tcslti_routcos

Fonction de calcul
fr

##
tcslti

### Contenu du fichier

          subroutine tcslti(flag,nevprt,t,xd,x,nx,z,nz,tvec,ntvec,
         &     rpar,nrpar,ipar,nipar,u1,nu1,u2,nu2,y,ny)
    c     Scicos block simulator
    c     continuous state space linear system simulator
    c     rpar(1:nx*nx)=A
    c     rpar(nx*nx+1:nx*nx+nx*nu)=B
    c     rpar(nx*nx+nx*nu+1:nx*nx+nx*nu+nx*ny)=C
    c     rpar(nx*nx+nx*nu+nx*ny+1:nx*nx+nx*nu+nx*ny+ny*nu)=D
    c!
    c
          double precision t,xd(*),x(*),z(*),tvec(*),rpar(*)
          double precision u1(*),u2(*),y(*)
          integer flag,nevprt,nx,nz,ntvec,nrpar,ipar(*)
          integer nipar,nu1,nu2,ny

    c
          la=1
          lb=nx*nx+la
          lc=lb+nx*nu1

          if(flag.eq.1.or.flag.eq.6) then
    c     y=c*x+d*u1
             ld=lc+nx*ny
             call dmmul(rpar(lc),ny,x,nx,y,ny,ny,nx,1)
             call dmmul1(rpar(ld),ny,u1,nu1,y,ny,ny,nu1,1)
          elseif(flag.eq.2.and.nevprt.eq.1) then
    c     x+=u2
             call dcopy(nx,u2,1,x,1)
          elseif(flag.eq.0.and.nevprt.eq.0) then
    c     xd=a*x+b*u1
             call dmmul(rpar(la),nx,x,nx,xd,nx,nx,nx,1)
             call dmmul1(rpar(lb),nx,u1,nu1,xd,nx,nx,nu1,1)
          endif
          return
          end