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reports.txt
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More about the SLICOT-Reports directory:
========================================
FILE NAME: rep96-1.pdf
REPORT NUMBER: 96-1
FORMAT: Adobe Acrobat pdf.
AUTHORS: Working Group on Software
TITLE: SLICOT Implementation and Documentation Standards
ABSTRACT: This report describes the documentation and implementation
standards concerning the routines in the SLICOT library
and should be used as guidance for potential contributors
to the library....
This report updates the old WGS report 90-1.
STATUS: available since August 96
revisions:September 1996
January 1997
February 1998
------------
FILE NAME: rep96-2.pdf
REPORT NUMBER: 96-2
FORMAT: Adobe Acrobat pdf.
AUTHORS: Working Group on Software
TITLE: Contributor's kit
ABSTRACT: This document contains all information on how to contribute
to the SLICOT library and is intended to enhance the
submission of new subroutines. Th requirements for acceptance
of a contribution are outlined in a precise way. Furthermore,
a brief overview of the possible benefits of distributing
systems and control software through SLICOT is given.
This report updates the old WGS report 94-1.
STATUS: available since August 96
------------
FILE NAME: rep97-1.pdf
REPORT NUMBER: 97-1
FORMAT: Adobe Acrobat pdf.
AUTHORS: Working Group on Software
TITLE: Results of the NICONET Questionnaire
ABSTRACT: This document contains the results of a questionnaire set up
by WGS in order to evaluate an EC thematic Numerics in Control
Network NICONET in the field of Industrial and Applied
Technologies.
STATUS: available since January 97
------------
FILE NAME: rep97-2.pdf
REPORT NUMBER: 97-2
FORMAT: Adobe Acrobat pdf.
AUTHORS: V. Sima, under coordination of S. Van Huffel and B. De Moor
TITLE: High-Performance Numerical Software for Control Systems
Analysis and Design, and Subspace-Based System Identification
ABSTRACT: This document contains comparative results for some new SLICOT
routines, as well as Fortran routines for system identification,
and Matlab computations.
STATUS: available since March 97
------------
FILE NAME: nic97-3.pdf
REPORT NUMBER: 97-3
FORMAT: Adobe Acrobat pdf.
AUTHORS: P. Benner, V. Mehrmann, V. Sima, S. Van Huffel, A. Varga
TITLE: SLICOT - A Subroutine Library in Systems and Control Theory
ABSTRACT: This article describes the subroutine library SLICOT that
provides Fortran 77 implementations of numerical algorithms
for computations in systems and control theory. Around a
nucleus of basic numerical linear algebra subroutines,
this library builds methods for the design and analysis of
linear control systems. A brief history of the library is
given together with a description of the current version
of the library and the on-going activities to complete and
improve the library in several aspects.
STATUS: appeared in revised form in the first issue of Applied and
Computational Control, Signals, and Circuits, 1999
(Editor-in-Chief: Biswa Datta)
------------
FILE NAME: SLWN1998-1.pdf
REPORT NUMBER: 1998-1
FORMAT: Adobe Acrobat pdf.
AUTHORS: I. Blanquer, D. Guerrero, V. Hernandez, E. Quintana-Orti,
P. Ruiz
TITLE: Parallel-SLICOT Implementation and documentation standards
ABSTRACT: This paper presents the P-SLICOT (Parallel Subroutine
Library in Control and Systems Theory) Implementation
and Documentation Standards. Here we propose some useful
guidelines for those who want to contribute to the parallel
version of SLICOT. The main goal of these rules is to
facilitate the work of obtaining a portable, reliable,
and easily maintainable code.
STATUS: available since September 1998
------------
FILE NAME: SLWN1998-2.pdf
REPORT NUMBER: 1998-2
FORMAT: Adobe Acrobat pdf.
AUTHORS: Andras Varga
TITLE: Task II.A.1 - Selection of Model Reduction Routines
ABSTRACT: This paper discusses the model reduction algorithms which
are to be included in the SLICOT library. This task is
executed as part of the NICONET project.
STATUS: available since June 1998
------------
FILE NAME: SLWN1998-3.pdf
REPORT NUMBER: 1998-3
FORMAT: Adobe Acrobat pdf.
AUTHORS: Andras Varga
TITLE: Task I.A.1 - Selection of Basic Software Tools for Standard
and Generalized State-space Systems and Transfer Matrix
Factorizations
ABSTRACT: This paper discusses the algorithms and software for basic
control problems, for the factorization of proper transfer
function matrices, and for descriptor systems which
are to be included in the SLICOT library. This task is
executed as part of the NICONET project.
STATUS: available since June 1998
------------
FILE NAME: SLWN1998-4.pdf
REPORT NUMBER: 1998-4
FORMAT: Adobe Acrobat pdf.
AUTHORS: Andras Varga
TITLE: Standardization of Interface for Nonlinear Systems Software
in SLICOT
ABSTRACT: This paper discusses the development of standardized Fortran
interfaces for the description of nonlinear systems to allow
an easy interfacing with standard software for integration
of differential equations, nonlinear programming and solving
nonlinear equations. These interfaces are used for nonlinear
systems software in SLICOT and will be developed
as part of the NICONET project.
STATUS: available since June 1998
------------
FILE NAME: SLWN1998-5.pdf
REPORT NUMBER: 1998-5
FORMAT: Adobe Acrobat pdf.
AUTHORS: Volker Mehrmann and Thilo Penzl
TITLE: Benchmark collections in SLICOT
ABSTRACT: This paper contains guidelines for setting up benchmark
collections for SLICOT. The purpose of these SLICOT
benchmark collections is to establish an environment for
testing the subroutines within the SLICOT library and
compare their performance with other numerical software.
Guidelines for the submission of benchmark examples by
external contributors are given, as well as guidelines
for the implementation of benchmark routines within SLICOT.
STATUS: available since June 1998
revisions: August 1998
------------
FILE NAME: SLWN1998-6.pdf
REPORT NUMBER: 1998-6
FORMAT: Adobe Acrobat pdf.
AUTHORS: W. Favoreel, V. Sima, S. Van Huffel, M. Verhaegen, B. De Moor
TITLE: Subspace model identification of linear systems in SLICOT
ABSTRACT: This paper compares 3 commonly used subspace identification
algorithms N4SID, MOESP and CVA, using their Matlab
implementation, in terms of prediction accuracy, simulation
accuracy and computational efficiency. The comparison is
made on the basis of 15 publicly available practical
datasets to which the codes are applied.
STATUS: available since October 1998
------------
FILE NAME: nic1998-7.pdf
REPORT NUMBER: 1998-7
FORMAT: Adobe Acrobat pdf.
AUTHORS: Da-Wei Gu, Petko Hr. Petkov and Mihail M. Konstantinov
TITLE: Direct Formulae for the H_{infinity} Sub-Optimal Central
Controller
ABSTRACT: Alternative formulae, directly based on the original data
of the given interconnected system, are presented for the
H_{infinity} sub-optimal central controller.
STATUS: available since August 1998
revisions: October 1998
------------
FILE NAME: nic1998-8.pdf
REPORT NUMBER: 1998-8
FORMAT: Adobe Acrobat pdf.
AUTHORS: Petko Hr. Petkov, Da-Wei Gu,and Mihail M. Konstantinov
TITLE: Fortran 77 routines for H_{infinity} and H_2 design of
continuous-time linear control systems
ABSTRACT: Fortran 77 routines are presented for state-space design of
H_{inifinity} (sub)optimal controllers and H_2 optimal
controllers for linear continuous-time control systems.
The subroutines make use of LAPACK and BLAS libraries and
produce estimates of the conditioning of the corresponding
matrix algebraic Riccati equations. Modifed formulae are
implemented in the case of H_{infinity} design which allows
to reduce the order of the inverted matrices. The subroutines
will be included in the SLICOT library.
STATUS: available since September 1998
revisions: October 1998
------------
FILE NAME: SLWN1998-9.pdf
REPORT NUMBER: 1998-9
FORMAT: Adobe Acrobat pdf.
AUTHORS: Daniel Kressner, Volker Mehrmann and Thilo Penzl
TITLE: CTDSX - a Collection of benchmark examples for state-space
realizations of continuous-time dynamical systems
ABSTRACT: This paper describes a benchmark collection for state-space
realizations of time-invariant continuous-time dynamical
systems. The collection is intended to provide a means for
testing the correctness, accuracy, and speed of numerical
methods for several problems arising in control theory.
It has been implemented in FORTRAN and MATLAB.
STATUS: available since November 1998
------------
FILE NAME: SLWN1998-10.pdf
REPORT NUMBER: 1998-10
FORMAT: Adobe Acrobat pdf.
AUTHORS: Daniel Kressner, Volker Mehrmann and Thilo Penzl
TITLE: DTDSX - a Collection of benchmark examples for state-space
realizations of discrete-time dynamical systems
ABSTRACT: This paper describes a benchmark collection for state-space
realizations of time-invariant discrete-time dynamical systems.
The collection is intended to provide a means for testing the
correctness, accuracy, and speed of numerical methods for
several problems arising in control theory. It has been
implemented in FORTRAN and MATLAB.
STATUS: available since November 1998
revised in June 1999
------------
FILE NAME: MTNS98.pdf
REPORT NUMBER: 1998-11
FORMAT: Adobe Acrobat pdf.
AUTHORS: Vasile Sima, Peter Benner, Sabine Van Huffel and Andras Varga
TITLE: Improving the efficiency and accuracy of the MATLAB control
toolbox using SLICOT-based gateways
ABSTRACT: The paper presents performance results for some components
of the new, public-domain version of the SLICOT library
in comparison with equivalent computations performed by
some MATLAB functions included in the Control Toolbox.
SLICOT incorporates the new algorithmic developments in
numerical linear algebra, implemented in the state-of-the-art
software packages LAPACK and BLAS. The results show that,
at comparable or better accuracy, SLICOT routines are several
times faster than MATLAB computations.
STATUS: to appear in the proceedings of MTNS-98, Padova, Italy,
July 6-10, 1998
------------
FILE NAME: nic1999-1.pdf
REPORT NUMBER: 1999-1
FORMAT: Adobe Acrobat pdf.
AUTHORS: Peter Benner, Enrique S. Quintana-Orti, Gregorio Quintana-Orti
TITLE: A portable subroutine library for solving linear control
problems on distributed memory computers
ABSTRACT: This paper describes the design of a software library for
solving the basic computational problems that arise in
analysis and synthesis of linear control systems. The
library is intended for use in high performance computing
environments based on parallel distributed memory
architectures. The portability of the library is ensured
by using the BLACS, PBLAS, and ScaLAPACK as the basic layer
of communication and computational routines. Preliminary
numerical results demonstrate the performance of the
developed codes on parallel computers. The suggested
library can serve as a basic layer for PSLICOT, a parallel
extension of the Subroutine Library in Control Theory (SLICOT).
STATUS: available since January 1999
------------
FILE NAME: nic1999-2.pdf
REPORT NUMBER: 1999-2
FORMAT: Adobe Acrobat pdf.
AUTHORS: Peter Benner and Heike Fassbender
TITLE: SLICOT drives tractors!
ABSTRACT: We describe the successful application of a SLICOT subroutine
in a control engineering problem. Based on GPS data it is
possible to automatically steer farm vehicles along a
prescribed trajectory. The bottleneck for the successful
on-line implementation of a LQG regulator is the numerical
solution of a discrete-time algebraic Riccati equation in
real-time and at high accuracy. This is achieved employing a
Fortran-77 subroutine from the Subroutine Library in
Control Theory SLICOT.
STATUS: available since January 1999
------------
FILE NAME: nic1999-3.pdf
REPORT NUMBER: 1999-3
FORMAT: Adobe Acrobat pdf.
AUTHORS: Bert Haverkamp
TITLE: Efficient implementation of subspace method identification
algorithms
ABSTRACT: This paper summarises the results of a study to improve
existing Subspace Method Identification (SMI) algorithms.
Significant improvements in calculation speed can be
achieved by combining components from existing algorithms
namely N4SID and MOESP. A second improvement can be achieved
by more efficient implementation of critical parts of the
algorithms.
STATUS: available since March 1999
------------
FILE NAME: nic1999-4.pdf
REPORT NUMBER: 1999-4
FORMAT: Adobe Acrobat pdf.
AUTHORS: Da-Wei Gu, Petko Hr. Petkov, and Mihail M. Konstantinov
TITLE: An Introduction to H-infinity Optimisations Designs
ABSTRACT: This Niconet report is prepared for users of the software
package SLICOT who are not familiar with the H-infinity
optimisation design approach. Together with some previous
Niconet reports it is hoped that the reader would have a
general idea about the H-infinity method, know how to use
the algorithms available in SLICOT to synthesize a
controller for a standard H-infinity optimisation problem
and, furthermore, be aware of some difficulties such as
singularity in the H-infinity controllers design.
STATUS: available since May 1999
------------
FILE NAME: nic1999-5.pdf
REPORT NUMBER: 1999-5
FORMAT: Adobe Acrobat pdf.
AUTHORS: Petko Hr. Petkov, Da-Wei Gu, and Mihail M. Konstantinov
TITLE: Fortan 77 Routines for H-infinity and H2 Design of
Discrete-Time Linear Control Systems
ABSTRACT: We present Fortran 77 subroutines intended for state-space
design of H-infinity (sub)optimal controllers and H2 optimal
controllers for linear discrete-time control systems.
The subroutines make use of LAPACK and BLAS libraries and
produce estimates of the condition numbers of the matrices
which are to be inverted and estimates of the condition
numbers of the matrix algebraic Riccati equations which
are to be solved in the computation of the controllers.
The subroutines will be included in the SLICOT library.
STATUS: available since May 1999
------------
FILE NAME: SLWN1999-6.pdf
REPORT NUMBER: 1999-6
FORMAT: Adobe Acrobat pdf.
AUTHORS: Daniel Kressner, Volker Mehrmann, Thilo Penzl
TITLE: CTLEX - a Collection of Benchmark Examples for Continuous-Time
Lyapunov Equations
ABSTRACT: This paper describes the benchmark collection CTLEX, that
contains test examples of continuous-time algebraic Lyapunov
equations. The main focus of this collection is on scalable
benchmark examples depending on parameters, which affect the
conditioning of the equation. Such examples are particularly
useful for the assessment of the complexity and the accuracy
of numerical solution methods.
STATUS: available since June 1999
------------
FILE NAME: SLWN1999-7.pdf
REPORT NUMBER: 1999-7
FORMAT: Adobe Acrobat pdf.
AUTHORS: Daniel Kressner, Volker Mehrmann, Thilo Penzl
TITLE: DTLEX - a Collection of Benchmark Examples for Discrete-Time
Lyapunov Equations
ABSTRACT: This paper describes the benchmark collection DTLEX, that
contains test examples of discrete-time algebraic Lyapunov
equations. These matrix equations are also known as Stein
equations. The main focus of DTLEX is on scalable benchmark
examples depending on parameters, which affect the
conditioning of the equation. Such examples are particularly
useful for the assessment of the complexity and the
accuracy of numerical solution methods.
STATUS: available since June 1999
------------
FILE NAME: nic1999-8.pdf
REPORT NUMBER: 1999-8
FORMAT: Adobe Acrobat pdf.
AUTHORS: Andras Varga
TITLE: Model Reduction Routines for SLICOT
ABSTRACT: We report on the newest developments of model reduction
software for SLICOT. Three enhanced accuracy model
reduction algorithms belonging to the class of methods
based on or related to balancing techniques form the basis
of model reduction software in SLICOT. These methods are
primarily intended for the reduction of linear, stable,
continuous- or discrete-time systems. However, in combination
with additive spectral decomposition or coprime
factorization techniques the basic methods can be employed
to reduce unstable systems too. The implemented computational
methods for reduction of stable and unstable systems, and
the associated software available in SLICOT are presented.
Performance comparisons performed using appropriate interface
software to user-friendly environments like MATLAB and
Scilab show the superiority of SLICOT model reduction tools
over existing model reduction software.
STATUS: available since June 1999
revised in December 1999
------------
FILE NAME: SLWN1999-9.pdf
REPORT NUMBER: 1999-9
FORMAT: Adobe Acrobat pdf.
AUTHORS: Paul Van Dooren
TITLE: Selection of basic software tools for structured matrix
decompositions and perturbations
ABSTRACT: In this note a survey is given of areas of systems and control
where structured matrix problems are important. In
identification we mention four different types of data
collection : impulse response, input-output pairs,
frequency response and covariance data. In each of those,
the identification problem can be rewritten in terms of
structured matrix problems for which there exist fast
decompositions. The use of structured matrix decompositions
should yield an improvement in speed of computations. In
analysis and design one encounters eigenvalue problems with
specific structure such as cyclic, Hamiltonian and symplectic
matrices. For those problems it is important to use structure
preserving decompositions, mainly to improve the numerical
accuracy of the computations, although these algorithms
typically yield improved computational complexities as well.
We also list the key numerical routines that should be
provided in the SLICOT library in order to tackle most of the
problems mentioned in this note.
STATUS: available since June 1999
------------
FILE NAME: nic1999-10.pdf
REPORT NUMBER: 1999-10
FORMAT: Adobe Acrobat pdf.
AUTHORS: Petko Petkov, Mihail Konstantinov, Da-Wei Gu, Volker Mehrmann
TITLE: Numerical solution of matrix Riccati equations: a comparison
of six solvers
ABSTRACT: We present results from the evaluation of six solvers intended
for the numerical solution of continuous-time matrix algebraic
Riccati equations. The solvers include the MATLAB functions
from different toolboxes and two Fortran 77 solvers developed
by the authors. The comparison implements two benchmark
problems each comprising 1600 6-th order Riccati equations
with known solutions. For each solver and each equation we
compute the relative forward and backward errors and for two
of the solvers we investigate the accuracy of condition and
error estimates. Some conclusions concerning the numerical
behaviour of the solvers are given.
STATUS: available since August 1999
------------
FILE NAME: SLWN1999-11.pdf
REPORT NUMBER: 1999-11
FORMAT: Adobe Acrobat pdf.
AUTHORS: Volker Mehrmann, Vasile Sima, Andras Varga and Hongguo Xu
TITLE: A MATLAB MEX-file environment of SLICOT
ABSTRACT: Several MEX-files are developed based on SLICOT Fortran
subroutines. The MEX-files provide new tools for the
numerical solution of some classical control problems,
such as the solution of linear or Riccati matrix equations
computations in the MATLAB environment. Numerical tests show
that the resulting MEX-files are equally accurate and much
more efficient than the corresponding MATLAB functions in
the control system toolbox and the robust control toolbox.
In order to increase user-friendlyness the related m-files
are also developed so that the MEX-file interface to the
corresponding SLICOT routines can be implemented directly
and easily.
STATUS: available since August 1999
------------
FILE NAME: SLWN1999-12.pdf
REPORT NUMBER: 1999-12
FORMAT: Adobe Acrobat pdf.
AUTHORS: Da-Wei Gu, Petko Hr. Petkov and Mihail Konstantinov
TITLE: H_inf and H_2 optimization toolbox in SLICOT
ABSTRACT: This report summarizes the progress made in the sub-task
IV.A of the NICONET project. Selected routines to implement
H_inf and H_2 (sub) optimization syntheses are listed, which
have all been standardized and included in the SLICOT
package. The integration of those routines in MATLAB has also
been completed; the mex files are attached in the appendices.
This report discusses the selection and testing of benchmark
problems with regard to the developed routines, and the
comparisons made between these routines and others available in
MATLAB. In particular, two industrial benchmark case studies,
namely the controller design of a Bell 205 helicopter and a
distillation column design, are introduced and the design
results, obtained using the developed routines, are analysed.
STATUS: available since September 1999
------------
FILE NAME: nic1999-13.pdf
REPORT NUMBER: 1999-13
FORMAT: Adobe Acrobat pdf.
AUTHORS: Anton Stoorvogel
TITLE: Numerical problems in robust and H_inf optimal control
ABSTRACT: After formulating the H_inf control problem for linear,
time-invariant and finite-dimensional systems, the
difficulties in the computation of the optimal performance
are discussed, as well as the problems encountered in
computing controllers.
STATUS: available since September 1999
------------
FILE NAME: SLWN1999-14.pdf
REPORT NUMBER: 1999-14
FORMAT: Adobe Acrobat pdf.
AUTHORS: Jorn Abels and Peter Benner
TITLE: CAREX --- A Collection of Benchmark Examples for
Continuous-Time Algebraic Riccati Equations (Version 2.0)
ABSTRACT: A collection of benchmark examples is presented for the
numerical solution of continuous-time algebraic Riccati
equations. This collection may serve for testing purposes
in the construction of new numerical methods, but may also
be used as a reference set for the comparison of methods.
The collected examples focus mainly on applications in
linear-quadratic optimal control theory. This version
updates an earlier benchmark collection and includes one new
example.
STATUS: available since November 1999
------------
FILE NAME: nic1999-15.pdf
REPORT NUMBER: 1999-15
FORMAT: Adobe Acrobat pdf.
AUTHORS: D.W. Gu, P.Hr. Petkov and M.M. Konstantinov
TITLE: H_inf Loop Shaping Design Procedure Routines in SLICOT
ABSTRACT: This report briefly introduces the H_inf loop shaping
design procedure (LSDP) and its implementation in the
software package SLICOT. The developed routines are
tested in a design example and are included as appendices.
STATUS: available since November 1999
------------
FILE NAME: SLWN1999-16.pdf
REPORT NUMBER: 1999-16
FORMAT: Adobe Acrobat pdf.
AUTHORS: Jorn Abels and Peter Benner
TITLE: DAREX --- A Collection of Benchmark Examples for Discrete-Time
Algebraic Riccati Equations (Version 2.0)
ABSTRACT: This is the second part of a collection of benchmark
examples for the numerical solution of algebraic Riccati
equations. After presenting examples for the continuous-time
case in Part I (CAREX), our concern in this paper is
discrete-time algebraic Riccati equations. This collection
may serve for testing purposes in the construction of new
numerical methods, but may also be used as a reference set
for the comparison of methods. This version updates an
earlier benchmark collection. Some of the examples have
been extended by incorporating parameters and there have
been some new additions to the collection.
STATUS: available since December 1999
------------
FILE NAME: SLWN1999-17.pdf
REPORT NUMBER: 1999-17
FORMAT: Adobe Acrobat pdf.
AUTHORS: Andras Varga and Paul Van Dooren
TITLE: Summary report of topic I.A.
ABSTRACT: This report surveys the deliverables of Task I.A. of the
NICONET project. We first give a brief description of the
control problems that are solved by the basic numerical
tools developed in this Task and we list the different
routines of SLICOT that correspond to these control
problems and that are available via ftp. We then describe
the toolboxes that give interactive access via Matlab or
Scilab to those routines and describe the benchmark
problems for this Task. We finally give a few numerical
examples exhibiting the accuracy and speed of the new
tools and describe a demo for the routines of this Task.
STATUS: available since December 1999
------------
FILE NAME: SLWN1999-18.pdf
REPORT NUMBER: 1999-18
FORMAT: Adobe Acrobat pdf.
AUTHORS: Andras Varga
TITLE: Task II.B.1 - Selection of Software for Controller Reduction
ABSTRACT: This working note presents a short overview of methods
suitable for controller reduction. A first class of methods
considered are general purpose methods for reduction of
unstable systems, as for example, absolute and relative
error methods or frequency weighted methods, both in
combination with modal separation or coprime factorization
techniques. Special frequency weighted controller reduction
methods able to preserve closed-loop stability and even
closed-loop performance are also discussed. A selection of
user callable and supporting routines to be implemented
for controller reduction is proposed.
The new routines will be included in the SLICOT library.
STATUS: available since December 1999
------------
FILE NAME: nic1999-19.pdf
REPORT NUMBER: 1999-19
FORMAT: Adobe Acrobat pdf.
AUTHORS: Ad van den Boom, Ton Backx and Yucai Zhu
TITLE: Benchmarks for Identification
ABSTRACT: This report describes the preliminary steps for setting up a
benchmark collection for identification. The identification
protocol is described, where aspects as experiment set-up,
signal pre-processing, modelling, parametrization, estimation
methods and model validation are reviewed briefly. The
relation of identification and control is stipulated. An
analysis is given of requirements for good benchmarks for
identification and some relevant organisational issues are
addressed.
STATUS: available since July 2000
------------
FILE NAME: SLWN1999-20.pdf
REPORT NUMBER: 1999-20
FORMAT: Adobe Acrobat pdf.
AUTHORS: Michel Verhaegen
TITLE: Symbolic and computational pre-processing in physical
parameter estimation of multi-body mechanical systems
ABSTRACT: The objective of this note is to highlight the scope and
computational (symbolic and/or arithmetic) tasks of turning
a physical parameter estimation problem into a (constraint)
optimization problem. Concrete examples show the need for
symbolic (object-oriented) modeling environments for
defining the structure of the physical system to be used
in the parameter optimization step. Without this (interactive)
software environment for compiling a physical parameter
estimation problem into an optimization problem,
standardization of commercial optimization routines is of
little or no interest.
STATUS: available since November 1999
------------
FILE NAME: SLWN2000-1.pdf
REPORT NUMBER: 2000-1
FORMAT: Adobe Acrobat pdf.
AUTHORS: P. Petkov, D.-W. Gu, Mihail M. Konstantinov and V. Mehrmann
TITLE: Condition and Error Estimates in the Solution of Lyapunov
and Riccati Equations
ABSTRACT: The condition number estimation and the computation of
residual based forward error estimates in the numerical
solution of matrix algebraic continuous-time and
discrete-time Lyapunov and Riccati equations is considered.
The estimates implemented involve the solution of triangular
Lyapunov equations along with usage of the LAPACK norm
estimator. Results from numerical experiments demonstrating
the performance of the estimates proposed are presented.
STATUS: available since January 2000
------------
FILE NAME: SLWN2000-2.pdf
REPORT NUMBER: 2000-2
FORMAT: Adobe Acrobat pdf.
AUTHORS: D. Kressner and P. Van Dooren
TITLE: Factorizations and linear system solvers for matrices with
Toeplitz structure
ABSTRACT: In this report we describe new routines for several
factorizations of matrices with Toeplitz or block Toeplitz
structure and show how this can be used to solve the
corresponding systems of equations or least squares systems
of equations. We also describe certain implementation details
and show how to handle matrices of low rank or of low
bandwidth.
STATUS: available since June 2000, revised in June 2001
------------
FILE NAME: SLWN2000-3.pdf
REPORT NUMBER: 2000-3
FORMAT: Adobe Acrobat pdf.
AUTHORS: Vicente Hernandez, Ignacio Blanquer, Enrique Arias, and
Pedro Ruiz
TITLE: Definition and Implementation of a SLICOT Standard Interface
and the associated MATLAB Gateway for the Solution of
Nonlinear Control Systems by using ODE and DAE Packages
ABSTRACT: In this report an interface system for the execution of
several widely-used integrator packages for the solving of
Ordinary Differential Equations and Diffferential Algebraic
Equations is presented. This package offers a SLICOT-compliant
unique interface to the packages ODEPACK (LSODE, LSODA,
LSODES, LSODI, LSOIBT), DASSL, RADAU5, DASPK and GELDA. All
the parameters have been standardised to allow a quick change
from one package to another and to take profit of the
different capabilities of the different packages.
The interface has also been migrated to MATLAB offering the
possibility of defining the system functions as MATLAB
m-files, using the FORTRAN compiled solver packages instead
of the MATLAB funcions. The source code of the system can be
downloaded from the SLICOT repository.
STATUS: available since July 2000
------------
FILE NAME: SLWN2000-4.pdf
REPORT NUMBER: 2000-4
FORMAT: Adobe Acrobat pdf.
AUTHORS: V. Sima
TITLE: SLICOT Linear Systems Identification Toolbox
ABSTRACT: This report summarizes the achievements and deliverables
of the Task III.A of the NICONET Project. After a
short description of the linear system identification
problem and of the available subspace-based techniques
to solve it, the numerical algorithms implemented in
SLICOT Linear Systems Identification Toolbox - SLIDENT -
are surveyed. The associated Fortran routines are then
listed and their functional abilities are outlined.
The developed interfaces to MATLAB or Scilab, as well as
examples of use are presented. Comparisons with the
available MATLAB codes are included, illustrating the
efficiency and accuracy of the SLIDENT components.
STATUS: available since July 2000
------------
FILE NAME: SLWN2000-5.pdf
REPORT NUMBER: 2000-5
FORMAT: Adobe Acrobat pdf.
AUTHORS: Vicente Hernandez, Ignacio Blanquer, Enrique Arias, Victor
Garcia, Lourdes Penalver and Pedro Ruiz
TITLE: Nonlinear control systems simulation toolbox in SLICOT
ABSTRACT: This report presents the SLICOT implementation of the
nonlinear control systems toolbox. A common interface
to several ODE and DAE libraries is prepared. This interface
is the entry point to the SLICOT solvers and enables users
to test the advantages of different approaches. In addition,
an implementation of a Matlab gateway to the nonlinear
control sysstems simulation interface is developed which
enables the user to define the problems using matlab code,
including the definition of the system functions and
Jacobians. Also, the performance of the toolbox using
benchmark problems, as well as industrial test cases is
described.
STATUS: available since August 2000
------------
FILE NAME: SLWN2000-6.pdf
REPORT NUMBER: 2000-6
FORMAT: Adobe Acrobat pdf.
AUTHORS: D.-W. Gu, P.Hr. Petkov and M.M. Konstantinov
TITLE: On Discrete H_inf Loop Shaping Design Procedure Routines
ABSTRACT: This report briefly introduces the H_inf loop shaping design
procedure (LSDP) in the discrete-time case as well as its
implementation in the software package SLICOT. Solution
formulae are presented with the exposure of a relationship
between the solutions to the three discrete-time, algebraic
Riccati equations (DARE) required in the construction of an
LSDP controller. These SLICOT routines also produce estimates
of the condition numbers of the DARE solutions, which reveals
the accuracy and reliability of the computational results.
The developed routines are tested in a design example,
and are included as appendices.
STATUS: available since November 2000
------------
FILE NAME: SLWN2001-1.pdf
REPORT NUMBER: 2001-1
FORMAT: Adobe Acrobat pdf.
AUTHORS: P.Hr. Petkov, D.-W. Gu and M.M. Konstantinov
TITLE: Robust Control of a Triple Inverted Pendulum using mu-Synthesis
ABSTRACT: In this paper we apply some of the SLICOT routines in the
mu-synthesis of a robust control system for a triple inverted
pendulum. We consider the case of a mixed type uncertainty
consisting of two complex uncertainties in the actuators,
three real uncertainties in the moments of inertia and three
real uncertainties in the viscous friction coefficients.
Using the D-K iteration, a further fictitous complex
uncertainty block is included and a mu-controller is
constructed for which the closed-loop control
system achieves robust stability and robust performance as
requested. The influence of the individual uncertainty on the
robust stability is investigated using mu-analysis. In
addition a reduced order controller is found such that the
robust stability and robust performance of the closed-loop
system are preserved with the much lower order controller.
In the design, the structured singular value mu is calculated
with the SLICOT routine AB13MD and the model reduction
toolbox in SLICOT is used in the model reduction of the
mu controller. The computation experience shows that the
SLICOT routines perform better than the counterpart routines in
MATLAB in terms of speed and accuracy.
STATUS: available since January 2001
------------
FILE NAME: SLWN2001-2.pdf
REPORT NUMBER: 2001-2
FORMAT: Adobe Acrobat pdf.
AUTHORS: Erik Elmroth, Pedher Johansson, Bo Kagstrom, and
Daniel Kressner
TITLE: A Web Computing Environment for the SLICOT Library
ABSTRACT: A prototype web computing environment for computations related
to the design and analysis of control systems using the SLICOT
software library is presented. The web interface can be
accessed from a standard world wide web browser with no need
for additional software installations on the local machine.
The environment provides user-friendly access to SLICOT
routines where run-time options are specified by mouse clicks
on appropriate buttons. Input data can be entered directly
into the web interface by the user or uploaded from a local
computer in a standard text format or in Matlab binary format.
Output data is presented in the web browser window and
possible to download in a number of different formats,
including Matlab binary. The environment is ideal for testing
the SLICOT software before performing a software installation
or for performing a limited number of computations. It is
also highly recommended for education as it is easy to use,
and basically self-explanatory, with the users' guide
integrated in the user interface.
STATUS: available since January 2001
------------
FILE NAME: SLWN2001-3.pdf
REPORT NUMBER: 2001-3
FORMAT: Adobe Acrobat pdf.
AUTHORS: David Guerrero and Vicente Hernandez and Jose E. Roma
TITLE: Integration and development of routines for the parallel
solution of Lyapunov equations by Hammarling's method
ABSTRACT: This report describes the integration of some routines for
solving standard Lyapunov equations by Hammarling's method
on parallel machines.
STATUS: available since June 2001
------------
FILE NAME: SLWN2001-4.pdf
REPORT NUMBER: 2001-4
FORMAT: Adobe Acrobat pdf.
AUTHORS: Isak Jonsson and Bo Kagstrom
TITLE: Recursive Blocked Algorithms for Solving Triangular
Matrix Equations---Part I: One-Sided and Coupled
Sylvester-Type Equations
ABSTRACT: Triangular matrix equations appear naturally in estimating
the condition numbers of matrix equations and different
eigenspace computations, including block-diagonalization of
matrices and matrix pairs and computation of functions of
matrices. To solve a triangular matrix equation is also a
major step in the classical Bartels-Stewart method. We present
recursive blocked algorithms for solving one-sided triangular
matrix equations, including the continuous-time Sylvester and
Lyapunov equations, and a generalized coupled Sylvester
equation. The main parts of the computations are performed as
level 3 general matrix multiply and add (GEMM) operations.
Recursion leads to an automatic variable blocking that has the
potential of matching the memory hierarchies of today's HPC
systems. Different implementation issues are discussed,
including when to end the recursion, the design of optimized
superscalar kernels for solving leaf-node triangular matrix
equations efficiently, and how parallelism is utilized in our
implementations. Uniprocessor and SMP parallel performance
results of our recursive blocked algorithms and corresponding
routines in the state-of-the-art libraries LAPACK and SLICOT
are presented. The performance improvements of our recursive
algorithms are remarkable, including 10-folded speedups
compared to standard algorithms.
STATUS: available since April 2001 and revised in August 2001
------------
FILE NAME: SLWN2001-5.pdf
REPORT NUMBER: 2001-5
FORMAT: Adobe Acrobat pdf.
AUTHORS: Isak Jonsson and Bo Kagstrom
TITLE: Recursive Blocked Algorithms for Solving Triangular
Matrix Equations---Part II: Two-sided and Generalized
Sylvester and Lyapunov Equations
ABSTRACT: We continue our study on high-performance algorithms for
solving triangular matrix equations. They appear naturally
in different condition estimation problems for matrix
equations and various eigenspace computations, and as
reduced systems in standard algorithms. Building on our
successful recursive approach applied to one-sided matrix
equations (Part I), we now present recursive blocked
algorithms for two-sided matrix equations, which include
matrix product terms such as AXB T . Examples are the
discrete-time standard and generalized Sylvester and
Lyapunov equations. The means for high-performance are the
recursive variable blocking, which has the potential of
matching the memory hierarchies of today's high-performance
computing systems, and level 3 computations which mainly are
performed as GEMM operations. Different implementation issues
are discussed, focusing on similarities and differences
between one-sided and two-sided matrix equations. We present
uniprocessor and SMP parallel performance results of recursive
blocked algorithms and routines in the state-of-the-art SLICOT
library. The performance improvements of our recursive
algorithms are remarkable, including 10-folded speedups or
more, compared to standard algorithms.
STATUS: available since September 2001
------------
FILE NAME: SLWN2001-6.pdf
REPORT NUMBER: 2001-6
FORMAT: Adobe Acrobat pdf.
AUTHORS: Chris Denruyter
TITLE: Solving Sylvester equations for Model Redution: Slicot
vs. Matlab
ABSTRACT: We compare two Sylvester equation solvers: the Matlab
function lyap and the Slicot function sllyap. An algorithm
for model redution and based on the resolution of a
Sylvester equation is presented. Timing results show the
superiority of the Slicot based m file slsylv.
STATUS: available since September 2001
------------
FILE NAME: SLWN2001-7.pdf
REPORT NUMBER: 2001-7
FORMAT: Adobe Acrobat pdf.
AUTHORS: P.Hr. Petkov, D.W. Gu and MM. Konstantinov
TITLE: Robust control of a disk drive servo system
ABSTRACT: In this expository paper we show the application of some
of the SLICOT routines in the robust control analysis
and design of a disk drive servo system. An uncertainty
model of the system plant is first derived which contains
eleven uncertain parameters including four resonance
frequencies, four damping coefficients and three rigid
body model parameters. Three controllers for the uncertain
system are designed using, respectively, the techniques
of H_inf mixed sensitivity design, H_inf loop shaping
design procedure (LSDP) and mu-synthesis method. With
these controllers the closed-loop system achieves
robust stability and in the cases of H_inf and
mu-controllers the closed loop system practically
achieves robust performance. A detailed comparison
of the frequency domain and time domain characteristics
of the closed-loop system with the three controllers
is conducted. Further, model reduction routines
have been applied to find a reasonably low order
controller based on the mu-synthesis design.
This reduced order controller maintains the robust
stability and robust performance of the closed-loop
system. Simulations of the nonlinear sampled-data
servo system with the low order controller have
been included as well, which confirms the practical
applicability of the controller obtained.
STATUS: available since December 2001
------------
FILE NAME: SLWN2002-1.pdf
REPORT NUMBER: 2002-1
FORMAT: Adobe Acrobat pdf.
AUTHORS: Peter Benner, Rafael Mayo, Enrique S. Quintana-Orti and
Gregorio Quintana-Orti
TITLE: Enhanced services for remote model reduction of large-scale
dense linear systems
ABSTRACT: This paper describes enhanced services for remote model
reduction of large-scale, dense linear time- invariant systems.
Specifically, we describe a Web service and a Mail service for model
reduction on a cluster of Intel Pentium-II architectures using
absolute error methods. Experimental results show the appeal and
accessibility provided by these services.
STATUS: available since January 2002
------------
FILE NAME: SLWN2002-2.pdf
REPORT NUMBER: 2002-2
FORMAT: Adobe Acrobat pdf.
AUTHORS: Y. Chahlaoui and P. Van Dooren
TITLE: A collection of Benchmark examples for model reduction of
linear time invariant dynamical systems
ABSTRACT: In order to test the numerical methods for model reduction we
present here a benchmark collection, which contain some useful
real world examples reflecting current problems in
applications. All simulations were obtained via Matlab and
some SLICOT programs of Niconet.
STATUS: available since February 2002 and revised in March 2002
------------
FILE NAME: SLWN2002-3.pdf
REPORT NUMBER: 2002-3
FORMAT: Adobe Acrobat pdf.
AUTHORS: F. Alvarruiz and V. Hernandez
TITLE: Definition and implementation of a SLICOT interface and a
MATLAB Gateway for the solution of non-linear programming
problems
ABSTRACT: This paper presents SLICOT and MATLAB interfaces for the
FSQP package, which stands for Feasible Sequential Quadratic
Programming. The SLICOT interface enables the user to call the
FSQP package by means of a subroutine with a SLICOT- compliant
calling sequence. By means of the MATLAB interface the user can
call the package from MATLAB, defining the problem by means of
MATLAB functions. The interfaces could be extended in the future
in order to consider other nonlinear programming solvers, although
some restructuring of the interfaces would be necessary.
STATUS: available since March 2002
------------
FILE NAME: SLWN2002-4.pdf
REPORT NUMBER: 2002-4
FORMAT: Adobe Acrobat pdf.
AUTHORS: F. Alvarruiz and V. Hernandez
TITLE: Definition and implementation of a SLICOT interface and a
MATLAB Gateway for the solution of nonlinear equations
systems
ABSTRACT: This paper presents SLICOT and MATLAB interfaces for the
KINSOL sotware package, used for solving nonlinear equations
systems. The SLICOT interface enables the user to call the KINSOL
package by means of a subroutine with a SLICOT-compliant calling
sequence. By means of the MATLAB interface the user can call the
package from MATLAB, defining the problem by means of MATLAB
functions. The interfaces could be extended in the future in order
to consider other nonlinear equations systems solvers, although
some restructuring of the interfaces would be necessary.
STATUS: available since March 2002
------------
FILE NAME: SLWN2002-5.pdf
REPORT NUMBER: 2002-5
FORMAT: Adobe Acrobat pdf.
AUTHOR: Andras Varga
TITLE: New Numerical Software for Model and Controller Reduction
ABSTRACT: We describe the recently developed model and controller
reduction software for SLICOT within Task II.B of the
NICONET Project. A powerful collection of user callable
Fortran 77 routines has been implemented based on the
latest algorithmic developments which cover the relative
error model reduction using the balanced stochastic
truncation approach, model reduction using frequency-weighted
balancing and frequency-weighted Hankel-norm approximation
methods, as well as special controller reduction methods
using the frequency-weighted balancing and coprime
factorization based techniques. All implemented routines
can be employed to reduce both stable and unstable,
continuous- or discrete-time models or controllers.
The underlying numerical algorithms are based on extensions
of the square-root and balancing-free accuracy enhancing
technique developed by the author for balancing-related
model reduction. The new model and controller reduction
routines for SLICOT are among the most powerful and
numerically most reliable software tools available for
model and controller reduction. To facilitate their usage,
easy-to-use and flexible interfaces have been developed
to integrate them in MATLAB and Scilab.
STATUS: available since June 2002
-----------------
FILE NAME: SLWN2002-6.pdf
REPORT NUMBER: 2002-6
FORMAT: Adobe Acrobat pdf.
AUTHORS: Rene Schneider, Andreas Riedel, Vincent Verdult,
Michel Verhaegen, Vasile Sima
TITLE: SLICOT system identification toolbox for nonlinear
Wiener systems
ABSTRACT: A systematic approach to address the Wiener
identification problem is given. The structure of the
numerical library to identify Wiener systems according
to this approach is described, as well as the interface
enabling the developed Fortran routines to be used in
Matlab and Scilab. Finally, a number of illustrations of
the use of the developed software is given.
STATUS: available since June 2002
------------
FILE NAME: SLWN2002-7.pdf
REPORT NUMBER: 2002-7
FORMAT: Adobe Acrobat pdf.
AUTHORS: Peter Benner, Enrique S. Quintana-Orti and
Gregorio Quintana-Orti
TITLE: Experimental evaluation of the parallel model reduction
routines in PSLICOT
ABSTRACT: An experimental evalaution is reported, including numerical
aspects and parallel performance, of the parallel routines
for absolute error model reduction in PSLICOT based on
iterative solution of the underlying matrix (Lyapunov)
equations. The frequency response and the performance of the
parallel routiens are comapred with those of the analogous
codes in SLICOT.
STATUS: available since August 2002
------------
FILE NAME: SLWN2002-8.pdf
REPORT NUMBER: 2002-8
FORMAT: Adobe Acrobat pdf.