AB09IX - SLICOT Library Routine Documentation

## AB09IX

### Accuracy enhanced balancing related model reduction

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

Purpose

      To compute a reduced order model (Ar,Br,Cr,Dr) for an original
      state-space representation (A,B,C,D) by using the square-root or
      balancing-free square-root Balance & Truncate (B&T) or
      Singular Perturbation Approximation (SPA) model reduction methods.
      The computation of truncation matrices TI and T is based on
      the Cholesky factor S of a controllability Grammian P = S*S'
      and the Cholesky factor R of an observability Grammian Q = R'*R,
      where S and R are given upper triangular matrices.

      For the B&T approach, the matrices of the reduced order system
      are computed using the truncation formulas:

           Ar = TI * A * T ,  Br = TI * B ,  Cr = C * T .     (1)

      For the SPA approach, the matrices of a minimal realization
      (Am,Bm,Cm) are computed using the truncation formulas:

           Am = TI * A * T ,  Bm = TI * B ,  Cm = C * T .     (2)

      Am, Bm, Cm and D serve further for computing the SPA of the given
      system.

Specification

          SUBROUTINE AB09IX( DICO, JOB, FACT, ORDSEL, N, M, P, NR,
         $                   SCALEC, SCALEO, A, LDA, B, LDB, C, LDC, D, LDD,
         $                   TI, LDTI, T, LDT, NMINR, HSV, TOL1, TOL2,
         $                   IWORK, DWORK, LDWORK, IWARN, INFO )
    C     .. Scalar Arguments ..
          CHARACTER         DICO, FACT, JOB, ORDSEL
          INTEGER           INFO, IWARN, LDA, LDB, LDC, LDD, LDT, LDTI,
         $                  LDWORK, M, N, NMINR, NR, P
          DOUBLE PRECISION  SCALEC, SCALEO, TOL1, TOL2
    C     .. Array Arguments ..
          INTEGER           IWORK(*)
          DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
         $                  DWORK(*), HSV(*), T(LDT,*), TI(LDTI,*)

Arguments

Mode Parameters

      DICO    CHARACTER*1
              Specifies the type of the original system as follows:
              = 'C':  continuous-time system;
              = 'D':  discrete-time system.

      JOB     CHARACTER*1
              Specifies the model reduction approach to be used
              as follows:
              = 'B':  use the square-root B&T method;
              = 'F':  use the balancing-free square-root B&T method;
              = 'S':  use the square-root SPA method;
              = 'P':  use the balancing-free square-root SPA method.

      FACT    CHARACTER*1
              Specifies whether or not, on entry, the matrix A is in a
              real Schur form, as follows:
              = 'S':  A is in a real Schur form;
              = 'N':  A is a general dense square matrix.

      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.

      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. NR is set as follows:
              if ORDSEL = 'F', NR is equal to MIN(NR,NMINR), where NR
              is the desired order on entry and NMINR is the number of
              the Hankel singular values greater than N*EPS*S1, where
              EPS is the machine precision (see LAPACK Library Routine
              DLAMCH) and S1 is the largest Hankel singular value
              (computed in HSV(1));
              NR can be further reduced to ensure HSV(NR) > HSV(NR+1);
              if ORDSEL = 'A', NR is equal to the number of Hankel
              singular values greater than MAX(TOL1,N*EPS*S1).

      SCALEC  (input) DOUBLE PRECISION
              Scaling factor for the Cholesky factor S of the
              controllability Grammian, i.e., S/SCALEC is used to
              compute the Hankel singular values.  SCALEC > 0.

      SCALEO  (input) DOUBLE PRECISION
              Scaling factor for the Cholesky factor R of the
              observability Grammian, i.e., R/SCALEO is used to
              compute the Hankel singular values.  SCALEO > 0.

      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. If FACT = 'S',
              A is in a real Schur form.
              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.

      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, if JOB = 'S' or JOB = 'P', the leading P-by-M
              part of this array must contain the original input/output
              matrix D.
              On exit, if INFO = 0 and JOB = 'S' or JOB = 'P', the
              leading P-by-M part of this array contains the
              input/output matrix Dr of the reduced order system.
              If JOB = 'B' or JOB = 'F', this array is not referenced.

      LDD     INTEGER
              The leading dimension of array D.
              LDD >= 1,        if JOB = 'B' or JOB = 'F';
              LDD >= MAX(1,P), if JOB = 'S' or JOB = 'P'.

      TI      (input/output) DOUBLE PRECISION array, dimension (LDTI,N)
              On entry, the leading N-by-N upper triangular part of
              this array must contain the Cholesky factor S of a
              controllability Grammian P = S*S'.
              On exit, if INFO = 0, and NR > 0, the leading NMINR-by-N
              part of this array contains the left truncation matrix
              TI in (1), for the B&T approach, or in (2), for the
              SPA approach.

      LDTI    INTEGER
              The leading dimension of array TI.  LDTI >= MAX(1,N).

      T       (input/output) DOUBLE PRECISION array, dimension (LDT,N)
              On entry, the leading N-by-N upper triangular part of
              this array must contain the Cholesky factor R of an
              observability Grammian Q = R'*R.
              On exit, if INFO = 0, and NR > 0, the leading N-by-NMINR
              part of this array contains the right truncation matrix
              T in (1), for the B&T approach, or in (2), for the
              SPA approach.

      LDT     INTEGER
              The leading dimension of array T.  LDT >= MAX(1,N).

      NMINR   (output) INTEGER
              The number of Hankel singular values greater than
              MAX(TOL2,N*EPS*S1).
              Note: If S and R are the Cholesky factors of the
              controllability and observability Grammians of the
              original system (A,B,C,D), respectively, then NMINR is
              the order of a minimal realization of the original system.

      HSV     (output) DOUBLE PRECISION array, dimension (N)
              If INFO = 0, it contains the Hankel singular values,
              ordered decreasingly. The Hankel singular values are
              singular values of the product R*S.

Tolerances

      TOL1    DOUBLE PRECISION
              If ORDSEL = 'A', TOL1 contains the tolerance for
              determining the order of the reduced system.
              For model reduction, the recommended value lies in the
              interval [0.00001,0.001].
              If TOL1 <= 0 on entry, the used default value is
              TOL1 = N*EPS*S1, where EPS is the machine precision
              (see LAPACK Library Routine DLAMCH) and S1 is the largest
              Hankel singular value (computed in HSV(1)).
              If ORDSEL = 'F', the value of TOL1 is ignored.

      TOL2    DOUBLE PRECISION
              The tolerance for determining the order of a minimal
              realization of the system.
              The recommended value is TOL2 = N*EPS*S1.
              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), where
              LIWORK = 0,   if JOB = 'B';
              LIWORK = N,   if JOB = 'F';
              LIWORK = 2*N, if JOB = 'S' or 'P'.

      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, 2*N*N + 5*N, N*MAX(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 NMINR, the order of a minimal realization of
                    the given system; in this case, the resulting NR is
                    set automatically to NMINR;
              = 2:  with ORDSEL = 'F', the selected order NR corresponds
                    to repeated singular values, which are neither all
                    included nor all excluded from the reduced model;
                    in this case, the resulting NR is set automatically
                    to the largest value such that HSV(NR) > HSV(NR+1).

Error Indicator

      INFO    INTEGER
              = 0:  successful exit;
              < 0:  if INFO = -i, the i-th argument had an illegal
                    value;
              = 1:  the computation of Hankel singular values failed.

Method

      Let be the stable linear system

           d[x(t)] = Ax(t) + Bu(t)
           y(t)    = Cx(t) + Du(t),                             (3)

      where d[x(t)] is dx(t)/dt for a continuous-time system and x(t+1)
      for a discrete-time system. The subroutine AB09IX determines for
      the given system (3), the matrices of a reduced NR order system

           d[z(t)] = Ar*z(t) + Br*u(t)
           yr(t)   = Cr*z(t) + Dr*u(t),                         (4)

      by using the square-root or balancing-free square-root
      Balance & Truncate (B&T) or Singular Perturbation Approximation
      (SPA) model reduction methods.

      The projection matrices TI and T are determined using the
      Cholesky factors S and R of a controllability Grammian P and an
      observability Grammian Q.
      The Hankel singular values HSV(1), ...., HSV(N) are computed as
      singular values of the product R*S.

      If JOB = 'B', the square-root Balance & Truncate technique
      of [1] is used.

      If JOB = 'F', the balancing-free square-root version of the
      Balance & Truncate technique [2] is used.

      If JOB = 'S', the square-root version of the Singular Perturbation
      Approximation method [3,4] is used.

      If JOB = 'P', the balancing-free square-root version of the
      Singular Perturbation Approximation method [3,4] is used.

References

      [1] 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.

      [2] Varga A.
          Efficient minimal realization procedure based on balancing.
          Proc. of IMACS/IFAC Symp. MCTS, Lille, France, May 1991,
          A. El Moudni, P. Borne, S. G. Tzafestas (Eds.),
          Vol. 2, pp. 42-46.

      [3] Liu Y. and Anderson B.D.O.
          Singular Perturbation Approximation of balanced systems.
          Int. J. Control, Vol. 50, pp. 1379-1405, 1989.

      [4] Varga A.
          Balancing-free square-root algorithm for computing singular
          perturbation approximations.
          Proc. 30-th CDC, Brighton, Dec. 11-13, 1991,
          Vol. 2, pp. 1062-1065.

Numerical Aspects

      The implemented method relies on accuracy enhancing square-root
      or balancing-free square-root methods.

Further Comments

      None

Example

Program Text

      None

Program Data

      None

Program Results

      None

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