python-control · roryyorke · Apr 12, 2020 · Jan 26, 2020 · Jan 26, 2020 · Jan 27, 2020
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -19,6 +19,7 @@ endif()
 enable_language(C)
 enable_language(Fortran)
 
+
 find_package(PythonLibs REQUIRED)
 find_package(NumPy REQUIRED)
 find_package(BLAS REQUIRED)

diff --git a/slycot/__init__.py b/slycot/__init__.py
@@ -22,8 +22,8 @@
 
     # Identification routines (0/5 wrapped)
 
-    # Mathematical routines (3/81 wrapped)
-    from .math import mc01td, mb05md, mb05nd
+    # Mathematical routines (6/81 wrapped)
+    from .math import mc01td, mb03vd, mb03vy, mb03wd, mb05md, mb05nd
 
     # Synthesis routines (14/50 wrapped)
     from .synthesis import sb01bd,sb02md,sb02mt,sb02od,sb03md,sb03od

diff --git a/slycot/math.py b/slycot/math.py
@@ -70,6 +70,361 @@ def mc01td(dico,dp,p):
     return out[:-2]
 
 
+def mb03vd(n, ilo, ihi, A):
+    """ HQ, Tau = mb03vd(n, ilo, ihi, A)
+
+    To reduce a product of p real general matrices A = A_1*A_2*...*A_p
+    to upper Hessenberg form, H = H_1*H_2*...*H_p, where H_1 is
+    upper Hessenberg, and H_2, ..., H_p are upper triangular, by using
+    orthogonal similarity transformations on A,
+
+            Q_1' * A_1 * Q_2 = H_1,
+            Q_2' * A_2 * Q_3 = H_2,
+                   ...
+            Q_p' * A_p * Q_1 = H_p.
+
+    Parameters
+    ----------
+
+    n : int
+            The order of the square matrices A_1, A_2, ..., A_p.
+            n >= 0.
+
+    ilo, ihi : int
+            It is assumed that all matrices A_j, j = 2, ..., p, are
+            already upper triangular in rows and columns [:ilo-1] and
+            [ihi:n], and A_1 is upper Hessenberg in rows and columns
+            [:ilo-1] and [ihi:n], with A_1[ilo-1,ilo-2] = 0 (unless
+            ilo = 1), and A_1[ihi,ihi-1] = 0 (unless ihi = n).
+            If this is not the case, ilo and ihi should be set to 1
+            and n, respectively.
+            1 <= ilo <= max(1,n); min(ilo,n) <= ihi <= n.
+
+    A : ndarray
+            A[:n,:n,:p] must contain the matrices of factors to be reduced;
+            specifically, A[:,:,j-1] must contain A_j, j = 1, ..., p.
+
+
+    Returns
+    -------
+
+    HQ : ndarray
+            3D array with same shape as A. The upper triangle and the first
+            subdiagonal of HQ[:n,:n,0] contain the upper Hessenberg
+            matrix H_1, and the elements below the first subdiagonal,
+            with the first column of the array Tau represent the
+            orthogonal matrix Q_1 as a product of elementary
+            reflectors. See FURTHER COMMENTS.
+            For j > 1, the upper triangle of HQ[:n,:n,j-1]
+            contains the upper triangular matrix H_j, and the elements
+            below the diagonal, with the j-th column of the array TAU
+            represent the orthogonal matrix Q_j as a product of
+            elementary reflectors. See FURTHER COMMENTS.
+
+    Tau : ndarray
+            2D array with shape (max(1, n-1), p).
+            The leading n-1 elements in the j-th column contain the
+            scalar factors of the elementary reflectors used to form
+            the matrix Q_j, j = 1, ..., p. See FURTHER COMMENTS.
+
+    Raises
+    ------
+
+    ValueError : e
+            e.info contains information about the exact type of exception
+
+    Further Comments
+    ----------------
+
+    Each matrix Q_j is represented as a product of (ihi-ilo)
+    elementary reflectors,
+
+       Q_j = H_j(ilo) H_j(ilo+1) . . . H_j(ihi-1).
+
+    Each H_j(i), i = ilo, ..., ihi-1, has the form
+
+       H_j(i) = I - tau_j * v_j * v_j',
+
+    where tau_j is a real scalar, and v_j is a real vector with
+    v_j(1:i) = 0, v_j(i+1) = 1 and v_j(ihi+1:n) = 0; v_j(i+2:ihi)
+    is stored on exit in A_j(i+2:ihi,i), and tau_j in TAU(i,j).
+
+    The contents of A_1 are illustrated by the following example
+    for n = 7, ilo = 2, and ihi = 6:
+
+    on entry                         on exit
+
+    ( a   a   a   a   a   a   a )    ( a   h   h   h   h   h   a )
+    ( 0   a   a   a   a   a   a )    ( 0   h   h   h   h   h   a )
+    ( 0   a   a   a   a   a   a )    ( 0   h   h   h   h   h   h )
+    ( 0   a   a   a   a   a   a )    ( 0   v2  h   h   h   h   h )
+    ( 0   a   a   a   a   a   a )    ( 0   v2  v3  h   h   h   h )
+    ( 0   a   a   a   a   a   a )    ( 0   v2  v3  v4  h   h   h )
+    ( 0   0   0   0   0   0   a )    ( 0   0   0   0   0   0   a )
+
+    where a denotes an element of the original matrix A_1, h denotes
+    a modified element of the upper Hessenberg matrix H_1, and vi
+    denotes an element of the vector defining H_1(i).
+
+    The contents of A_j, j > 1, are illustrated by the following
+    example for n = 7, ilo = 2, and ihi = 6:
+
+    on entry                         on exit
+
+    ( a   a   a   a   a   a   a )    ( a   h   h   h   h   h   a )
+    ( 0   a   a   a   a   a   a )    ( 0   h   h   h   h   h   h )
+    ( 0   a   a   a   a   a   a )    ( 0   v2  h   h   h   h   h )
+    ( 0   a   a   a   a   a   a )    ( 0   v2  v3  h   h   h   h )
+    ( 0   a   a   a   a   a   a )    ( 0   v2  v3  v4  h   h   h )
+    ( 0   a   a   a   a   a   a )    ( 0   v2  v3  v4  v5  h   h )
+    ( 0   0   0   0   0   0   a )    ( 0   0   0   0   0   0   a )
+
+    where a denotes an element of the original matrix A_j, h denotes
+    a modified element of the upper triangular matrix H_j, and vi
+    denotes an element of the vector defining H_j(i). (The element
+    (1,2) in A_p is also unchanged for this example.)
+
+    """
+    hidden = ' (hidden by the wrapper)'
+    arg_list = ['n', 'p' + hidden,
+                'ilo', 'ihi', 'a',
+                'lda1' + hidden, 'lda2' + hidden, 'tau',
+                'ldtau' + hidden, 'dwork' + hidden, 'info']
+
+    HQ, Tau, info = _wrapper.mb03vd(n, ilo, ihi, A)
+
+    if info != 0:
+        e = ValueError(
+                "Argument '{}' had an illegal value".format(arg_list[-info-1]))
+        e.info = info
+        raise e
+    return (HQ, Tau)
+
+
+def mb03vy(n, ilo, ihi, A, Tau, ldwork=None):
+    """ Q = mb03vy(n, ilo, ihi, A, Tau, [ldwork])
+
+    To generate the real orthogonal matrices Q_1, Q_2, ..., Q_p,
+    which are defined as the product of ihi-ilo elementary reflectors
+    of order n, as returned by SLICOT Library routine MB03VD:
+
+        Q_j = H_j(ilo) H_j(ilo+1) . . . H_j(ihi-1).
+
+    Parameters
+    ----------
+
+    n : int
+            The order of the matrices Q_1, Q_2, ..., Q_p.  N >= 0.
+
+    ilo, ihi : int
+            The values of the indices ilo and ihi, respectively, used
+            in the previous call of the SLICOT Library routine MB03VD.
+            1 <= ilo <= max(1,n); min(ilo,n) <= ihi <= n.
+
+    A : ndarray
+            A[:n,:n,j-1] must contain the vectors which define the
+            elementary reflectors used for reducing A_j, as returned
+            by SLICOT Library routine MB03VD, j = 1, ..., p.
+
+    Tau : ndarray
+            The leading N-1 elements in the j-th column must contain
+            the scalar factors of the elementary reflectors used to
+            form the matrix Q_j, as returned by SLICOT Library routine
+            MB03VD.
+
+    ldwork : int, optional
+            The length of the internal array DWORK.  ldwork >= max(1, n).
+            For optimum performance ldwork should be larger.
+
+
+    Returns
+    -------
+
+    Q : ndarray
+            3D array with same shape as A. Q[:n,:n,j-1] contains the
+            N-by-N orthogonal matrix Q_j, j = 1, ..., p.
+
+    Raises
+    ------
+
+    ValueError :
+            e.info contains the number of the argument that was invalid
+
+    """
+
+    hidden = ' (hidden by the wrapper)'
+    arg_list = ['n', 'p' + hidden,
+                'ilo', 'ihi', 'a',
+                'lda1' + hidden, 'lda2' + hidden, 'tau',
+                'ldtau' + hidden, 'dwork' + hidden, 'ldwork', 'info' + hidden]
+
+    if not ldwork:
+        ldwork = max(1, 2 * n)
+
+    Q, info = _wrapper.mb03vy(n, ilo, ihi, A, Tau, ldwork)
+
+    if info != 0:
+        e = ValueError(
+                "Argument '{}' had an illegal value".format(arg_list[-info-1]))
+        e.info = info
+        raise e
+
+    return Q
+
+
+def mb03wd(job, compz, n, ilo, ihi, iloz, ihiz, H, Q, ldwork=None):
+    """ T, Z, Wr = mb03wd(job, compz, n, ilo, ihi, iloz, ihiz, H, Q, [ldwork])
+
+    To compute the Schur decomposition and the eigenvalues of a
+    product of matrices, H = H_1*H_2*...*H_p, with H_1 an upper
+    Hessenberg matrix and H_2, ..., H_p upper triangular matrices,
+    without evaluating the product. Specifically, the matrices Z_i
+    are computed, such that
+
+            Z_1' * H_1 * Z_2 = T_1,
+            Z_2' * H_2 * Z_3 = T_2,
+                   ...
+            Z_p' * H_p * Z_1 = T_p,
+
+    where T_1 is in real Schur form, and T_2, ..., T_p are upper
+    triangular.
+
+    The routine works primarily with the Hessenberg and triangular
+    submatrices in rows and columns ilo to ihi, but optionally applies
+    the transformations to all the rows and columns of the matrices
+    H_i, i = 1,...,p. The transformations can be optionally
+    accumulated.
+
+    Parameters
+    ----------
+
+    job : {'E', 'S'}
+            Indicates whether the user wishes to compute the full
+            Schur form or the eigenvalues only, as follows:
+            = 'E':  Compute the eigenvalues only;
+            = 'S':  Compute the factors T_1, ..., T_p of the full
+                    Schur form, T = T_1*T_2*...*T_p.
+
+   compz : {'N', 'I', 'V'}
+            Indicates whether or not the user wishes to accumulate
+            the matrices Z_1, ..., Z_p, as follows:
+            = 'N':  The matrices Z_1, ..., Z_p are not required;
+            = 'I':  Z_i is initialized to the unit matrix and the
+                    orthogonal transformation matrix Z_i is returned,
+                    i = 1, ..., p;
+            = 'V':  Z_i must contain an orthogonal matrix Q_i on
+                    entry, and the product Q_i*Z_i is returned,
+                    i = 1, ..., p.
+
+    n : int
+            The order of the matrix H.  n >= 0
+
+    ilo, ihi : int
+            It is assumed that all matrices H_j, j = 2, ..., p, are
+            already upper triangular in rows and columns [:ilo-1] and
+            [ihi:n], and H_1 is upper quasi-triangular in rows and
+            columns [:ilo-1] and [ihi:n], with H_1[ilo-1,ilo-2] = 0
+            (unless ilo = 1), and H_1[ihi,ihi-1] = 0 (unless ihi = n).
+            The routine works primarily with the Hessenberg submatrix
+            in rows and columns ilo to ihi, but applies the
+            transformations to all the rows and columns of the
+            matrices H_i, i = 1,...,p, if JOB = 'S'.
+            1 <= ilo <= max(1,n); min(ilo,n) <= ihi <= n.
+
+    iloz, ihiz : int
+            Specify the rows of Z to which the transformations must be
+            applied if compz = 'I' or compz = 'V'.
+            1 <= iloz <= ilo; ihi <= ihiz <= n.
+
+    H : ndarray
+            H[:n,:n,0] must contain the upper Hessenberg matrix H_1 and
+            H[:n,:n,j-1] for j > 1 must contain the upper triangular matrix
+            H_j, j = 2, ..., p.
+
+    Q : ndarray
+            If compz = 'V', Q[:n,:n,:p] must contain the current matrix Q of
+            transformations accumulated by SLICOT Library routine
+            MB03VY.
+            If compz = 'I', Q is ignored
+
+    ldwork : int, optinal
+            The length of the cache array. The default value is
+            ihi-ilo+p-1
+
+
+
+    Returns
+    -------
+
+    T : ndarray
+            3D array with the same shape as H.
+            If JOB = 'S', T[:n,:n,0] is upper quasi-triangular in rows
+            and columns [ilo-1:ihi], with any 2-by-2 diagonal blocks
+            corresponding to a pair of complex conjugated eigenvalues, and
+            T[:n,:n,j-1] for j > 1 contains the resulting upper
+            triangular matrix T_j.
+            If job = 'E', T is None
+
+    Z : ndarray
+            3D array with the same shape as Q.
+            If compz = 'V', or compz = 'I', the leading
+            N-by-N-by-P part of this array contains the transformation
+            matrices which produced the Schur form; the
+            transformations are applied only to the submatrices
+            Z[iloz-1:ihiz,ilo-1:ihi,j-1], j = 1, ..., p.
+            If compz = 'N', Z is None
+
+    W : ndarray (dtype=complex)
+            1D array with shape (n).
+            The computed eigenvalues ilo to ihi. If two eigenvalues
+            are computed as a complex conjugate pair, they are stored
+            in consecutive elements of W say the i-th and
+            (i+1)th, with imag(W][i]) > 0 and imag(W[i+1]) < 0.
+            If JOB = 'S', the eigenvalues are stored in the same order
+            as on the diagonal of the Schur form returned in H.
+
+    Raises
+    ------
+
+    ValueError : e
+            e.info contains information about the exact type of exception
+
+    """
+    hidden = ' (hidden by the wrapper)'
+    arg_list = ['job', 'compz', 'n', 'p' + hidden,
+                'ilo', 'ihi', 'iloz', 'ihiz',
+                'h', 'ldh1' + hidden, 'ldh2' + hidden,
+                'z', 'ldz1' + hidden, 'ldz2' + hidden,
+                'wr', 'wi',
+                'dwork' + hidden, 'ldwork', 'info' + hidden]
+
+    if not ldwork:
+        p = H.shape[2]
+        ldwork = max(1, ihi - ilo + p - 1)
+
+    T, Z, Wr, Wi, info = _wrapper.mb03wd(
+            job, compz, n, ilo, ihi, iloz, ihiz, H, Q, ldwork)
+
+    if info < 0:
+        e = ValueError(
+                "Argument '{}' had an illegal value".format(arg_list[-info-1]))
+        e.info = info
+        raise e
+    elif info > 0:
+        warnings.warn(("failed to compute all the eigenvalues {ilo} to {ihi} "
+                       "in a total of 30*({ihi}-{ilo}+1) iterations "
+                       "the elements {i}:{ihi} of Wr contain those "
+                       "eigenvalues which have been successfully computed."
+                       ).format(i=info, ilo=ilo, ihi=ihi))
+    if job == 'E':
+        T = None
+    if compz == 'N':
+        Z = None
+
+    W = Wr + Wi*1J
+    return (T, Z, W)
+
+
 def mb05md(a, delta, balanc='N'):
     """Ar, Vr, Yr, VAL = mb05md(a, delta, balanc='N')
 
@@ -166,7 +521,7 @@ def mb05md(a, delta, balanc='N'):
 from slycot import mb05nd
 import numpy as np
 a = np.mat('[-2. 0; 0.1 -3.]')
-mb05nd(a.shape[0], a, 0.1) 
+mb05nd(a.shape[0], a, 0.1)
 """
 
 def mb05nd(a, delta, tol=1e-7):