SB03TD

Solution of continuous-time Lyapunov equations and condition and error bounds estimation

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

Purpose

  To solve the real continuous-time Lyapunov matrix equation

         op(A)'*X + X*op(A) = scale*C,

  estimate the conditioning, and compute an error bound on the
  solution X, where op(A) = A or A' (A**T), the matrix A is N-by-N,
  the right hand side C and the solution X are N-by-N symmetric
  matrices (C = C', X = X'), and scale is an output scale factor,
  set less than or equal to 1 to avoid overflow in X.

Specification
      SUBROUTINE SB03TD( JOB, FACT, TRANA, UPLO, LYAPUN, N, SCALE, A,
     $                   LDA, T, LDT, U, LDU, C, LDC, X, LDX, SEP,
     $                   RCOND, FERR, WR, WI, IWORK, DWORK, LDWORK,
     $                   INFO )
C     .. Scalar Arguments ..
      CHARACTER          FACT, JOB, LYAPUN, TRANA, UPLO
      INTEGER            INFO, LDA, LDC, LDT, LDU, LDWORK, LDX, N
      DOUBLE PRECISION   FERR, RCOND, SCALE, SEP
C     .. Array Arguments ..
      INTEGER            IWORK( * )
      DOUBLE PRECISION   A( LDA, * ), C( LDC, * ), DWORK( * ),
     $                   T( LDT, * ), U( LDU, * ), WI( * ), WR( * ),
     $                   X( LDX, * )

Arguments

Mode Parameters

  JOB     CHARACTER*1
          Specifies the computation to be performed, as follows:
          = 'X':  Compute the solution only;
          = 'S':  Compute the separation only;
          = 'C':  Compute the reciprocal condition number only;
          = 'E':  Compute the error bound only;
          = 'A':  Compute all: the solution, separation, reciprocal
                  condition number, and the error bound.

  FACT    CHARACTER*1
          Specifies whether or not the real Schur factorization
          of the matrix A is supplied on entry, as follows:
          = 'F':  On entry, T and U (if LYAPUN = 'O') contain the
                  factors from the real Schur factorization of the
                  matrix A;
          = 'N':  The Schur factorization of A will be computed
                  and the factors will be stored in T and U (if
                  LYAPUN = 'O').

  TRANA   CHARACTER*1
          Specifies the form of op(A) to be used, as follows:
          = 'N':  op(A) = A    (No transpose);
          = 'T':  op(A) = A**T (Transpose);
          = 'C':  op(A) = A**T (Conjugate transpose = Transpose).

  UPLO    CHARACTER*1
          Specifies which part of the symmetric matrix C is to be
          used, as follows:
          = 'U':  Upper triangular part;
          = 'L':  Lower triangular part.

  LYAPUN  CHARACTER*1
          Specifies whether or not the original or "reduced"
          Lyapunov equations should be solved, as follows:
          = 'O':  Solve the original Lyapunov equations, updating
                  the right-hand sides and solutions with the
                  matrix U, e.g., X <-- U'*X*U;
          = 'R':  Solve reduced Lyapunov equations only, without
                  updating the right-hand sides and solutions.
                  This means that a real Schur form T of A appears
                  in the equation, instead of A.

Input/Output Parameters
  N       (input) INTEGER
          The order of the matrices A, X, and C.  N >= 0.

  SCALE   (input or output) DOUBLE PRECISION
          If JOB = 'C' or JOB = 'E', SCALE is an input argument:
          the scale factor, set by a Lyapunov solver.
          0 <= SCALE <= 1.
          If JOB = 'X' or JOB = 'A', SCALE is an output argument:
          the scale factor, scale, set less than or equal to 1 to
          prevent the solution overflowing.
          If JOB = 'S', this argument is not used.

  A       (input) DOUBLE PRECISION array, dimension (LDA,N)
          If FACT = 'N' or (LYAPUN = 'O' and JOB <> 'X'), the
          leading N-by-N part of this array must contain the
          original matrix A.
          If FACT = 'F' and (LYAPUN = 'R' or JOB = 'X'), A is
          not referenced.

  LDA     INTEGER
          The leading dimension of the array A.
          LDA >= MAX(1,N), if FACT = 'N' or LYAPUN = 'O' and
                                            JOB <> 'X';
          LDA >= 1,        otherwise.

  T       (input/output) DOUBLE PRECISION array, dimension
          (LDT,N)
          If FACT = 'F', then on entry the leading N-by-N upper
          Hessenberg part of this array must contain the upper
          quasi-triangular matrix T in Schur canonical form from a
          Schur factorization of A.
          If FACT = 'N', then this array need not be set on input.
          On exit, (if INFO = 0 or INFO = N+1, for FACT = 'N') the
          leading N-by-N upper Hessenberg part of this array
          contains the upper quasi-triangular matrix T in Schur
          canonical form from a Schur factorization of A.
          The contents of array T is not modified if FACT = 'F'.

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

  U       (input or output) DOUBLE PRECISION array, dimension
          (LDU,N)
          If LYAPUN = 'O' and FACT = 'F', then U is an input
          argument and on entry, the leading N-by-N part of this
          array must contain the orthogonal matrix U from a real
          Schur factorization of A.
          If LYAPUN = 'O' and FACT = 'N', then U is an output
          argument and on exit, if INFO = 0 or INFO = N+1, it
          contains the orthogonal N-by-N matrix from a real Schur
          factorization of A.
          If LYAPUN = 'R', the array U is not referenced.

  LDU     INTEGER
          The leading dimension of the array U.
          LDU >= 1,        if LYAPUN = 'R';
          LDU >= MAX(1,N), if LYAPUN = 'O'.

  C       (input) DOUBLE PRECISION array, dimension (LDC,N)
          If JOB <> 'S' and UPLO = 'U', the leading N-by-N upper
          triangular part of this array must contain the upper
          triangular part of the matrix C of the original Lyapunov
          equation (with matrix A), if LYAPUN = 'O', or of the
          reduced Lyapunov equation (with matrix T), if
          LYAPUN = 'R'.
          If JOB <> 'S' and UPLO = 'L', the leading N-by-N lower
          triangular part of this array must contain the lower
          triangular part of the matrix C of the original Lyapunov
          equation (with matrix A), if LYAPUN = 'O', or of the
          reduced Lyapunov equation (with matrix T), if
          LYAPUN = 'R'.
          The remaining strictly triangular part of this array is
          used as workspace.
          If JOB = 'X', then this array may be identified with X
          in the call of this routine.
          If JOB = 'S', the array C is not referenced.

  LDC     INTEGER
          The leading dimension of the array C.
          LDC >= 1,        if JOB = 'S';
          LDC >= MAX(1,N), otherwise.

  X       (input or output) DOUBLE PRECISION array, dimension
          (LDX,N)
          If JOB = 'C' or 'E', then X is an input argument and on
          entry, the leading N-by-N part of this array must contain
          the symmetric solution matrix X of the original Lyapunov
          equation (with matrix A), if LYAPUN = 'O', or of the
          reduced Lyapunov equation (with matrix T), if
          LYAPUN = 'R'.
          If JOB = 'X' or 'A', then X is an output argument and on
          exit, if INFO = 0 or INFO = N+1, the leading N-by-N part
          of this array contains the symmetric solution matrix X of
          of the original Lyapunov equation (with matrix A), if
          LYAPUN = 'O', or of the reduced Lyapunov equation (with
          matrix T), if LYAPUN = 'R'.
          If JOB = 'S', the array X is not referenced.

  LDX     INTEGER
          The leading dimension of the array X.
          LDX >= 1,        if JOB = 'S';
          LDX >= MAX(1,N), otherwise.

  SEP     (output) DOUBLE PRECISION
          If JOB = 'S' or JOB = 'C' or JOB = 'A', and INFO = 0 or
          INFO = N+1, SEP contains the estimated separation of the
          matrices op(A) and -op(A)', sep(op(A),-op(A)').
          If N = 0, or X = 0, or JOB = 'X' or JOB = 'E', SEP is not
          referenced.

  RCOND   (output) DOUBLE PRECISION
          If JOB = 'C' or JOB = 'A', an estimate of the reciprocal
          condition number of the continuous-time Lyapunov equation.
          If N = 0 or X = 0, RCOND is set to 1 or 0, respectively.
          If JOB = 'X' or JOB = 'S' or JOB = 'E', RCOND is not
          referenced.

  FERR    (output) DOUBLE PRECISION
          If JOB = 'E' or JOB = 'A', and INFO = 0 or INFO = N+1,
          FERR contains an estimated forward error bound for the
          solution X. If XTRUE is the true solution, FERR bounds the
          relative error in the computed solution, measured in the
          Frobenius norm:  norm(X - XTRUE)/norm(XTRUE).
          If N = 0 or X = 0, FERR is set to 0.
          If JOB = 'X' or JOB = 'S' or JOB = 'C', FERR is not
          referenced.

  WR      (output) DOUBLE PRECISION array, dimension (N)
  WI      (output) DOUBLE PRECISION array, dimension (N)
          If FACT = 'N', and INFO = 0 or INFO = N+1, WR and WI
          contain the real and imaginary parts, respectively, of the
          eigenvalues of A.
          If FACT = 'F', WR and WI are not referenced.

Workspace
  IWORK   INTEGER array, dimension (N*N)
          This array is not referenced if JOB = 'X'.

  DWORK   DOUBLE PRECISION array, dimension (LDWORK)
          On exit, if INFO = 0 or INFO = N+1, DWORK(1) returns the
          optimal value of LDWORK.

  LDWORK  INTEGER
          The length of the array DWORK.
          If JOB = 'X', then
          LDWORK >= MAX(1,N*N),           if FACT = 'F';
          LDWORK >= MAX(1,MAX(N*N,3*N)),  if FACT = 'N'.
          If JOB = 'S' or JOB = 'C', then
          LDWORK >= MAX(1,2*N*N),         if FACT = 'F';
          LDWORK >= MAX(1,2*N*N,3*N),     if FACT = 'N'.
          If JOB = 'E', or JOB = 'A', and LYAPUN  = 'O', then
          LDWORK >= MAX(1,3*N*N);
          If JOB = 'E', or JOB = 'A', and LYAPUN  = 'R', then
          LDWORK >= MAX(1,3*N*N+N-1).
          For optimum performance LDWORK should sometimes be larger.

Error Indicator
  INFO    INTEGER
          = 0:  successful exit;
          < 0:  if INFO = -i, the i-th argument had an illegal
                value;
          > 0:  if INFO = i, i <= N, the QR algorithm failed to
                complete the reduction to Schur canonical form (see
                LAPACK Library routine DGEES); on exit, the matrix
                T(i+1:N,i+1:N) contains the partially converged
                Schur form, and the elements i+1:n of WR and WI
                contain the real and imaginary parts, respectively,
                of the converged eigenvalues; this error is unlikely
                to appear;
          = N+1:  if the matrices T and -T' have common or very
                close eigenvalues; perturbed values were used to
                solve Lyapunov equations, but the matrix T, if given
                (for FACT = 'F'), is unchanged.

Method
  After reducing matrix A to real Schur canonical form (if needed),
  the Bartels-Stewart algorithm is used. A set of equivalent linear
  algebraic systems of equations of order at most four are formed
  and solved using Gaussian elimination with complete pivoting.

  The condition number of the continuous-time Lyapunov equation is
  estimated as

  cond = (norm(Theta)*norm(A) + norm(inv(Omega))*norm(C))/norm(X),

  where Omega and Theta are linear operators defined by

  Omega(W) = op(A)'*W + W*op(A),
  Theta(W) = inv(Omega(op(W)'*X + X*op(W))).

  The routine estimates the quantities

  sep(op(A),-op(A)') = 1 / norm(inv(Omega))

  and norm(Theta) using 1-norm condition estimators.

  The forward error bound is estimated using a practical error bound
  similar to the one proposed in [2].

References
  [1] Bartels, R.H. and Stewart, G.W.  T
      Solution of the matrix equation A X + XB = C.
      Comm. A.C.M., 15, pp. 820-826, 1972.

  [2] Higham, N.J.
      Perturbation theory and backward error for AX-XB=C.
      BIT, vol. 33, pp. 124-136, 1993.

Numerical Aspects
                            3
  The algorithm requires 0(N ) operations.
  The accuracy of the estimates obtained depends on the solution
  accuracy and on the properties of the 1-norm estimator.

Further Comments
  The separation of op(A) and -op(A)' can also be defined as

         sep( op(A), -op(A)' ) = sigma_min( T ),

  where sigma_min(T) is the smallest singular value of the
  N*N-by-N*N matrix

     T = kprod( I(N), op(A)' ) + kprod( op(A)', I(N) ).

  I(N) is an N-by-N identity matrix, and kprod denotes the Kronecker
  product. The routine estimates sigma_min(T) by the reciprocal of
  an estimate of the 1-norm of inverse(T). The true reciprocal
  1-norm of inverse(T) cannot differ from sigma_min(T) by more
  than a factor of N.

Example

Program Text

*     SB03TD EXAMPLE PROGRAM TEXT
*     Copyright (c) 2002-2017 NICONET e.V.
*
*     .. Parameters ..
      INTEGER          NIN, NOUT
      PARAMETER        ( NIN = 5, NOUT = 6 )
      INTEGER          NMAX
      PARAMETER        ( NMAX = 20 )
      INTEGER          LDA, LDC, LDT, LDU, LDX
      PARAMETER        ( LDA = NMAX, LDC = NMAX, LDT = NMAX,
     $                   LDU = NMAX, LDX = NMAX )
      INTEGER          LIWORK
      PARAMETER        ( LIWORK = NMAX*NMAX )
      INTEGER          LDWORK
      PARAMETER        ( LDWORK = MAX( 1, 3*NMAX*NMAX + NMAX - 1 ) )
*     .. Local Scalars ..
      DOUBLE PRECISION FERR, RCOND, SCALE, SEP
      INTEGER          I, INFO, J, N
      CHARACTER*1      DICO, FACT, JOB, LYAPUN, TRANA, UPLO
*     .. Local Arrays ..
      INTEGER          IWORK(LIWORK)
      DOUBLE PRECISION A(LDA,NMAX), C(LDC,NMAX), DWORK(LDWORK),
     $                 T(LDT,NMAX), U(LDU,NMAX), X(LDX,NMAX)
*     .. External Functions ..
      LOGICAL          LSAME
      EXTERNAL         LSAME
*     .. External Subroutines ..
      EXTERNAL         SB03TD
*     .. Intrinsic Functions ..
      INTRINSIC        MAX
*     .. Executable Statements ..
*
      WRITE ( NOUT, FMT = 99999 )
      DICO = 'C'
*     Skip the heading in the data file and read the data.
      READ ( NIN, FMT = '()' )
      READ ( NIN, FMT = * ) N, JOB, FACT, TRANA, UPLO, LYAPUN
      IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
         WRITE ( NOUT, FMT = 99994 ) N
      ELSE
         IF ( LSAME( JOB, 'C' ) .OR. LSAME( JOB, 'E' ) )
     $                               READ ( NIN, FMT = * ) SCALE
         IF ( LSAME( FACT, 'N' ) .OR. ( LSAME( LYAPUN, 'O' ) .AND.
     $                             .NOT.LSAME( JOB, 'X') ) )
     $      READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
         IF ( LSAME( FACT, 'F' ) ) THEN
            READ ( NIN, FMT = * ) ( ( T(I,J), J = 1,N ), I = 1,N )
            IF ( LSAME( LYAPUN, 'O' ) )
     $         READ ( NIN, FMT = * ) ( ( U(I,J), J = 1,N ), I = 1,N )
         END IF
         IF ( .NOT.LSAME( JOB, 'S' ) )
     $      READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,N )
         IF ( LSAME( JOB, 'C' ) .OR. LSAME( JOB, 'E' ) )
     $      READ ( NIN, FMT = * ) ( ( X(I,J), J = 1,N ), I = 1,N )
*        Solve the continuous-time Lyapunov matrix equation and/or
*        estimate the condition and error bound on the solution.
         CALL SB03TD( JOB, FACT, TRANA, UPLO, LYAPUN, N, SCALE, A, LDA,
     $                T, LDT, U, LDU, C, LDC, X, LDX, SEP, RCOND, FERR,
     $                DWORK(1), DWORK(N+1), IWORK, DWORK(2*N+1),
     $                LDWORK-2*N, INFO )
*
         IF ( INFO.EQ.0 ) THEN
            IF ( LSAME( JOB, 'X' ) .OR. LSAME( JOB, 'A' ) ) THEN
               WRITE ( NOUT, FMT = 99996 )
               DO 10 I = 1, N
                  WRITE ( NOUT, FMT = 99995 ) ( X(I,J), J = 1,N )
   10          CONTINUE
               WRITE ( NOUT, FMT = 99993 ) SCALE
            END IF
            IF ( LSAME( JOB, 'S' ) .OR. LSAME( JOB, 'C' )
     $                             .OR. LSAME( JOB, 'A' ) )
     $         WRITE ( NOUT, FMT = 99992 ) SEP
            IF ( LSAME( JOB, 'C' ) .OR. LSAME( JOB, 'A' ) )
     $         WRITE ( NOUT, FMT = 99991 ) RCOND
            IF ( LSAME( JOB, 'E' ) .OR. LSAME( JOB, 'A' ) )
     $         WRITE ( NOUT, FMT = 99990 ) FERR
         ELSE
            WRITE ( NOUT, FMT = 99998 ) INFO
         END IF
      END IF
      STOP
*
99999 FORMAT (' SB03TD EXAMPLE PROGRAM RESULTS',/1X)
99998 FORMAT (' INFO on exit from SB03TD =',I2)
99996 FORMAT (' The solution matrix X is')
99995 FORMAT (20(1X,F8.4))
99994 FORMAT (/' N is out of range.',/' N = ',I5)
99993 FORMAT (/' Scaling factor = ',F8.4)
99992 FORMAT (/' Estimated separation = ',F8.4)
99991 FORMAT (/' Estimated reciprocal condition number = ',F8.4)
99990 FORMAT (/' Estimated error bound = ',F8.4)
      END
Program Data
 SB03TD EXAMPLE PROGRAM DATA
   3     A     N     N     U     O
   3.0   1.0   1.0
   1.0   3.0   0.0
   0.0   0.0   3.0
  25.0  24.0  15.0
  24.0  32.0   8.0
  15.0   8.0  40.0
Program Results
 SB03TD EXAMPLE PROGRAM RESULTS

 The solution matrix X is
   3.2604   2.7187   1.8616
   2.7187   4.4271   0.5699
   1.8616   0.5699   6.0461

 Scaling factor =   1.0000

 Estimated separation =   4.9068

 Estimated reciprocal condition number =   0.3611

 Estimated error bound =   0.0000

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