## SB04MD

### Solution of continuous-time Sylvester equations (Hessenberg-Schur method)

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

Purpose

      To solve for X the continuous-time Sylvester equation

         AX + XB = C

      where A, B, C and X are general N-by-N, M-by-M, N-by-M and
      N-by-M matrices respectively.

Specification

          SUBROUTINE SB04MD( N, M, A, LDA, B, LDB, C, LDC, Z, LDZ, IWORK,
         $                   DWORK, LDWORK, INFO )
    C     .. Scalar Arguments ..
          INTEGER           INFO, LDA, LDB, LDC, LDWORK, LDZ, M, N
    C     .. Array Arguments ..
          INTEGER           IWORK(*)
          DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*), Z(LDZ,*)

Arguments

Input/Output Parameters

      N       (input) INTEGER
              The order of the matrix A.  N >= 0.

      M       (input) INTEGER
              The order of the matrix B.  M >= 0.

      A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
              On entry, the leading N-by-N part of this array must
              contain the coefficient matrix A of the equation.
              On exit, the leading N-by-N upper Hessenberg part of this
              array contains the matrix H, and the remainder of the
              leading N-by-N part, together with the elements 2,3,...,N
              of array DWORK, contain the orthogonal transformation
              matrix U (stored in factored form).

      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 M-by-M part of this array must
              contain the coefficient matrix B of the equation.
              On exit, the leading M-by-M part of this array contains
              the quasi-triangular Schur factor S of the matrix B'.

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

      C       (input/output) DOUBLE PRECISION array, dimension (LDC,M)
              On entry, the leading N-by-M part of this array must
              contain the coefficient matrix C of the equation.
              On exit, the leading N-by-M part of this array contains
              the solution matrix X of the problem.

      LDC     INTEGER
              The leading dimension of array C.  LDC >= MAX(1,N).

      Z       (output) DOUBLE PRECISION array, dimension (LDZ,M)
              The leading M-by-M part of this array contains the
              orthogonal matrix Z used to transform B' to real upper
              Schur form.

      LDZ     INTEGER
              The leading dimension of array Z.  LDZ >= MAX(1,M).

Workspace

      IWORK   INTEGER array, dimension (4*N)

      DWORK   DOUBLE PRECISION array, dimension (LDWORK)
              On exit, if INFO = 0, DWORK(1) returns the optimal value
              of LDWORK, and DWORK(2), DWORK(3),..., DWORK(N) contain
              the scalar factors of the elementary reflectors used to
              reduce A to upper Hessenberg form, as returned by LAPACK
              Library routine DGEHRD.

      LDWORK  INTEGER
              The length of the array DWORK.
              LDWORK = MAX(1, 2*N*N + 8*N, 5*M, N + M).
              For optimum performance LDWORK should be larger.

              If LDWORK = -1, then a workspace query is assumed; the
              routine only calculates the optimal size of the DWORK
              array, returns this value as the first entry of the DWORK
              array, and no error message related to LDWORK is issued by
              XERBLA.

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 <= M, the QR algorithm failed to
                    compute all the eigenvalues (see LAPACK Library
                    routine DGEES);
              > M:  if a singular matrix was encountered whilst solving
                    for the (INFO-M)-th column of matrix X.

Method

      The matrix A is transformed to upper Hessenberg form H = U'AU by
      the orthogonal transformation matrix U; matrix B' is transformed
      to real upper Schur form S = Z'B'Z using the orthogonal
      transformation matrix Z. The matrix C is also multiplied by the
      transformations, F = U'CZ, and the solution matrix Y of the
      transformed system

         HY + YS' = F

      is computed by back substitution. Finally, the matrix Y is then
      multiplied by the orthogonal transformation matrices, X = UYZ', in
      order to obtain the solution matrix X to the original problem.

References

      [1] Golub, G.H., Nash, S. and Van Loan, C.F.
          A Hessenberg-Schur method for the problem AX + XB = C.
          IEEE Trans. Auto. Contr., AC-24, pp. 909-913, 1979.

Numerical Aspects

                                          3       3      2         2
      The algorithm requires about (5/3) N  + 10 M  + 5 N M + 2.5 M N
      operations and is backward stable.

Further Comments

      None

Example

Program Text

    *     SB04MD EXAMPLE PROGRAM TEXT
    *
    *     .. Parameters ..
          INTEGER          NIN, NOUT
          PARAMETER        ( NIN = 5, NOUT = 6 )
          INTEGER          NMAX, MMAX
          PARAMETER        ( NMAX = 20, MMAX = 20 )
          INTEGER          LDA, LDB, LDC, LDZ
          PARAMETER        ( LDA = NMAX, LDB = MMAX, LDC = NMAX,
         $                   LDZ = MMAX )
          INTEGER          LIWORK
          PARAMETER        ( LIWORK = 4*NMAX )
          INTEGER          LDWORK
          PARAMETER        ( LDWORK = MAX( 1, 2*NMAX*NMAX+8*NMAX, 5*MMAX,
         $                   NMAX+MMAX ) )
    *     .. Local Scalars ..
          INTEGER          I, INFO, J, M, N
    *     .. Local Arrays ..
          DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,MMAX),
         $                 DWORK(LDWORK), Z(LDZ,MMAX)
          INTEGER          IWORK(LIWORK)
    *     .. External Subroutines ..
          EXTERNAL         SB04MD
    *     .. Intrinsic Functions ..
          INTRINSIC        MAX
    *     .. 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
          IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
             WRITE ( NOUT, FMT = 99994 ) N
          ELSE
             READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
             IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
                WRITE ( NOUT, FMT = 99993 ) M
             ELSE
                READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,M )
                READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,M ), I = 1,N )
    *           Find the solution matrix X.
                CALL SB04MD( N, M, A, LDA, B, LDB, C, LDC, Z, LDZ, 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 ) ( C(I,J), J = 1,M )
       20          CONTINUE
                   WRITE ( NOUT, FMT = 99995 )
                   DO 40 I = 1, M
                      WRITE ( NOUT, FMT = 99996 ) ( Z(I,J), J = 1,M )
       40          CONTINUE
                END IF
             END IF
          END IF
          STOP
    *
    99999 FORMAT (' SB04MD EXAMPLE PROGRAM RESULTS',/1X)
    99998 FORMAT (' INFO on exit from SB04MD = ',I2)
    99997 FORMAT (' The solution matrix X is ')
    99996 FORMAT (20(1X,F8.4))
    99995 FORMAT (/' The orthogonal matrix Z is ')
    99994 FORMAT (/' N is out of range.',/' N = ',I5)
    99993 FORMAT (/' M is out of range.',/' M = ',I5)
          END

Program Data

     SB04MD EXAMPLE PROGRAM DATA
       3     2
       2.0   1.0   3.0
       0.0   2.0   1.0
       6.0   1.0   2.0
       2.0   1.0
       1.0   6.0
       2.0   1.0
       1.0   4.0
       0.0   5.0

Program Results

     SB04MD EXAMPLE PROGRAM RESULTS

     The solution matrix X is
      -2.7685   0.5498
      -1.0531   0.6865
       4.5257  -0.4389

     The orthogonal matrix Z is
      -0.9732  -0.2298
       0.2298  -0.9732

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