0
       3.0  -2.0   1.0
       0.0   1.0   0.0
       1.0   0.0
       0.0   1.0
      -3.0   0.0   0.0
       1.0   0.0   1.0
       0.0  -1.0   2.0
       0.0  -1.0   0.0
       1.0   0.0   2.0
       1.0   1.0   0.0
       1.0   1.0  -1.0
       1.0   1.0
       0.0   1.0

Program Results

     AB05ND EXAMPLE PROGRAM RESULTS

     The state transition matrix of the connected system is
      -0.5000  -0.2500  -1.5000  -1.2500  -1.2500   0.7500
      -1.5000  -0.2500   0.5000  -0.2500  -0.2500  -0.2500
       1.0000   0.5000   2.0000  -0.5000  -0.5000   0.5000
       0.0000   0.5000   0.0000  -3.5000  -0.5000   0.5000
      -1.5000   1.2500  -0.5000   1.2500   0.2500   1.2500
       0.0000   1.0000   0.0000  -1.0000  -2.0000   3.0000

     The input/state matrix of the connected system is
       0.5000   0.7500
       0.5000  -0.2500
       0.0000   0.5000
       0.0000   0.5000
      -0.5000   0.2500
       0.0000   1.0000

     The state/output matrix of the connected system is
       1.5000  -1.2500   0.5000  -0.2500  -0.2500  -0.2500
       0.0000   0.5000   0.0000  -0.5000  -0.5000   0.5000

     The input/output matrix of the connected system is
       0.5000  -0.2500
       0.0000   0.5000

Click here to get a compressed (gzip) tar file containing the source code of the routine, the example program, data, documentation, and related files.

Return to index